diff --git a/manifest.xml b/manifest.xml
index c7b9450..29a1739 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -14,7 +14,7 @@ for the skew resulting from moving robots or tilting laser scanners.
 <depend package="sensor_msgs"/>
 <depend package="roscpp"/>
 <depend package="tf"/>
-<depend package="geometry_angles_utils"/>
+<depend package="angles"/>
 <depend package="common_rosdeps" />
 <rosdep name="eigen" />
 <export>
diff --git a/test/projection_test.cpp b/test/projection_test.cpp
index c6f5218..09cadb3 100644
--- a/test/projection_test.cpp
+++ b/test/projection_test.cpp
@@ -35,7 +35,7 @@
 #include <math.h>
 
 
-#include "geometry_angles_utils/angles.h"
+#include <angles/angles.h>
 
 #include "rostest/permuter.h"