diff --git a/.travis.yml b/.travis.yml
index c85ccb92..60e36c2c 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -10,6 +10,8 @@ notifications:
     on_failure: never
 
 env:
+  global:
+    - BEFORE_SCRIPT=.travis_ceres.sh
   matrix:
     - USE_DEB=true
       ROS_DISTRO="indigo"
@@ -21,10 +23,12 @@ env:
       ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
       NOT_TEST_BUILD=true
       NOT_TEST_INSTALL=true
-
+    - ROS_DISTRO="indigo" PRERELEASE=true
+matrix:
+  allow_failures:
+    - env: ROS_DISTRO="indigo" PRERELEASE=true
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 
 script:
-  - source .travis_ceres.sh
-  - source .ci_config/travis.sh
+  - .ci_config/travis.sh
diff --git a/.travis_ceres.sh b/.travis_ceres.sh
old mode 100644
new mode 100755
index 9db819f4..33bea0f5
--- a/.travis_ceres.sh
+++ b/.travis_ceres.sh
@@ -1,14 +1,11 @@
 #!/bin/sh
 #http://ceres-solver.org/
 
-# Dependency for Ceres
-sudo apt-get -qq install -y libeigen3-dev
-
 # Save current directory
 dir=`pwd`
 cd ..
 
-# glfags
+# gflags
 wget https://github.com/gflags/gflags/archive/v2.1.2.zip
 unzip v2.1.2.zip > /dev/null
 rm v2.1.2.zip
diff --git a/industrial_extrinsic_cal/CMakeLists.txt b/industrial_extrinsic_cal/CMakeLists.txt
index 918db5a0..90626f18 100644
--- a/industrial_extrinsic_cal/CMakeLists.txt
+++ b/industrial_extrinsic_cal/CMakeLists.txt
@@ -25,6 +25,8 @@ find_package(Boost REQUIRED)
 find_package(Ceres REQUIRED)
 message("-- Found Ceres version ${CERES_VERSION}: ${CERES_INCLUDE_DIRS}")
 
+find_package(Eigen3 REQUIRED)
+
 find_package(OpenCV 2 REQUIRED)
 message("-- Found OpenCV version ${OpenCV_VERSION}: ${OpenCV_INCLUDE_DIRS}")
 
@@ -108,6 +110,7 @@ catkin_package(
   DEPENDS
     Boost
     CERES
+    EIGEN3
 )
 
 
@@ -116,11 +119,11 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   ${CERES_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
   ${yaml_cpp_INCLUDE_DIR}
 )
 
-
 # target: main library
 add_library(
   industrial_extrinsic_cal
diff --git a/industrial_extrinsic_cal/package.xml b/industrial_extrinsic_cal/package.xml
index c496e0b2..b62d8219 100644
--- a/industrial_extrinsic_cal/package.xml
+++ b/industrial_extrinsic_cal/package.xml
@@ -20,6 +20,7 @@
   <build_depend>actionlib_msgs</build_depend>
   <build_depend>boost</build_depend>
   <build_depend>cv_bridge</build_depend>
+  <build_depend>eigen</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>message_generation</build_depend>
@@ -31,6 +32,7 @@
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>std_srvs</build_depend>
+  <build_depend>suitesparse</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>tf_conversions</build_depend>
   <build_depend>yaml-cpp</build_depend>
@@ -38,6 +40,7 @@
   <run_depend>actionlib</run_depend>
   <run_depend>actionlib_msgs</run_depend>
   <run_depend>cv_bridge</run_depend>
+  <run_depend>eigen</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>image_view</run_depend>
@@ -56,6 +59,7 @@
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>std_srvs</run_depend>
+  <run_depend>suitesparse</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>tf_conversions</run_depend>
   <run_depend>yaml-cpp</run_depend>