diff --git a/libuvc_camera/CMakeLists.txt b/libuvc_camera/CMakeLists.txt
index 91db504..48f281c 100644
--- a/libuvc_camera/CMakeLists.txt
+++ b/libuvc_camera/CMakeLists.txt
@@ -7,7 +7,13 @@ find_package(catkin REQUIRED COMPONENTS roscpp camera_info_manager dynamic_recon
 generate_dynamic_reconfigure_options(cfg/UVCCamera.cfg)
 
 find_package(libuvc REQUIRED)
-message(STATUS "libuvc ${libuvc_VERSION_MAJOR}.${libuvc_VERSION_MINOR}.${libuvc_VERSION_PATCH}")
+# if libuvc_LIBRARIES are empty, check cmake target
+if(NOT libuvc_LIBRARIES AND TARGET LibUVC::UVCShared)
+  set(libuvc_LIBRARIES LibUVC::UVCShared)
+endif()
+if(NOT libuvc_LIBRARIES)
+  message(FATAL_ERROR "could not find expected libuvc libraries in package")
+endif()
 
 catkin_package(
   CATKIN_DEPENDS
diff --git a/libuvc_camera/package.xml b/libuvc_camera/package.xml
index 2b80d27..f937dbb 100644
--- a/libuvc_camera/package.xml
+++ b/libuvc_camera/package.xml
@@ -17,8 +17,8 @@
   <depend>camera_info_manager</depend>
   <depend>dynamic_reconfigure</depend>
   <depend>image_transport</depend>
-  <depend condition="$ROS_DISTRO != noetic">libuvc</depend>
-  <depend condition="$ROS_DISTRO == noetic">libuvc-dev</depend>
+  <depend>libuvc-dev</depend>
+  <depend>libusb-1.0-dev</depend>
   <depend>nodelet</depend>
   <depend>sensor_msgs</depend>
 
diff --git a/libuvc_camera/src/camera_driver.cpp b/libuvc_camera/src/camera_driver.cpp
index aa4abce..24ab7ef 100644
--- a/libuvc_camera/src/camera_driver.cpp
+++ b/libuvc_camera/src/camera_driver.cpp
@@ -78,7 +78,7 @@ bool CameraDriver::Start() {
 
   state_ = kStopped;
 
-  config_server_.setCallback(boost::bind(&CameraDriver::ReconfigureCallback, this, _1, _2));
+  config_server_.setCallback([this](auto& config, auto level){ ReconfigureCallback(config, level); });
 
   return state_ == kRunning;
 }
diff --git a/libuvc_camera/src/nodelet.cpp b/libuvc_camera/src/nodelet.cpp
index 91d2f3c..38246d8 100644
--- a/libuvc_camera/src/nodelet.cpp
+++ b/libuvc_camera/src/nodelet.cpp
@@ -32,7 +32,7 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 #include <ros/ros.h>
-#include <pluginlib/class_list_macros.h>
+#include <pluginlib/class_list_macros.hpp>
 #include <nodelet/nodelet.h>
 
 #include "libuvc_camera/camera_driver.h"