diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0bc3e9c8..64a69803 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -152,7 +152,7 @@ INCLUDE_DIRECTORIES(corelib/include/)
 IF(QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND)
    ADD_SUBDIRECTORY( guilib )
    INCLUDE_DIRECTORIES(guilib/include/)
-   ADD_SUBDIRECTORY( ${PROJECT_PREFIX} )
+   ADD_SUBDIRECTORY( app )
 ELSE()
    MESSAGE(STATUS "[WARNING] Qt4 not found, the GUI lib and the stand-alone application will not be compiled...")
 ENDIF()
diff --git a/cmake_modules/FindUtiLite.cmake b/cmake_modules/FindUtiLite.cmake
index c510aab0..80797a22 100644
--- a/cmake_modules/FindUtiLite.cmake
+++ b/cmake_modules/FindUtiLite.cmake
@@ -11,7 +11,27 @@
 
 SET(UTILITE_VERSION_REQUIRED 0.2.11)
 
-FIND_PROGRAM(URESOURCEGENERATOR_EXEC NAME uresourcegenerator PATHS)  
+SET (UTILITE_POSSIBLE_ROOT_DIRS)
+
+# Add ROS UtiLite directory if ROS is installed
+FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)  
+IF(ROSPACK_EXEC)  
+    MESSAGE(STATUS "Found rospack executable : ${ROSPACK_EXEC}")
+	EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find utilite 
+			   	    OUTPUT_VARIABLE UTILITE_ROS_PATH
+					OUTPUT_STRIP_TRAILING_WHITESPACE
+					WORKING_DIRECTORY "./"
+	)
+	IF(UTILITE_ROS_PATH)
+	    MESSAGE(STATUS "Found UtiLite ROS pkg : ${UTILITE_ROS_PATH}")
+	    SET(UTILITE_POSSIBLE_ROOT_DIRS
+	        ${UTILITE_ROS_PATH}/utilite
+	        ${UTILITE_POSSIBLE_ROOT_DIRS}
+	    )
+	ENDIF(UTILITE_ROS_PATH)
+ENDIF(ROSPACK_EXEC)
+
+FIND_PROGRAM(URESOURCEGENERATOR_EXEC NAME uresourcegenerator PATHS ${UTILITE_POSSIBLE_ROOT_DIRS})  
 IF(URESOURCEGENERATOR_EXEC)  
 	EXECUTE_PROCESS(COMMAND ${URESOURCEGENERATOR_EXEC} -v 
 			   	    OUTPUT_VARIABLE UTILITE_VERSION
@@ -27,17 +47,20 @@ IF(URESOURCEGENERATOR_EXEC)
 
 	IF(WIN32)
 		FIND_PATH(UTILITE_INCLUDE_DIR 
-				  utilite/UEventsManager.h
-				  PATH_SUFFIXES "../include")
+				utilite/UEventsManager.h
+				PATH_SUFFIXES "../include")
 	
 		FIND_LIBRARY(UTILITE_LIBRARY NAMES utilite
-					PATH_SUFFIXES "../lib")
+			 	PATH_SUFFIXES "../lib")
 	
 	ELSE()
 		FIND_PATH(UTILITE_INCLUDE_DIR 
-				  utilite/UEventsManager.h)
+				utilite/UEventsManager.h
+				PATHS ${UTILITE_POSSIBLE_ROOT_DIRS})
 	
-		FIND_LIBRARY(UTILITE_LIBRARY NAMES utilite)
+		FIND_LIBRARY(UTILITE_LIBRARY 
+				NAMES utilite
+				PATHS ${UTILITE_POSSIBLE_ROOT_DIRS})
 	ENDIF()
 	
 	IF (UTILITE_INCLUDE_DIR AND UTILITE_LIBRARY)