diff --git a/CMakeLists.txt b/CMakeLists.txt
index 430e93e5..683c0eff 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -156,11 +156,11 @@ ENDIF(find_object_2d_FOUND)
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES rtabmap_ros
+  LIBRARIES rtabmap_ros rtabmap_sync
   CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs std_srvs nav_msgs geometry_msgs visualization_msgs
                  image_transport tf tf_conversions tf2_ros eigen_conversions laser_geometry pcl_conversions 
                  pcl_ros nodelet dynamic_reconfigure message_filters class_loader rosgraph_msgs
-                 stereo_msgs move_base_msgs image_geometry rtabmap ${optional_dependencies}
+                 stereo_msgs move_base_msgs image_geometry ${optional_dependencies}
   DEPENDS RTABMap
 )
 
diff --git a/include/rtabmap_ros/MapsManager.h b/include/rtabmap_ros/MapsManager.h
index a1092931..556ce70c 100644
--- a/include/rtabmap_ros/MapsManager.h
+++ b/include/rtabmap_ros/MapsManager.h
@@ -43,6 +43,8 @@ class OccupancyGrid;
 
 }  // namespace rtabmap
 
+namespace rtabmap_ros {
+
 class MapsManager {
 public:
 	MapsManager();
@@ -136,4 +138,6 @@ private:
 	std::map<void*, bool> latched_;
 };
 
+}  // namespace rtabmap_ros
+
 #endif /* MAPSMANAGER_H_ */
diff --git a/src/MapAssemblerNode.cpp b/src/MapAssemblerNode.cpp
index f79e1716..892727b2 100644
--- a/src/MapAssemblerNode.cpp
+++ b/src/MapAssemblerNode.cpp
@@ -342,7 +342,7 @@ public:
 #endif
 
 private:
-	MapsManager mapsManager_;
+	rtabmap_ros::MapsManager mapsManager_;
 	std::map<int, Signature> nodes_;
 	std::map<int, Transform> optimizedPoses_;
 	std::string mapFrameId_;
diff --git a/src/MapsManager.cpp b/src/MapsManager.cpp
index a4623769..4d3ce822 100644
--- a/src/MapsManager.cpp
+++ b/src/MapsManager.cpp
@@ -56,6 +56,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 using namespace rtabmap;
 
+namespace rtabmap_ros {
+
 MapsManager::MapsManager() :
 		cloudOutputVoxelized_(true),
 		cloudSubtractFiltering_(false),
@@ -1557,3 +1559,5 @@ cv::Mat MapsManager::getGridProbMap(
 	return occupancyGrid_->getProbMap(xMin, yMin);
 }
 
+}  // namespace rtabmap_ros
+