diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9cf0eba0..c7806d07 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,7 +80,6 @@ catkin_package(
                  image_transport tf tf_conversions laser_geometry pcl_conversions 
                  pcl_ros nodelet dynamic_reconfigure rviz message_filters class_loader
                  stereo_msgs
-  DEPENDS RTABMap
 )
 
 ###########
@@ -234,6 +233,13 @@ install(DIRECTORY
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )
 
+## install plugins/nodelets xml
+install(FILES
+   nodelet_plugins.xml
+   plugin_description.xml
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 #############
 ## Testing ##
 #############