diff --git a/fast_planner/bspline_opt/CMakeLists.txt b/fast_planner/bspline_opt/CMakeLists.txt
index 332f3d314..cc8e88a89 100755
--- a/fast_planner/bspline_opt/CMakeLists.txt
+++ b/fast_planner/bspline_opt/CMakeLists.txt
@@ -8,39 +8,37 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall")
 
 find_package(Eigen3 REQUIRED)
 find_package(PCL 1.7 REQUIRED)
-
-set(NLOPT_INCLUDE_DIR "/usr/local/include")  
-set(NLOPT_LIBRARY "/usr/local/lib/libnlopt.so")  
+find_package(NLopt REQUIRED)
 
 find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-  visualization_msgs
-  cv_bridge
-  plan_env
+    roscpp
+    rospy
+    std_msgs
+    visualization_msgs
+    cv_bridge
+    plan_env
 )
 
 catkin_package(
- INCLUDE_DIRS include
- LIBRARIES bspline_opt
- CATKIN_DEPENDS plan_env
-#  DEPENDS system_lib
+    INCLUDE_DIRS include
+    LIBRARIES bspline_opt
+    CATKIN_DEPENDS plan_env
+    #  DEPENDS system_lib
 )
 
-include_directories( 
-    SYSTEM 
-    include 
+include_directories(
+    SYSTEM
+    include
     ${catkin_INCLUDE_DIRS}
-    ${Eigen3_INCLUDE_DIRS} 
+    ${Eigen3_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS}
-    ${NLOPT_INCLUDE_DIR}  
+    ${NLOPT_INCLUDE_DIRS}
 )
 
-add_library( bspline_opt 
-    src/bspline_optimizer.cpp 
-    )
-target_link_libraries( bspline_opt
-    ${catkin_LIBRARIES} 
-    ${NLOPT_LIBRARY}   
-    )
+add_library(bspline_opt
+    src/bspline_optimizer.cpp
+)
+target_link_libraries(bspline_opt
+    ${catkin_LIBRARIES}
+    ${NLOPT_LIBRARY}
+)
diff --git a/fast_planner/plan_manage/CMakeLists.txt b/fast_planner/plan_manage/CMakeLists.txt
index a8fb719d0..e8a676afa 100755
--- a/fast_planner/plan_manage/CMakeLists.txt
+++ b/fast_planner/plan_manage/CMakeLists.txt
@@ -8,6 +8,7 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 
 find_package(Eigen3 REQUIRED)
 find_package(PCL 1.7 REQUIRED)
+find_package(NLopt REQUIRED)
 
 find_package(catkin REQUIRED COMPONENTS
   roscpp
@@ -27,8 +28,8 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
   FILES
   Bspline.msg
-  )
-  
+)
+
 # Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
@@ -38,10 +39,10 @@ generate_messages(
 
 # catkin_package(CATKIN_DEPENDS message_runtime)
 catkin_package(
- INCLUDE_DIRS include
- LIBRARIES plan_manage
- CATKIN_DEPENDS plan_env path_searching bspline bspline_opt traj_utils message_runtime
-#  DEPENDS system_lib
+  INCLUDE_DIRS include
+  LIBRARIES plan_manage
+  CATKIN_DEPENDS plan_env path_searching bspline bspline_opt traj_utils message_runtime
+  #  DEPENDS system_lib
 )
 
 include_directories(
@@ -50,18 +51,20 @@ include_directories(
   ${catkin_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include
   ${EIGEN3_INCLUDE_DIR}
   ${PCL_INCLUDE_DIRS}
+  ${NLOPT_INCLUDE_DIRS}
 )
 
 
 add_executable(fast_planner_node
-  src/fast_planner_node.cpp 
+  src/fast_planner_node.cpp
   src/kino_replan_fsm.cpp
   src/topo_replan_fsm.cpp
   src/planner_manager.cpp
-  )
-target_link_libraries(fast_planner_node 
+)
+target_link_libraries(fast_planner_node
   ${catkin_LIBRARIES}
-  )
+  ${NLOPT_LIBRARIES}
+)
 
 add_executable(traj_server src/traj_server.cpp)
 target_link_libraries(traj_server ${catkin_LIBRARIES})
diff --git a/uav_simulator/Utils/multi_map_server/CMakeLists.txt b/uav_simulator/Utils/multi_map_server/CMakeLists.txt
index 29cd55689..976aae538 100755
--- a/uav_simulator/Utils/multi_map_server/CMakeLists.txt
+++ b/uav_simulator/Utils/multi_map_server/CMakeLists.txt
@@ -43,17 +43,17 @@ project(multi_map_server)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
-  geometry_msgs
-  nav_msgs
-  pose_utils
-  message_generation
-  roscpp
-  visualization_msgs
-  tf
-  std_srvs
-  laser_geometry
-  pose_utils
-  quadrotor_msgs
+   geometry_msgs
+   nav_msgs
+   pose_utils
+   message_generation
+   roscpp
+   visualization_msgs
+   tf
+   std_srvs
+   laser_geometry
+   pose_utils
+   quadrotor_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -130,10 +130,10 @@ generate_messages(
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES irobot_msgs
+   #  INCLUDE_DIRS include
+   #  LIBRARIES irobot_msgs
    CATKIN_DEPENDS geometry_msgs nav_msgs quadrotor_msgs
-#  DEPENDS system_lib
+   #  DEPENDS system_lib
 )
 
 ###########
@@ -147,7 +147,7 @@ include_directories(${ARMADILLO_INCLUDE_DIRS})
 ## Your package locations should be listed before other locations
 include_directories(include)
 include_directories(
-  ${catkin_INCLUDE_DIRS}
+   ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a cpp library
@@ -160,13 +160,12 @@ add_executable(multi_map_visualization src/multi_map_visualization.cc)
 
 ## Add cmake target dependencies of the executable/library
 ## as an example, message headers may need to be generated before nodes
-add_dependencies(multi_map_visualization multi_map_server_messages_cpp)
+add_dependencies(multi_map_visualization ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(multi_map_visualization 
+target_link_libraries(multi_map_visualization
    ${catkin_LIBRARIES}
    ${ARMADILLO_LIBRARIES}
-   pose_utils
 )
 
 #############
diff --git a/uav_simulator/Utils/odom_visualization/CMakeLists.txt b/uav_simulator/Utils/odom_visualization/CMakeLists.txt
index 7b42d04c9..56dd42d76 100755
--- a/uav_simulator/Utils/odom_visualization/CMakeLists.txt
+++ b/uav_simulator/Utils/odom_visualization/CMakeLists.txt
@@ -89,7 +89,7 @@ find_package(catkin REQUIRED COMPONENTS
 #   MultiSparseMap3D.msg
 #   SparseMap3D.msg
 #   VerticalOccupancyGridList.msg
-   #plan_cmd.msg
+#plan_cmd.msg
 #)
 
 ## Generate services in the 'srv' folder
@@ -123,10 +123,10 @@ find_package(catkin REQUIRED COMPONENTS
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES irobot_msgs
-#  CATKIN_DEPENDS geometry_msgs nav_msgs
-#  DEPENDS system_lib
+  #  INCLUDE_DIRS include
+  #  LIBRARIES irobot_msgs
+  #  CATKIN_DEPENDS geometry_msgs nav_msgs
+  #  DEPENDS system_lib
 )
 
 ###########
@@ -151,15 +151,12 @@ include_directories(
 ## Declare a cpp executable
 add_executable(odom_visualization src/odom_visualization.cpp)
 
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(multi_map_visualization multi_map_server_messages_cpp)
+add_dependencies(odom_visualization ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(odom_visualization
-   ${catkin_LIBRARIES}
-   ${ARMADILLO_LIBRARIES}
-   pose_utils
+  ${catkin_LIBRARIES}
+  ${ARMADILLO_LIBRARIES}
 )
 
 #############
diff --git a/uav_simulator/Utils/pose_utils/CMakeLists.txt b/uav_simulator/Utils/pose_utils/CMakeLists.txt
index 87beff30b..68a18d257 100755
--- a/uav_simulator/Utils/pose_utils/CMakeLists.txt
+++ b/uav_simulator/Utils/pose_utils/CMakeLists.txt
@@ -9,18 +9,22 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES pose_utils
-#  CATKIN_DEPENDS geometry_msgs nav_msgs
-#  DEPENDS system_lib
+  #  CATKIN_DEPENDS geometry_msgs nav_msgs
+  #  DEPENDS system_lib
 )
 
 find_package(Armadillo REQUIRED)
 
 include_directories(
-    ${catkin_INCLUDE_DIRS}
-    ${ARMADILLO_INCLUDE_DIRS}
-    include
-    )
+  ${catkin_INCLUDE_DIRS}
+  ${ARMADILLO_INCLUDE_DIRS}
+  include
+)
+
+add_library(pose_utils
+  src/pose_utils.cpp)
 
-add_library(pose_utils 
-   ${ARMADILLO_LIBRARIES}
-   src/pose_utils.cpp)
+target_link_libraries(pose_utils
+  ${catkin_LIBRARIES}
+  ${ARMADILLO_LIBRARIES}
+)
\ No newline at end of file
diff --git a/uav_simulator/so3_disturbance_generator/CMakeLists.txt b/uav_simulator/so3_disturbance_generator/CMakeLists.txt
index 235b84204..53cd611b4 100755
--- a/uav_simulator/so3_disturbance_generator/CMakeLists.txt
+++ b/uav_simulator/so3_disturbance_generator/CMakeLists.txt
@@ -68,9 +68,8 @@ include_directories(
 
 add_executable(so3_disturbance_generator src/so3_disturbance_generator.cpp)
 add_dependencies(so3_disturbance_generator ${PROJECT_NAME}_gencfg)
-target_link_libraries(so3_disturbance_generator 
-   ${catkin_LIBRARIES}
-   ${ARMADILLO_LIBRARIES}
-   pose_utils 
+target_link_libraries(so3_disturbance_generator
+  ${catkin_LIBRARIES}
+  ${ARMADILLO_LIBRARIES}
 )