diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index 2e137c19..1e397998 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -2,13 +2,16 @@ if(OPENVR_LIBRARIES AND NOT USE_SINGLE_PRECISION)
   add_subdirectory(openvr_driver)
 endif()
 
-find_package(catkin QUIET COMPONENTS
-  roscpp
-  geometry_msgs)
+get_property(survive_in_catkin_make GLOBAL PROPERTY SURVIVE_IN_CATKIN_MAKE)
 
-IF(catkin_DIR)
-  add_subdirectory(ros_publisher)
-ENDIF()
+if(NOT survive_in_catkin_make)
+  find_package(catkin QUIET COMPONENTS
+    roscpp
+    geometry_msgs)
+  IF(catkin_DIR)
+    add_subdirectory(ros_publisher)
+  ENDIF()
+endif()
 
 find_library(XDO_LIB xdo)
 if(XDO_LIB)
diff --git a/tools/ros_publisher/CMakeLists.txt b/tools/ros_publisher/CMakeLists.txt
index c35237d3..c293bd8e 100644
--- a/tools/ros_publisher/CMakeLists.txt
+++ b/tools/ros_publisher/CMakeLists.txt
@@ -1,6 +1,8 @@
 project(survive_publisher)
+cmake_minimum_required(VERSION 3.12)
 
-add_compile_options(-std=c++14)
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 if(NOT TARGET survive)
   message("Adding base cmake...")
@@ -8,7 +10,7 @@ if(NOT TARGET survive)
   add_subdirectory(../../ survive_build)
 endif()
 
-find_package(catkin REQUIRED COMPONENTS 
+find_package(catkin REQUIRED COMPONENTS
   roscpp
   geometry_msgs tf
   )
@@ -16,6 +18,22 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES survive_publisher
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
 ###########
 ## Build ##
 ###########
@@ -26,7 +44,7 @@ message( ${catkin_INCLUDE_DIRS} )
 include_directories(
   ${catkin_INCLUDE_DIRS}
   ../../include
-  ../../redist  
+  ../../redist
 )
 
 link_directories(../../lib)
@@ -52,22 +70,6 @@ target_link_libraries(${PROJECT_NAME}_node
   survive
   )
 
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES survive_publisher
-#  CATKIN_DEPENDS other_catkin_pkg
-#  DEPENDS system_lib
-)
-
 ## Mark executables and/or libraries for installation
  install(TARGETS ${PROJECT_NAME}_node
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}