diff --git a/cob_obstacle_distance/CMakeLists.txt b/cob_obstacle_distance/CMakeLists.txt
index 3279acf1..e7f4d97f 100644
--- a/cob_obstacle_distance/CMakeLists.txt
+++ b/cob_obstacle_distance/CMakeLists.txt
@@ -12,14 +12,14 @@ set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
add_definitions(${EIGEN3_DEFINITIONS})
find_package(orocos_kdl REQUIRED)
-
find_package(PkgConfig REQUIRED)
pkg_check_modules(ASSIMP assimp)
-pkg_check_modules(LIBFCL REQUIRED fcl)
-find_library(LIBFCL_LIBRARIES_FULL ${LIBFCL_LIBRARIES} ${LIBFCL_LIBRARY_DIRS})
-set(fcl_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")
+find_package(fcl REQUIRED)
+find_package(ccd QUIET)
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+include_directories(${fcl_INCLUDE_DIRS})
catkin_package(
CATKIN_DEPENDS cob_control_msgs cob_srvs dynamic_reconfigure eigen_conversions geometry_msgs kdl_conversions kdl_parser moveit_msgs roscpp roslib sensor_msgs shape_msgs std_msgs tf tf_conversions urdf visualization_msgs
@@ -29,19 +29,19 @@ catkin_package(
)
### BUILD ###
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${FCL_INCLUDE_DIRS} ${orocos_kdl_INCLUDE_DIRS} ${ASSIMP_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${CCD_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${fcl_INCLUDE_DIRS} ${orocos_kdl_INCLUDE_DIRS} ${ASSIMP_INCLUDE_DIRS})
add_library(parsers src/parsers/mesh_parser.cpp src/parsers/stl_parser.cpp)
add_dependencies(parsers ${catkin_EXPORTED_TARGETS})
-target_link_libraries(parsers assimp ${fcl_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(parsers assimp fcl ${catkin_LIBRARIES})
add_library(marker_shapes_management src/link_to_collision.cpp src/marker_shapes/marker_shapes_impl.cpp src/marker_shapes/marker_shapes_interface.cpp src/shapes_manager.cpp)
add_dependencies(marker_shapes_management ${catkin_EXPORTED_TARGETS})
-target_link_libraries(marker_shapes_management parsers ${fcl_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
+target_link_libraries(marker_shapes_management parsers fcl ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
add_executable(${PROJECT_NAME} src/chainfk_solvers/advanced_chainfksolver_recursive.cpp src/${PROJECT_NAME}.cpp src/distance_manager.cpp src/helpers/helper_functions.cpp)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME} parsers marker_shapes_management ${fcl_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} parsers marker_shapes_management fcl ${CCD_LIBRARIES} ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
add_executable(debug_obstacle_distance_node src/debug/debug_obstacle_distance_node.cpp)
add_dependencies(debug_obstacle_distance_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
diff --git a/cob_obstacle_distance/package.xml b/cob_obstacle_distance/package.xml
index 57823c11..9952e58f 100644
--- a/cob_obstacle_distance/package.xml
+++ b/cob_obstacle_distance/package.xml
@@ -21,15 +21,14 @@
dynamic_reconfigure
eigen_conversions
eigen
- libfcl-dev
- fcl
+ fcl
geometry_msgs
kdl_conversions
kdl_parser
+ libccd-dev
+ libfcl-dev
+ liborocos-kdl-dev
moveit_msgs
- orocos_kdl
- liborocos-kdl-dev
- liborocos-kdl
pkg-config
roscpp
roslib