diff --git a/CMakeLists.txt b/CMakeLists.txt
index 76084e5c..fc5b111b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@ PROJECT(wave)
 SET(WAVE_PACKAGE_VERSION 0.1.0)
 
 # Compiler settings for all targets
-SET(CMAKE_CXX_STANDARD 11)
+SET(CMAKE_CXX_STANDARD 17)
 SET(CMAKE_POSITION_INDEPENDENT_CODE ON)
 ADD_COMPILE_OPTIONS(-Wall -Wextra -Wno-strict-overflow)
 
diff --git a/README.md b/README.md
index 27f55f62..89e56c55 100644
--- a/README.md
+++ b/README.md
@@ -41,7 +41,7 @@ Some earlier versions may work, but are not tested.
 - gtsam
 - GeographicLib 1.49
 
-Building libwave requires CMake 3.2 and a C++11 compiler (tested on GCC 5.4).
+Building libwave requires CMake 3.2 and a C++17 compiler (tested on GCC 5.4).
 
 ### Installing dependencies
 The basic set of dependencies can be installed with the Ubuntu package manager
@@ -69,16 +69,16 @@ described above. Then build using CMake:
     cd build
     cmake ..
     make -j8
-    
+
 By default, all libraries whose dependencies are found will be built. Individual
 libraries can be disabled using CMake options. For example,
 
     cmake .. -DBUILD_wave_vision=OFF
-    
+
 will disable building `wave_vision`.
 
 Install libwave by running `make install`. Alternatively, you can enable the
-`EXPORT_BUILD` option in CMake, which will make the libwave build directory 
+`EXPORT_BUILD` option in CMake, which will make the libwave build directory
 searchable by CMake without installation.
 
 
diff --git a/deps/googletest b/deps/googletest
index aa148eb2..703bd9ca 160000
--- a/deps/googletest
+++ b/deps/googletest
@@ -1 +1 @@
-Subproject commit aa148eb2b7f70ede0eb10de34b6254826bfb34f4
+Subproject commit 703bd9caab50b139428cea1aaff9974ebee5742e
diff --git a/package.xml b/package.xml
index 1cf954aa..212b9985 100644
--- a/package.xml
+++ b/package.xml
@@ -12,4 +12,9 @@
   <export>
     <build_type>cmake</build_type>
   </export>
+  <depend>libboost-dev</depend>
+  <depend>yaml-cpp</depend>
+  <depend>eigen</depend>
+  <depend>geographiclib</depend>
+  <test_depend>rosunit</test_depend>
 </package>
diff --git a/wave_geometry b/wave_geometry
index 27be85b3..aabcad44 160000
--- a/wave_geometry
+++ b/wave_geometry
@@ -1 +1 @@
-Subproject commit 27be85b37f25b8bb7ec4cd3fc189d3fc9fb7361d
+Subproject commit aabcad44a490fc6393b35e63db9ad8908cf46dec
diff --git a/wave_gtsam/tests/gtsam/gtsam_offline_example.cpp b/wave_gtsam/tests/gtsam/gtsam_offline_example.cpp
index efa1e6cf..36b82cc1 100644
--- a/wave_gtsam/tests/gtsam/gtsam_offline_example.cpp
+++ b/wave_gtsam/tests/gtsam/gtsam_offline_example.cpp
@@ -6,6 +6,7 @@
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/Sampler.h>
+#include <gtsam/geometry/SimpleCamera.h>
 
 #include "wave/wave_test.hpp"
 #include "wave/vision/dataset/VoDataset.hpp"
diff --git a/wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp b/wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp
index 19e923f1..c283b19c 100644
--- a/wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp
+++ b/wave_gtsam/tests/gtsam/gtsam_offline_kitti_example.cpp
@@ -6,6 +6,7 @@
 #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/linear/Sampler.h>
+#include <gtsam/geometry/SimpleCamera.h>
 
 #include "wave/wave_test.hpp"
 #include "wave/vision/dataset/VoDataset.hpp"
diff --git a/wave_matching/include/wave/matching/impl/ground_segmentation.hpp b/wave_matching/include/wave/matching/impl/ground_segmentation.hpp
index fed34b47..20d685e9 100644
--- a/wave_matching/include/wave/matching/impl/ground_segmentation.hpp
+++ b/wave_matching/include/wave/matching/impl/ground_segmentation.hpp
@@ -227,7 +227,7 @@ void GroundSegmentation<PointT>::sectorINSAC(int sector_index) {
 
         if (Vf_s.rows() == 0) {
             keep_going = false;
-            LOG_INFO("WARNING BREAKING LOOP: VF_s does not exist");
+            LOG_INFO("Ground segmentation: BREAKING LOOP: VF_s does not exist");
             continue;
         }