diff --git a/robotis_controller/CMakeLists.txt b/robotis_controller/CMakeLists.txt
index 8f36296..f7f73b3 100644
--- a/robotis_controller/CMakeLists.txt
+++ b/robotis_controller/CMakeLists.txt
@@ -47,7 +47,7 @@ include_directories(
 )
 
 add_library(robotis_controller src/robotis_controller/robotis_controller.cpp)
-add_dependencies(robotis_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(robotis_controller ${catkin_EXPORTED_TARGETS})
 target_link_libraries(robotis_controller yaml-cpp ${catkin_LIBRARIES})
 
 ################################################################################
diff --git a/robotis_device/CMakeLists.txt b/robotis_device/CMakeLists.txt
index abc1965..1fac3f4 100644
--- a/robotis_device/CMakeLists.txt
+++ b/robotis_device/CMakeLists.txt
@@ -27,7 +27,7 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES robotis_device
-  CATKIN_DEPENDS roscpp rospy
+  CATKIN_DEPENDS roscpp rospy dynamixel_sdk
 )
 
 ################################################################################
@@ -43,7 +43,7 @@ add_library(robotis_device
   src/robotis_device/sensor.cpp
   src/robotis_device/dynamixel.cpp
 )
-add_dependencies(robotis_device ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(robotis_device ${catkin_EXPORTED_TARGETS})
 target_link_libraries(robotis_device ${catkin_LIBRARIES})
 
 ################################################################################
diff --git a/robotis_framework_common/CMakeLists.txt b/robotis_framework_common/CMakeLists.txt
index 20c330f..430fbee 100644
--- a/robotis_framework_common/CMakeLists.txt
+++ b/robotis_framework_common/CMakeLists.txt
@@ -9,6 +9,7 @@ project(robotis_framework_common)
 ################################################################################
 find_package(catkin REQUIRED COMPONENTS
   roscpp
+  robotis_device
 )
 
 ################################################################################
@@ -24,12 +25,15 @@ find_package(catkin REQUIRED COMPONENTS
 ################################################################################
 catkin_package(
   INCLUDE_DIRS include
+#  LIBRARIES robotis_framework_common
+  CATKIN_DEPENDS roscpp robotis_device
 )
 
 ################################################################################
 # Build
 ################################################################################
 include_directories(
+  include
   ${catkin_INCLUDE_DIRS}
 )
 
diff --git a/robotis_framework_common/package.xml b/robotis_framework_common/package.xml
index f01e4d5..2e66361 100644
--- a/robotis_framework_common/package.xml
+++ b/robotis_framework_common/package.xml
@@ -13,5 +13,7 @@
   <url type="website">http://wiki.ros.org/robotis_framework_common</url>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>robotis_device</build_depend>
   <run_depend>roscpp</run_depend>
+  <run_depend>robotis_device</run_depend>
 </package>