diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2dbc713da84388e738ead6d186f564976d424705..35508e35cdf47d0ef2ac5033a9395f052b984ad2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,12 +1,9 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rosjava_core)
 
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED rosjava_tools)
 
-catkin_package()
+catkin_rosjava_setup()
 
-execute_process(
-  COMMAND ./gradlew
-  WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-)
+catkin_package()
 
diff --git a/package.xml b/package.xml
index ef3d4eecd595906bb6ed31fe438dbe26ef7dc179..60c68d151337ba599c15b0cdb027b3b93920bff5 100644
--- a/package.xml
+++ b/package.xml
@@ -10,5 +10,6 @@
   <license>Apache 2.0</license>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rosjava_tools</build_depend>
 </package>