rtabmap_ros/rtabmap/manifest.xml

<package>
  <description brief="rtabmap">

     RTAB-Map - Real-Time Appearance-Based Mapping

  </description>
  <author>Mathieu Labbe</author>
  <license>GPL</license>
  <review status="unreviewed" notes=""/>
  <url>http://rtabmap-ros-pkg.googlecode.com</url> 
  <depend package="std_msgs"/>
  <depend package="roscpp"/>
  <depend package="image_transport"/>
  <depend package="cv_bridge"/>
  <depend package="sensor_msgs"/>
  <depend package="std_srvs"/>
  <depend package="turtlesim"/>
  <depend package="tf"/>
  <depend package="rtabmap_lib"/>

  <rosdep name="opencv2.3"/>

</package>