diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e08aa6..2b14fcc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 project(moveit_visual_tools)
 
 find_package(moveit_common REQUIRED)
@@ -6,6 +6,7 @@ moveit_package()
 
 # Load  all dependencies required for this package
 find_package(Boost REQUIRED system)
+find_package(Bullet REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(graph_msgs REQUIRED)
@@ -19,21 +20,18 @@ find_package(tf2_eigen REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(trajectory_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
-
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-  Boost
-  geometry_msgs
-  graph_msgs
-  moveit_core
-  moveit_ros_planning
-  rclcpp
-  rviz_visual_tools
-  std_msgs
-  tf2_eigen
-  tf2_ros
-  trajectory_msgs
-  visualization_msgs
-)
+find_package(QT NAMES Qt6 Qt5 COMPONENTS Widgets Core Core5Compat)
+if(${QT_VERSION} EGUAL "Qt6")
+	find_package(Qt{QT_VERSION_MAJOR}$ REQUIRED COMPONENTS Widgets Core Core5Compat)
+elseif()#qt5
+	find_package(Qt{QT_VERSION_MAJOR}$ REQUIRED COMPONENTS Widgets Core)
+	if(${QT_VERSION} VERSION_LESS 5.15.0)
+		function(qt_wrap_cpp out)
+		qt5_wrap_cpp(_sources ${ARGN})
+		set("${out}" ${_sources} PARENT_SCOPE)
+		endfunction()
+	endif()
+endif()
 
 # Visualization Tools Library
 add_library(${PROJECT_NAME} SHARED
@@ -44,23 +42,74 @@ add_library(${PROJECT_NAME} SHARED
 
 target_include_directories(${PROJECT_NAME}
   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  PUBLIC $<INSTALL_INTERFACE:include>
+  PUBLIC $<INSTALL_INTERFACE:include> ${BULLET_INCLUDE_DIR}
 )
-ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-# Demo executable
-add_executable(${PROJECT_NAME}_demo
-  src/${PROJECT_NAME}_demo.cpp
-)
-target_link_libraries(${PROJECT_NAME}_demo
-  ${PROJECT_NAME}
+target_link_libraries(moveit_visual_tools PUBLIC
+  ${BULLET_LIBRARIES}
+  ${geometry_msgs_TARGETS}
+  ${graph_msgs_TARGETS}
+  ${std_msgs_TARGETS}
+  ${trajectory_msgs_TARGETS}
+  ${visualization_msgs_TARGETS}
+  Qt${QT_VERSION_MAJOR}::Widgets
+  Qt${QT_VERSION_MAJOR}::Core
+  Qt${QT_VERSION_MAJOR}::Core5Compat
+  moveit_core::moveit_collision_detection
+  moveit_core::moveit_collision_detection_bullet
+  moveit_core::moveit_collision_detection_fcl
+  moveit_core::moveit_collision_distance_field
+  moveit_core::moveit_constraint_samplers
+  moveit_core::moveit_distance_field
+  moveit_core::moveit_dynamics_solver
+  moveit_core::moveit_exceptions
+  moveit_core::moveit_kinematic_constraints
+  moveit_core::moveit_kinematics_base
+  moveit_core::moveit_kinematics_metrics
+  moveit_core::moveit_macros
+  moveit_core::moveit_planning_interface
+  moveit_core::moveit_planning_scene
+  moveit_core::moveit_robot_model
+  moveit_core::moveit_robot_state
+  moveit_core::moveit_robot_trajectory
+  moveit_core::moveit_smoothing_base
+  moveit_core::moveit_test_utils
+  moveit_core::moveit_trajectory_processing
+  moveit_core::moveit_transforms
+  moveit_core::moveit_utils
+  moveit_ros_planning::default_request_adapter_parameters
+  moveit_ros_planning::default_response_adapter_parameters
+  moveit_ros_planning::kinematics_parameters
+  moveit_ros_planning::moveit_collision_plugin_loader
+  moveit_ros_planning::moveit_constraint_sampler_manager_loader
+  moveit_ros_planning::moveit_cpp
+  moveit_ros_planning::moveit_kinematics_plugin_loader
+  moveit_ros_planning::moveit_plan_execution
+  moveit_ros_planning::moveit_planning_pipeline
+  moveit_ros_planning::moveit_planning_pipeline_interfaces
+  moveit_ros_planning::moveit_planning_scene_monitor
+  moveit_ros_planning::moveit_rdf_loader
+  moveit_ros_planning::moveit_robot_model_loader
+  moveit_ros_planning::moveit_trajectory_execution_manager
+  moveit_ros_planning::planning_pipeline_parameters
+  moveit_ros_planning::srdf_publisher_node
+  rclcpp::rclcpp
+  rviz_visual_tools::rviz_visual_tools
+  rviz_visual_tools::rviz_visual_tools_gui
+  rviz_visual_tools::rviz_visual_tools_imarker_simple
+  rviz_visual_tools::rviz_visual_tools_remote_control
+  tf2_eigen::tf2_eigen
+  tf2_ros::static_transform_broadcaster_node
+  tf2_ros::tf2_ros
 )
-ament_target_dependencies(${PROJECT_NAME}_demo ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+
+
 
 
 # Exports
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+
 
 #############
 ## Install ##
@@ -75,11 +124,7 @@ install(
   LIBRARY DESTINATION lib
 )
 
-# Install executables
-install(
-  TARGETS ${PROJECT_NAME}_demo
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
+
 
 # Install header files
 install(DIRECTORY include/ DESTINATION include)
@@ -91,13 +136,36 @@ install(DIRECTORY launch resources DESTINATION share/${PROJECT_NAME})
 ## Testing ##
 #############
 
-if(BUILD_TESTING)
+if(0)#BUILD_TESTING)
+# Demo executable
+add_executable(${PROJECT_NAME}_demo
+  src/${PROJECT_NAME}_demo.cpp
+)
+
+target_include_directories(${PROJECT_NAME}_demo
+  PUBLIC ${BULLET_INCLUDE_DIR}
+)
+target_link_libraries(${PROJECT_NAME}_demo
+   ${BULLET_LIBRARIES} rclcpp::rclcpp
+)
+# Install executables
+install(
+  TARGETS ${PROJECT_NAME}_demo
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
   find_package(ament_lint_auto REQUIRED)
   set(ament_cmake_cppcheck_FOUND TRUE)
   set(ament_cmake_cpplint_FOUND TRUE)
   set(ament_cmake_uncrustify_FOUND TRUE)
   set(ament_cmake_flake8_CONFIG_FILE ".ament_flake8.ini")
   ament_lint_auto_find_test_dependencies()
+  
+  target_link_libraries(${PROJECT_NAME}_demo
+   ${BULLET_LIBRARIES}
+   rclcpp::rclcpp
+   ament_index_cpp::ament_index_cpp
+   
+)
 endif()
 
 ament_package()