diff --git a/hand_control/CMakeLists.txt b/hand_control/CMakeLists.txt
index af18b01..605d5d2 100644
--- a/hand_control/CMakeLists.txt
+++ b/hand_control/CMakeLists.txt
@@ -7,8 +7,12 @@ project(hand_control)
 find_package(catkin REQUIRED COMPONENTS
   ardrone_autonomy
   pcl_ros
+  pcl_msgs
+  pcl_conversions
   roscpp
   std_msgs
+  freenect_camera
+  freenect_launch
 )
 
 ## System dependencies are found with CMake's conventions
diff --git a/hand_control/package.xml b/hand_control/package.xml
index e55cb88..46a48cd 100644
--- a/hand_control/package.xml
+++ b/hand_control/package.xml
@@ -18,13 +18,21 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>ardrone_autonomy</build_depend>
-  <build_depend>freenect_stack</build_depend>
+  <build_depend>freenect_camera</build_depend>
+  <build_depend>freenect_launch</build_depend>
   <build_depend>pcl_ros</build_depend>
+  <build_depend>pcl_conversion</build_depend>
+  <build_depend>pcl_msgs</build_depend>
+  <build_depend>pcl_conversions</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <run_depend>ardrone_autonomy</run_depend>
+  <run_depend>freenect_camera</run_depend>
+  <run_depend>freenect_launch</run_depend>
   <run_depend>pcl_ros</run_depend>
-  <run_depend>perception_pcl</run_depend>
+  <run_depend>pcl_conversion</run_depend>
+  <run_depend>pcl_msgs</run_depend>
+  <run_depend>pcl_conversions</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>