diff --git a/fmodex/CMakeLists.txt b/fmodex/CMakeLists.txt
new file mode 100644
index 00000000..f8f1c9cc
--- /dev/null
+++ b/fmodex/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
diff --git a/fmodex/FindFmodex.cmake b/fmodex/FindFmodex.cmake
new file mode 100644
index 00000000..1e3dc548
--- /dev/null
+++ b/fmodex/FindFmodex.cmake
@@ -0,0 +1,53 @@
+# - Find Fmodex
+# This module finds an installed Fmod package.
+#
+# It sets the following variables:
+#  Fmodex_FOUND       - Set to false, or undefined, if Fmod isn't found.
+#  Fmodex_INCLUDE_DIRS - The Fmod include directory.
+#  Fmodex_LIBRARIES    - The Fmod library to link against.
+#
+# 
+
+SET(Fmodex_ROOT)
+
+# Add ROS Fmodex directory if ROS is installed
+FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)  
+IF(ROSPACK_EXEC)  
+	EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find fmodex 
+			   	    OUTPUT_VARIABLE Fmodex_ROS_PATH
+					OUTPUT_STRIP_TRAILING_WHITESPACE
+					WORKING_DIRECTORY "./"
+	)
+	IF(Fmodex_ROS_PATH)
+	    MESSAGE(STATUS "Found Fmodex ROS pkg : ${Fmodex_ROS_PATH}")
+	    SET(Fmodex_ROOT
+	        ${Fmodex_ROS_PATH}/fmodex
+	        ${Fmodex_ROOT}
+	    )
+	ENDIF(Fmodex_ROS_PATH)
+ENDIF(ROSPACK_EXEC)
+     
+FIND_PATH(Fmodex_INCLUDE_DIRS fmod.h PATHS ${Fmodex_ROOT}/include)
+
+IF(CMAKE_SIZEOF_VOID_P EQUAL 8)
+   FIND_LIBRARY(Fmodex_LIBRARIES NAMES fmodex64 PATHS ${Fmodex_ROOT}/lib)
+ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8)
+IF(NOT Fmodex_LIBRARIES)
+   FIND_LIBRARY(Fmodex_LIBRARIES NAMES fmodex PATHS ${Fmodex_ROOT}/lib)
+ENDIF(NOT Fmodex_LIBRARIES)
+
+IF (Fmodex_INCLUDE_DIRS AND Fmodex_LIBRARIES)
+   SET(Fmodex_FOUND TRUE)
+ENDIF (Fmodex_INCLUDE_DIRS AND Fmodex_LIBRARIES)
+
+IF (Fmodex_FOUND)
+   # show which Fmod was found only if not quiet
+   IF (NOT Fmodex_FIND_QUIETLY)
+      MESSAGE(STATUS "Found Fmod: ${Fmodex_LIBRARIES}")
+   ENDIF (NOT Fmodex_FIND_QUIETLY)
+ELSE (Fmodex_FOUND)
+   # fatal error if Fmod is required but not found
+   IF (Fmodex_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find Fmodex... (aka libfmodex)")
+   ENDIF (Fmodex_FIND_REQUIRED)
+ENDIF (Fmodex_FOUND)
diff --git a/fmodex/Makefile b/fmodex/Makefile
new file mode 100644
index 00000000..66f8110b
--- /dev/null
+++ b/fmodex/Makefile
@@ -0,0 +1,20 @@
+
+all: installed
+
+TARBALL = build/fmodex44008.tar.gz
+TARBALL_URL = http://rtabmap.googlecode.com/files/fmodex44008.tar.gz
+SOURCE_DIR = build/fmodex44008
+UNPACK_CMD = tar xzf
+include $(shell rospack find mk)/download_unpack_build.mk
+
+installed: $(SOURCE_DIR)/unpacked
+	mkdir -p fmodex
+	cp -r $(SOURCE_DIR)/include fmodex/.
+	cp -r $(SOURCE_DIR)/lib fmodex/.
+	touch installed
+
+clean:
+	-rm -rf src $(SOURCE_DIR) installed
+
+wipe: clean
+	-rm -rf build
diff --git a/fmodex/mainpage.dox b/fmodex/mainpage.dox
new file mode 100644
index 00000000..06b27258
--- /dev/null
+++ b/fmodex/mainpage.dox
@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b fmodex 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/
diff --git a/fmodex/manifest.xml b/fmodex/manifest.xml
new file mode 100644
index 00000000..f20d20df
--- /dev/null
+++ b/fmodex/manifest.xml
@@ -0,0 +1,14 @@
+<package>
+  <description brief="fmodex">
+
+     fmodex
+
+  </description>
+  <author>Mathieu Labbé</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/fmodex</url>
+
+</package>
+
+
diff --git a/rtabmap/launch/loop_closure_detection.launch b/rtabmap/launch/loop_closure_detection.launch
index 55ca2822..a2e5279d 100644
--- a/rtabmap/launch/loop_closure_detection.launch
+++ b/rtabmap/launch/loop_closure_detection.launch
@@ -9,7 +9,7 @@
 	
 	<node name="rtabmap_gui" pkg="rtabmap" type="rtabmap_gui" output="screen"/>
 	
-	<node name="camera" pkg="rtabmap" type="camera" output="screen">
+	<node name="camera" pkg="rtabmap_image" type="camera" output="screen">
 		<remap from="/camera/image" to="/image"/>
 		<param name="device_id" value="0" type="int"/>
 		<param name="image_hz" value="1.0" type="double"/>
diff --git a/rtabmap_audio/CMakeLists.txt b/rtabmap_audio/CMakeLists.txt
index 0865f16b..9808b7ec 100644
--- a/rtabmap_audio/CMakeLists.txt
+++ b/rtabmap_audio/CMakeLists.txt
@@ -40,5 +40,6 @@ FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui REQUIRED)
 find_package(Fmodex REQUIRED)
 INCLUDE(${QT_USE_FILE})
 
-rosbuild_add_executable(audio_player AudioPlayerNode.cpp ${Fmodex_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(${Fmodex_INCLUDE_DIRS})
+rosbuild_add_executable(audio_player AudioPlayerNode.cpp)
 target_link_libraries(audio_player ${Fmodex_LIBRARIES} ${QT_LIBRARIES})
diff --git a/rtabmap_audio/FindFmodex.cmake b/rtabmap_audio/FindFmodex.cmake
index c2437ad6..1e3dc548 100644
--- a/rtabmap_audio/FindFmodex.cmake
+++ b/rtabmap_audio/FindFmodex.cmake
@@ -7,14 +7,34 @@
 #  Fmodex_LIBRARIES    - The Fmod library to link against.
 #
 # 
+
+SET(Fmodex_ROOT)
+
+# Add ROS Fmodex directory if ROS is installed
+FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)  
+IF(ROSPACK_EXEC)  
+	EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find fmodex 
+			   	    OUTPUT_VARIABLE Fmodex_ROS_PATH
+					OUTPUT_STRIP_TRAILING_WHITESPACE
+					WORKING_DIRECTORY "./"
+	)
+	IF(Fmodex_ROS_PATH)
+	    MESSAGE(STATUS "Found Fmodex ROS pkg : ${Fmodex_ROS_PATH}")
+	    SET(Fmodex_ROOT
+	        ${Fmodex_ROS_PATH}/fmodex
+	        ${Fmodex_ROOT}
+	    )
+	ENDIF(Fmodex_ROS_PATH)
+ENDIF(ROSPACK_EXEC)
      
-FIND_PATH(Fmodex_INCLUDE_DIRS fmod.h)
+FIND_PATH(Fmodex_INCLUDE_DIRS fmod.h PATHS ${Fmodex_ROOT}/include)
 
 IF(CMAKE_SIZEOF_VOID_P EQUAL 8)
-   FIND_LIBRARY(Fmodex_LIBRARIES NAMES fmodex64)
-ELSE(CMAKE_SIZEOF_VOID_P EQUAL 8)
-   FIND_LIBRARY(Fmodex_LIBRARIES NAMES fmodex)
+   FIND_LIBRARY(Fmodex_LIBRARIES NAMES fmodex64 PATHS ${Fmodex_ROOT}/lib)
 ENDIF(CMAKE_SIZEOF_VOID_P EQUAL 8)
+IF(NOT Fmodex_LIBRARIES)
+   FIND_LIBRARY(Fmodex_LIBRARIES NAMES fmodex PATHS ${Fmodex_ROOT}/lib)
+ENDIF(NOT Fmodex_LIBRARIES)
 
 IF (Fmodex_INCLUDE_DIRS AND Fmodex_LIBRARIES)
    SET(Fmodex_FOUND TRUE)
@@ -28,6 +48,6 @@ IF (Fmodex_FOUND)
 ELSE (Fmodex_FOUND)
    # fatal error if Fmod is required but not found
    IF (Fmodex_FIND_REQUIRED)
-      MESSAGE(FATAL_ERROR "Could not find Fmod...")
+      MESSAGE(FATAL_ERROR "Could not find Fmodex... (aka libfmodex)")
    ENDIF (Fmodex_FIND_REQUIRED)
 ENDIF (Fmodex_FOUND)
diff --git a/rtabmap_audio/manifest.xml b/rtabmap_audio/manifest.xml
index 8cb3753e..6aa75874 100644
--- a/rtabmap_audio/manifest.xml
+++ b/rtabmap_audio/manifest.xml
@@ -12,6 +12,7 @@
   <depend package="std_msgs"/>
   <depend package="roscpp"/>
   <depend package="rtabmap_lib"/>
+  <depend package="fmodex"/>
 
   <rosdep name="libqt4-dev"/>
 
diff --git a/utilite/Makefile b/utilite/Makefile
index 94344fe4..5a8ca5f0 100644
--- a/utilite/Makefile
+++ b/utilite/Makefile
@@ -5,7 +5,7 @@ all: installed
 
 SVN_DIR = build/utilite-svn
 SVN_URL = https://utilite.googlecode.com/svn/trunk/
-SVN_REVISION = -r173
+SVN_REVISION = -rHEAD
 #SVN_PATCH = opencvVer.patch
 include $(shell rospack find mk)/svn_checkout.mk
 
@@ -27,4 +27,4 @@ clean:
 	-cd $(SVN_DIR)/build && make clean
 	rm -rf $(INSTALL_DIR) installed
 
-.PHONY : clean download
+.PHONY : clean installfmodex
diff --git a/utilite/manifest.xml b/utilite/manifest.xml
index 67d330b2..7449c3a1 100644
--- a/utilite/manifest.xml
+++ b/utilite/manifest.xml
@@ -14,6 +14,7 @@
   <versioncontrol type="svn" url="http://utilite.googlecode.com/svn/trunk/"/>
   
   <depend package="roscpp"/>
+  <depend package="fmodex"/>
 
   <rosdep name="libqt4-dev"/>
   <rosdep name="libmp3lame-dev"/>