diff --git a/CMakeLists.txt b/CMakeLists.txt
index 84afe12b..0d17291f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 11)
-SET(RTABMAP_PATCH_VERSION 4)
+SET(RTABMAP_PATCH_VERSION 5)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   
@@ -170,15 +170,22 @@ IF(ZLIB_FOUND)
 ENDIF(ZLIB_FOUND)
 
 IF(WITH_QT)
+    FIND_PACKAGE(VTK)
+    IF(NOT VTK_FOUND)
+        MESSAGE(FATAL_ERROR "VTK is required when using Qt. Set -DWITH_QT=OFF if you don't want gui tools.")
+    ENDIF(NOT VTK_FOUND)
+
     # If Qt is here, the GUI will be built
-    # look for Qt5 before Qt4
-    FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg QUIET)
+    # look for Qt5 (if vtk>5 is installed) before Qt4
+    IF("${VTK_MAJOR_VERSION}" GREATER 5)
+        FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg QUIET)
+    ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
+
     IF(NOT Qt5_FOUND)
         FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
     ENDIF(NOT Qt5_FOUND)
         
     IF(QT4_FOUND OR Qt5_FOUND)
-        FIND_PACKAGE(VTK REQUIRED)
         IF("${VTK_MAJOR_VERSION}" EQUAL 5)
             FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
         ENDIF("${VTK_MAJOR_VERSION}" EQUAL 5)
@@ -373,6 +380,11 @@ set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/corelib/include"
 set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
 IF(QT4_FOUND OR Qt5_FOUND)
    set(CONF_WITH_GUI ON)
+   IF(QT4_FOUND)
+      set(CONF_QT_VERSION 4)
+   ELSE()
+      set(CONF_QT_VERSION 5)
+   ENDIF()
 ELSE()
    set(CONF_WITH_GUI OFF)
 ENDIF()
diff --git a/RTABMapConfig.cmake.in b/RTABMapConfig.cmake.in
index e24c059f..66b8cee6 100644
--- a/RTABMapConfig.cmake.in
+++ b/RTABMapConfig.cmake.in
@@ -66,4 +66,5 @@ set(RTABMAP_CORE ${RTABMap_CORE})
 set(RTABMAP_UTILITE ${RTABMap_UTILITE})
 if(RTABMap_GUI)
    set(RTABMAP_GUI ${RTABMap_GUI})
-endif(RTABMap_GUI)
\ No newline at end of file
+   set(RTABMAP_QT_VERSION @CONF_QT_VERSION@)
+endif(RTABMap_GUI)
diff --git a/package.xml b/package.xml
index 6de561c0..55eacd29 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rtabmap</name>
-  <version>0.11.4</version>
+  <version>0.11.5</version>
   <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>
@@ -12,7 +12,7 @@
 
   <buildtool_depend>cmake</buildtool_depend>
   
-  <build_depend>qt_gui_core</build_depend> <!-- libqt4-dev or libqt5-dev -->
+  <build_depend>qt_gui_cpp</build_depend> <!-- libqt4-dev or libqt5-dev -->
   <build_depend>libpcl-all-dev</build_depend>
   <build_depend>libsqlite3-dev</build_depend>
   <build_depend>zlib</build_depend>
@@ -24,7 +24,7 @@
   <!-- libproj-dev needed due to error in vtk6 (kinetic)-->
   <build_depend>proj</build_depend>
   
-  <run_depend>qt_gui_core</run_depend>
+  <run_depend>qt_gui_cpp</run_depend>
   <run_depend>libpcl-all-dev</run_depend>
   <run_depend>libsqlite3-dev</run_depend>
   <run_depend>zlib</run_depend>