diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6a1426f..921b30e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,10 +22,12 @@ set(${PROJECT_NAME}_CATKIN_COMPONENTS
     pcl_ros
     roscpp
     rosconsole
+    rostime
     sensor_msgs
     std_msgs
     tf2
     tf2_ros
+    xmlrpcpp
 )
 
 find_package(OpenMP)
diff --git a/include/dynamic_robot_localization/common/impl/registration_visualizer.hpp b/include/dynamic_robot_localization/common/impl/registration_visualizer.hpp
index 029e9a9..2802e47 100644
--- a/include/dynamic_robot_localization/common/impl/registration_visualizer.hpp
+++ b/include/dynamic_robot_localization/common/impl/registration_visualizer.hpp
@@ -216,7 +216,7 @@ void RegistrationVisualizer<PointSource, PointTarget>::runDisplay() {
 	viewer_->addText("Red    -> source", 10, 10, 1.0, 0.0, 0.0, "legend source v2", viewport1);
 
 	// Add coordinate system to both ports
-	viewer_->addCoordinateSystem(1.0, 0);
+	viewer_->addCoordinateSystem();
 
 	// Visualization loop
 	while (!viewer_->wasStopped()) {
diff --git a/install/a_dependencies.sh b/install/a_dependencies.sh
index 3e9e28e..0db4587 100755
--- a/install/a_dependencies.sh
+++ b/install/a_dependencies.sh
@@ -31,11 +31,14 @@ sudo apt-get install ros-${ros_version}-message-generation -y
 sudo apt-get install ros-${ros_version}-message-runtime -y
 sudo apt-get install ros-${ros_version}-pcl-conversions -y
 sudo apt-get install ros-${ros_version}-pcl-ros -y
+sudo apt-get install ros-${ros_version}-rospp -y
 sudo apt-get install ros-${ros_version}-rosconsole -y
+sudo apt-get install ros-${ros_version}-rostime -y
 sudo apt-get install ros-${ros_version}-sensor-msgs -y
 sudo apt-get install ros-${ros_version}-std-msgs -y
 sudo apt-get install ros-${ros_version}-tf2 -y
 sudo apt-get install ros-${ros_version}-tf2-ros -y
+sudo apt-get install ros-${ros_version}-xmlrpcpp -y
 
 
 # optional ros packages for ukf filtering
diff --git a/package.xml b/package.xml
index 6772985..9c8b18e 100644
--- a/package.xml
+++ b/package.xml
@@ -29,10 +29,12 @@
 	<build_depend>pcl_ros</build_depend>
 	<build_depend>roscpp</build_depend>
 	<build_depend>rosconsole</build_depend>
+	<build_depend>rostime</build_depend>
 	<build_depend>sensor_msgs</build_depend>
 	<build_depend>std_msgs</build_depend>
 	<build_depend>tf2</build_depend>
 	<build_depend>tf2_ros</build_depend>
+	<build_depend>xmlrpcpp</build_depend>
 
 	<!-- system dependencies -->
 	<build_depend>Boost</build_depend>
@@ -58,10 +60,12 @@
 	<run_depend>pcl_ros</run_depend>
 	<run_depend>roscpp</run_depend>
 	<run_depend>rosconsole</run_depend>
+	<run_depend>rostime</run_depend>
 	<run_depend>sensor_msgs</run_depend>
 	<run_depend>std_msgs</run_depend>
 	<run_depend>tf2</run_depend>
 	<run_depend>tf2_ros</run_depend>
+	<run_depend>xmlrpcpp</run_depend>
 
 	<!-- other ros packages (run only) -->
 	<run_depend>message_runtime</run_depend>