diff --git a/dyn_planner/bspline_opt/CMakeLists.txt b/dyn_planner/bspline_opt/CMakeLists.txt
index dc2763329..744e1d8a3 100644
--- a/dyn_planner/bspline_opt/CMakeLists.txt
+++ b/dyn_planner/bspline_opt/CMakeLists.txt
@@ -10,6 +10,7 @@ find_package(catkin REQUIRED COMPONENTS
   std_msgs
   visualization_msgs
   plan_env
+  nlopt
 )
 
 
@@ -26,6 +27,7 @@ include_directories(
     ${catkin_INCLUDE_DIRS}
     ${Eigen3_INCLUDE_DIRS} 
     ${PCL_INCLUDE_DIRS}
+    ${nlopt_INCLUDE_DIRS}
 )
 
 set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS} -O3 -Wall")
@@ -36,5 +38,5 @@ add_library( bspline_opt
     )
 target_link_libraries( bspline_opt
     ${catkin_LIBRARIES} 
-    /usr/local/lib/libnlopt.so
+    ${nlopt_LIBRARIES}
     )  
diff --git a/dyn_planner/bspline_opt/package.xml b/dyn_planner/bspline_opt/package.xml
index f31ee0eb2..bb08758f9 100644
--- a/dyn_planner/bspline_opt/package.xml
+++ b/dyn_planner/bspline_opt/package.xml
@@ -53,6 +53,7 @@
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>plan_env</build_depend>
+  <build_depend>nlopt</build_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>
diff --git a/uav_simulator/Utils/multi_map_server/CMakeLists.txt b/uav_simulator/Utils/multi_map_server/CMakeLists.txt
index 29cd55689..37237f92c 100755
--- a/uav_simulator/Utils/multi_map_server/CMakeLists.txt
+++ b/uav_simulator/Utils/multi_map_server/CMakeLists.txt
@@ -166,7 +166,7 @@ add_dependencies(multi_map_visualization multi_map_server_messages_cpp)
 target_link_libraries(multi_map_visualization 
    ${catkin_LIBRARIES}
    ${ARMADILLO_LIBRARIES}
-   pose_utils
+   ${pose_utils_LIBRARIES}
 )
 
 #############
diff --git a/uav_simulator/odom_visualization/CMakeLists.txt b/uav_simulator/odom_visualization/CMakeLists.txt
index 7b42d04c9..9bc9c4647 100755
--- a/uav_simulator/odom_visualization/CMakeLists.txt
+++ b/uav_simulator/odom_visualization/CMakeLists.txt
@@ -159,7 +159,7 @@ add_executable(odom_visualization src/odom_visualization.cpp)
 target_link_libraries(odom_visualization
    ${catkin_LIBRARIES}
    ${ARMADILLO_LIBRARIES}
-   pose_utils
+   ${pose_utils_LIBRARIES}
 )
 
 #############
diff --git a/uav_simulator/so3_control/src/so3_control_nodelet.cpp b/uav_simulator/so3_control/src/so3_control_nodelet.cpp
index 10649b2b2..fedf6209c 100755
--- a/uav_simulator/so3_control/src/so3_control_nodelet.cpp
+++ b/uav_simulator/so3_control/src/so3_control_nodelet.cpp
@@ -214,5 +214,4 @@ SO3ControlNodelet::onInit(void)
 }
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_DECLARE_CLASS(so3_control, SO3ControlNodelet, SO3ControlNodelet,
-                        nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS(SO3ControlNodelet, nodelet::Nodelet);
diff --git a/uav_simulator/so3_disturbance_generator/CMakeLists.txt b/uav_simulator/so3_disturbance_generator/CMakeLists.txt
index 61ab1f0cc..c12d9f24e 100755
--- a/uav_simulator/so3_disturbance_generator/CMakeLists.txt
+++ b/uav_simulator/so3_disturbance_generator/CMakeLists.txt
@@ -37,6 +37,6 @@ add_dependencies(so3_disturbance_generator ${PROJECT_NAME}_gencfg)
 target_link_libraries(so3_disturbance_generator 
    ${catkin_LIBRARIES}
    ${ARMADILLO_LIBRARIES}
-   pose_utils 
+   ${pose_utils_LIBRARIES}
 )