diff --git a/cmake/functions.cmake b/cmake/functions.cmake
index 3f5dd82..4723c11 100644
--- a/cmake/functions.cmake
+++ b/cmake/functions.cmake
@@ -30,7 +30,6 @@ macro(_parse_arguments ARGS)
   list(APPEND OPTIONS
     USES_CARTOGRAPHER
     USES_PCL
-    USES_ROS
     USES_YAMLCPP
   )
   set(ONE_VALUE_ARG )
@@ -42,6 +41,14 @@ endmacro(_parse_arguments)
 macro(_common_compile_stuff VISIBILITY)
   set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
 
+  if(catkin_INCLUDE_DIRS)
+    target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
+      "${catkin_INCLUDE_DIRS}")
+    target_link_libraries("${NAME}" ${catkin_LIBRARIES})
+    add_dependencies("${NAME}" ${catkin_EXPORTED_TARGETS}
+  )
+  endif()
+
   if(ARG_USES_EIGEN)
     target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
       "${EIGEN3_INCLUDE_DIR}")
@@ -79,14 +86,6 @@ macro(_common_compile_stuff VISIBILITY)
     target_link_libraries("${NAME}" gflags)
   endif()
 
-  if(ARG_USES_ROS)
-    target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
-      "${catkin_INCLUDE_DIRS}")
-    target_link_libraries("${NAME}" ${catkin_LIBRARIES})
-    add_dependencies("${NAME}" ${catkin_EXPORTED_TARGETS}
-  )
-  endif()
-
   if(ARG_USES_CARTOGRAPHER)
     target_include_directories("${NAME}" SYSTEM ${VISIBILITY}
       "${CARTOGRAPHER_INCLUDE_DIRS}")
@@ -222,7 +221,7 @@ macro(_common_test_stuff)
   target_link_libraries("${NAME}" ${GMOCK_LIBRARIES})
 endmacro()
 
-function(google_catkin_test NAME)
+function(_google_catkin_test NAME)
   if(NOT "${CATKIN_ENABLE_TESTING}")
     return()
   endif()
@@ -241,6 +240,10 @@ function(google_catkin_test NAME)
 endfunction()
 
 function(google_test NAME)
+  if (catkin_INCLUDE_DIRS)
+    _google_catkin_test(${ARGV})
+    return()
+  endif()
   _parse_arguments("${ARGN}")
   _common_test_stuff()
   add_test(${NAME} ${NAME})
diff --git a/scripts/update_cmakelists.py b/scripts/update_cmakelists.py
index 9fd3f83..b6d0d12 100755
--- a/scripts/update_cmakelists.py
+++ b/scripts/update_cmakelists.py
@@ -107,10 +107,6 @@ def ExtractUses(project_name, source):
       uses.add("USES_WEBP")
     if re.match(r'^#include ["<]pcl/', line):
       uses.add("USES_PCL")
-    if re.match(r'^#include ["<]ros/', line):
-      uses.add("USES_ROS")
-    if re.match(r'^#include "[a-zA-Z]*_msgs/', line):
-      uses.add("USES_ROS")
     if re.match(r'^#include ["<]yaml-cpp/', line):
       uses.add("USES_YAMLCPP")
     if re.match(r'^#include ["<]cairo/', line):
@@ -248,8 +244,6 @@ def RunOnDirectory(root):
             continue
           target.depends.add(dependant.name)
         target.uses.update(ExtractUses(project_name, src))
-      if target.type is "google_test" and "USES_ROS" in target.uses:
-        target.type = "google_catkin_test"
 
     cmake_file = path.join(directory, "CMakeLists.txt")
     parts = GetNonGoogleTargetLines(cmake_file)