diff --git a/homer_mapping/CMakeLists.txt b/homer_mapping/CMakeLists.txt
index ea12c174ca7180722219b6146e47e40b690707f2..d23e0e2ffb013add3fb6f196dbfa38f88e6a6627 100644
--- a/homer_mapping/CMakeLists.txt
+++ b/homer_mapping/CMakeLists.txt
@@ -19,6 +19,10 @@ endif()
 find_package(tf REQUIRED)
 find_package(Eigen3 REQUIRED)
 
+#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
+find_package(Qt5 REQUIRED COMPONENTS Core Widgets)
+
+
 set(CMAKE_BUILD_TYPE Release)
 
 
@@ -26,6 +30,8 @@ include_directories(
 	include
 	${catkin_INCLUDE_DIRS}
 	${EIGEN3_INCLUDE_DIRS}
+	${Qt5Core_INCLUDE_DIRS}
+	${Qt5Widgets_INCLUDE_DIRS}
 )
 
 catkin_package(
@@ -49,6 +55,8 @@ target_link_libraries(
 	homerOccupancyMap
 		${catkin_LIBRARIES}
 		${tf_LIBRARIES}
+		${Qt5Core_LIBRARIES}
+		${Qt5Widgets_LIBRARIES}
 )
 set(
 	ParticleFilter_SRC
diff --git a/homer_mapping/package.xml b/homer_mapping/package.xml
index e585b18361136351ba56637b2de604d18538ef9d..68c0c935dbd4b3df3627fb2ce496423ecd6d2052 100644
--- a/homer_mapping/package.xml
+++ b/homer_mapping/package.xml
@@ -21,6 +21,9 @@
   <build_depend>homer_mapnav_msgs</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>eigen</build_depend>
+  <build_depend>libqt5-core</build_depend>
+  <build_depend>libqt5-gui</build_depend>
+  <build_depend>libqt5-widgets</build_depend>
  
 
   <run_depend>std_msgs</run_depend>
@@ -32,5 +35,8 @@
   <run_depend>homer_nav_libs</run_depend>
   <run_depend>homer_mapnav_msgs</run_depend>
   <run_depend>eigen</run_depend>
+  <run_depend>libqt5-core</run_depend>
+  <run_depend>libqt5-gui</run_depend>
+  <run_depend>libqt5-widgets</run_depend>
 
 </package>
diff --git a/homer_mapping/src/OccupancyMap/OccupancyMap.cpp b/homer_mapping/src/OccupancyMap/OccupancyMap.cpp
index 5ab3b94abed4e9300c1a11f610ba049548303356..7318e38aaf7e129b1acb2d75445a503f81e4d994 100644
--- a/homer_mapping/src/OccupancyMap/OccupancyMap.cpp
+++ b/homer_mapping/src/OccupancyMap/OccupancyMap.cpp
@@ -6,7 +6,7 @@
 #include <vector>
 #include <fstream>
 #include <sstream>
-#include <QImage>
+#include <QtGui/QImage>
 
 #include <Eigen/Geometry>