diff --git a/CMakeLists.txt b/CMakeLists.txt
index a48420e..084cc72 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
   image_geometry
 )
 find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 add_service_files(
   FILES
@@ -54,6 +55,7 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
 )
 
 link_directories(
diff --git a/package.xml b/package.xml
index 9058cca..507aea9 100644
--- a/package.xml
+++ b/package.xml
@@ -43,6 +43,7 @@
   <depend>tf2_ros</depend>
   <depend>image_geometry</depend>
   <depend>libopencv-dev</depend>
+  <depend>eigen</depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
diff --git a/rovi.rosinstall b/rovi.rosinstall
new file mode 100644
index 0000000..c9d3227
--- /dev/null
+++ b/rovi.rosinstall
@@ -0,0 +1,24 @@
+- tar:
+    local-name: aravis
+    uri: http://ftp.gnome.org/pub/GNOME/sources/aravis/0.6/aravis-0.6.0.tar.xz
+    version: aravis-0.6.0
+- git:
+    local-name: camera_aravis
+    uri: http://github.com/YOODS/camera_aravis.git
+    version: master
+- git:
+    local-name: rosnodejs
+    uri: https://github.com/RethinkRobotics-opensource/rosnodejs
+    version: kinetic-devel
+- git:
+    local-name: rovi
+    uri: http://github.com/YOODS/rovi.git
+    version: israfel
+- git:
+    local-name: rovi_utils
+    uri: http://github.com/YOODS/rovi_utils.git
+    version: master
+- git:
+    local-name: rqt_param_manager
+    uri: https://github.com/YOODS/rqt_param_manager.git
+    version: devel