diff --git a/CMakeLists.txt b/CMakeLists.txt
index d54477e..f2b2307 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -84,9 +84,11 @@ include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
 
 ## Declare a C++ library
 add_library(${PROJECT_NAME}_grasp_messages src/${PROJECT_NAME}/grasp_messages.cpp)
-add_dependencies(${PROJECT_NAME}_grasp_messages ${catkin_EXPORTED_TARGETS})
 add_library(${PROJECT_NAME}_grasp_plotter src/${PROJECT_NAME}/grasp_plotter.cpp)
 
+## Add cmake target dependencies of the library (message generation needs to be built before libraries)
+add_dependencies(${PROJECT_NAME}_grasp_messages ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
 ## Declare a C++ executable
 add_executable(${PROJECT_NAME}_detect_grasps src/gpd_ros/grasp_detection_node.cpp)
 add_executable(${PROJECT_NAME}_detect_grasps_server src/gpd_ros/grasp_detection_server.cpp)