diff --git a/CMakeLists.txt b/CMakeLists.txt
index 85a9c62..8a5cf44 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,7 +15,10 @@ add_message_files(
   BoundingBox.msg
 )
 
-generate_messages()
+generate_messages(
+    DEPENDENCIES
+    std_msgs
+)
 catkin_package(CATKIN_DEPENDS
   roscpp
   std_msgs
@@ -29,6 +32,7 @@ include_directories  (${catkin_INCLUDE_DIRS})
 
 add_executable       (papillon src/papillon.cpp)
 add_executable       (control src/control.cpp)
+add_dependencies( papillon ${PROJECT_NAME}_generate_messages_cpp )
 target_link_libraries(papillon ${catkin_LIBRARIES})
 set_property         (TARGET papillon APPEND PROPERTY INCLUDE_DIRECTORIES ${OpenCV_INCLUDE_DIRS})
 set_property         (TARGET papillon APPEND PROPERTY INCLUDE_DIRECTORIES ${catkin_INCLUDE_DIRS})