diff --git a/soem_beckhoff_drivers/CMakeLists.txt b/soem_beckhoff_drivers/CMakeLists.txt
index 23a5085..3378b93 100644
--- a/soem_beckhoff_drivers/CMakeLists.txt
+++ b/soem_beckhoff_drivers/CMakeLists.txt
@@ -26,13 +26,13 @@ rosbuild_genmsg()
 
 # Set the CMAKE_PREFIX_PATH in case you're not using Orocos through
 # ROS for helping these find commands find RTT.
-find_package(Orocos-RTT REQUIRED ${RTT_HINTS})
+find_package(OROCOS-RTT HINTS ${rtt_PACKAGE_PATH}/../install )
 
 # Defines the orocos_* cmake macros. See that file for additional
 # documentation.
 include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake)
 
-rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
+rosbuild_include(rtt_rosnode GenerateRTTtypekit)
 
 ros_generate_rtt_typekit(soem_beckhoff_drivers)
 
diff --git a/soem_beckhoff_drivers/manifest.xml b/soem_beckhoff_drivers/manifest.xml
index a1a1cff..506e936 100644
--- a/soem_beckhoff_drivers/manifest.xml
+++ b/soem_beckhoff_drivers/manifest.xml
@@ -11,7 +11,7 @@
   <depend package="soem_core"/>
   <depend package="soem_master"/>
   <depend package="rtt"/>
-  <depend package="rtt_ros_integration"/>
+  <depend package="rtt_rosnode"/>
 
 
 </package>
diff --git a/soem_ebox/CMakeLists.txt b/soem_ebox/CMakeLists.txt
index c9eb799..ca3f811 100644
--- a/soem_ebox/CMakeLists.txt
+++ b/soem_ebox/CMakeLists.txt
@@ -33,7 +33,7 @@ include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake)
 #uncomment if you have defined messages
 rosbuild_genmsg()
 
-rosbuild_include(rtt_ros_integration GenerateRTTtypekit)
+rosbuild_include(rtt_rosnode GenerateRTTtypekit)
 ros_generate_rtt_typekit(soem_ebox)
 
 #
diff --git a/soem_ebox/manifest.xml b/soem_ebox/manifest.xml
index 3b9ce3e..da3513f 100644
--- a/soem_ebox/manifest.xml
+++ b/soem_ebox/manifest.xml
@@ -5,7 +5,7 @@
     <author>Ruben Smits</author>
     <license>BSD</license>
     <depend package="rtt" />
-    <depend package="rtt_ros_integration" />
+    <depend package="rtt_rosnode" />
     <depend package="soem_core" />
     <depend package="soem_master" />
 </package>
diff --git a/soem_master/CMakeLists.txt b/soem_master/CMakeLists.txt
index 2906a5f..f787294 100644
--- a/soem_master/CMakeLists.txt
+++ b/soem_master/CMakeLists.txt
@@ -19,7 +19,7 @@ if (ROS_ROOT)
 endif()
 # Set the CMAKE_PREFIX_PATH in case you're not using Orocos through
 # ROS for helping these find commands find RTT.
-find_package(Orocos-RTT REQUIRED ${RTT_HINTS})
+find_package(OROCOS-RTT HINTS ${rtt_PACKAGE_PATH}/../install )
 
 # Defines the orocos_* cmake macros. See that file for additional
 # documentation.
diff --git a/stack.xml b/stack.xml
index 900c582..18a360a 100644
--- a/stack.xml
+++ b/stack.xml
@@ -5,6 +5,6 @@
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/soem</url>
   <depend stack="ros" />
-  <depend stack="orocos_toolchain_ros" />
+  <depend stack="rtt_ros_integration" />
 
 </stack>