diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0e7f254b..17364ee1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5.0)
 project(kimera_vio_ros)
 
 find_package(catkin_simple REQUIRED)
diff --git a/install/kimera_vio_ros_https.rosinstall b/install/kimera_vio_ros_https.rosinstall
index 2750cfa2..a5b56b4d 100644
--- a/install/kimera_vio_ros_https.rosinstall
+++ b/install/kimera_vio_ros_https.rosinstall
@@ -13,7 +13,7 @@
 - git:
     local-name: gtsam
     uri: https://github.com/borglab/gtsam.git
-    version: master
+    version: 4.0.3
     # Last tested commit: 342f30d148fae84c92ff71705c9e50e0a3683bda
 - git:
     local-name: opencv3_catkin
diff --git a/install/kimera_vio_ros_ssh.rosinstall b/install/kimera_vio_ros_ssh.rosinstall
index c6062112..65f396bd 100644
--- a/install/kimera_vio_ros_ssh.rosinstall
+++ b/install/kimera_vio_ros_ssh.rosinstall
@@ -13,7 +13,7 @@
 - git:
     local-name: gtsam
     uri: git@github.com:borglab/gtsam.git
-    version: master
+    version: 4.0.3
 - git:
     local-name: opencv3_catkin
     uri: git@github.com:ethz-asl/opencv3_catkin.git