diff --git a/.travis.yml b/.travis.yml
index 22c74b5c..5de90919 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -1,6 +1,6 @@
-sudo: required 
-dist: xenial 
-language: generic 
+sudo: required
+dist: xenial
+language: generic
 compiler:
   - gcc
 notifications:
@@ -11,12 +11,11 @@ env:
   global:
     - ROS_DISTRO=kinetic
     - UPSTREAM_WORKSPACE=file
-    - ROSINSTALL_FILENAME=industrial_calibration.rosinstall
     - NOT_TEST_INSTALL=true
   matrix:
     - ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
-script: 
+script:
   - source .ci_config/travis.sh
 
diff --git a/README.md b/README.md
index 81686fde..9d196773 100644
--- a/README.md
+++ b/README.md
@@ -25,32 +25,36 @@ Status: [![Build Status](https://travis-ci.org/ros-industrial/industrial_calibra
 
 Contains libraries/algorithms for calibration industrial systems
 
-# Requires
-# install ceres-solver(Note, there might be a .deb that works)
-#    follow instructions on http://ceres-solver.org/installation.html#linux
+## Requires
 
-# install openni2
-sudo apt-get install ros-kinetic-openni2-camera
-sudo apt-get install ros-kinetic-openni2-launch
+### Ceres Optimizer
 
-# install moveit
-sudo apt-get install ros-kinetic-moveit
+- With apt: `sudo apt install libceres-dev`
+- With [rosdep](http://docs.ros.org/independent/api/rosdep/html/):
+  `rosdep install industrial_extrinsic_cal` or
+  `rosdep install --from-paths industrial_calibration/`
+
+### Openni2
+`sudo apt-get install ros-kinetic-openni2-camera`
+`sudo apt-get install ros-kinetic-openni2-launch`
+
+### Moveit
+`sudo apt-get install ros-kinetic-moveit`
 
 # Examples
+
 ## Single Basler on a rail
 ```
 roslaunch robocyl_ical.launch
 roslaunch robo_cylinder.launch
 rosservice call /RobocylCalService "allowable_cost_per_observation: 0.25"
+```
 
 # Build
-Requires [wstool](http://wiki.ros.org/wstool)
 ```
 mkdir -p cal_ws/src
 cd cal_ws/src
-git clone -b kinetic https://github.com/ros-industrial/industrial_calibration.git
-wstool merge industrial_calibration/industrial_calibration.rosinstall
-wstool update
+git clone -b kinetic-devel https://github.com/ros-industrial/industrial_calibration.git
 cd ..
 catkin build
 ```
diff --git a/industrial_calibration.rosinstall b/industrial_calibration.rosinstall
deleted file mode 100644
index ff0a0cff..00000000
--- a/industrial_calibration.rosinstall
+++ /dev/null
@@ -1 +0,0 @@
-- git: {local-name: ceres-solver, uri: 'https://github.com/ceres-solver/ceres-solver.git', version: master}