diff --git a/CMakeLists.txt b/CMakeLists.txt
index 484fca6..25fb921 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -44,6 +44,8 @@ if (NOT BUILDING_WITH_CATKIN)
     robot_cpp
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+
 else()
 
 # ========================================================
@@ -56,7 +58,6 @@ else()
     robot_nav_2d_utils
     robot_std_msgs
     robot_geometry_msgs
-    tf3
     robot_time
     data_convert
     robot_costmap_2d
@@ -64,10 +65,15 @@ else()
     robot_cpp
   )
 
+  find_package(Boost REQUIRED COMPONENTS system thread filesystem)
+  find_package(Eigen3 REQUIRED)
+  # Find tf3 library
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+  
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME}
-    CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_nav_2d_msgs robot_nav_2d_utils robot_std_msgs robot_geometry_msgs tf3 robot_time data_convert robot_costmap_2d robot_nav_core robot_cpp
+    CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_nav_2d_msgs robot_nav_2d_utils robot_std_msgs robot_geometry_msgs robot_time data_convert robot_costmap_2d robot_nav_core robot_cpp
     DEPENDS Eigen3 Boost
   )
 
@@ -76,6 +82,7 @@ else()
     ${catkin_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -97,11 +104,13 @@ if(BUILDING_WITH_CATKIN)
     PUBLIC
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
+    ${TF3_INCLUDE_DIR}
   )
 
   target_link_libraries(${PROJECT_NAME}
     PUBLIC ${catkin_LIBRARIES}
     PRIVATE Eigen3::Eigen Boost::system Boost::thread Boost::filesystem
+    ${TF3_LIBRARY}
   )
 
 else()
@@ -110,6 +119,7 @@ else()
     PUBLIC
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
+    ${TF3_INCLUDE_DIR}
   )
 
   target_link_libraries(${PROJECT_NAME}
@@ -117,6 +127,7 @@ else()
       ${PACKAGES_DIR}
     PRIVATE
       Eigen3::Eigen Boost::system Boost::thread Boost::filesystem
+      ${TF3_LIBRARY}
   )
 
   set_target_properties(${PROJECT_NAME} PROPERTIES
diff --git a/package.xml b/package.xml
index f28c398..c9f0c9c 100644
--- a/package.xml
+++ b/package.xml
@@ -34,8 +34,8 @@
   <build_depend>robot_std_msgs</build_depend>
   <run_depend>robot_std_msgs</run_depend>
 
-  <build_depend>tf3</build_depend>
-  <run_depend>tf3</run_depend>
+  
+  
 
   <build_depend>robot_cpp</build_depend>
   <run_depend>robot_cpp</run_depend>