diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
index 0f899e4c..834a1d09 100644
--- a/dynamicEDT3D/CMakeLists.txt
+++ b/dynamicEDT3D/CMakeLists.txt
@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.0.2)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT(dynamicEDT3D)
 
 include(CTest)
@@ -170,7 +170,7 @@ ENDIF(DOXYGEN_FOUND)
 INCLUDE(CPackSettings)
 
 # Finished:
-MESSAGE ("\n")
+MESSAGE (STATUS "\n")
 MESSAGE (STATUS "Compile dynamicEDT3D using: make")
 MESSAGE (STATUS "Install dynamicEDT3D using: make install")
 MESSAGE (STATUS "    (be sure to set the correct CMAKE_INSTALL_PREFIX before)")
diff --git a/dynamicEDT3D/CMakeModules/CompilerSettings.cmake b/dynamicEDT3D/CMakeModules/CompilerSettings.cmake
index 51f1ebee..e2e6b4f5 100644
--- a/dynamicEDT3D/CMakeModules/CompilerSettings.cmake
+++ b/dynamicEDT3D/CMakeModules/CompilerSettings.cmake
@@ -4,13 +4,13 @@ IF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
    SET(CMAKE_BUILD_TYPE Release)
 ENDIF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
 
-MESSAGE ("\n")
+MESSAGE (STATUS "\n")
 MESSAGE (STATUS "${PROJECT_NAME} building as ${CMAKE_BUILD_TYPE}")
 
 # OCTOMAP_OMP = enable OpenMP
 # SET(OCTOMAP_OMP 1 CACHE BOOL "Enable/disable OpenMP")
 # IF($ENV{OCTOMAP_OMP})
-#   SET(OCTOMAP_OMP $ENV{OCTOMAP_OMP}) 
+#   SET(OCTOMAP_OMP $ENV{OCTOMAP_OMP})
 #   MESSAGE(STATUS "Found OCTOMAP_OMP=${OCTOMAP_OMP}")
 # ENDIF($ENV{OCTOMAP_OMP})
 
@@ -21,7 +21,7 @@ IF (CMAKE_COMPILER_IS_GNUCC)
   SET (CMAKE_CXX_FLAGS_RELEASE "-O3 -funroll-loops -DNDEBUG")
   SET (CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
   # Shared object compilation under 64bit (vtable)
-  ADD_DEFINITIONS(-fPIC)  
+  ADD_DEFINITIONS(-fPIC)
   # IF(OCTOMAP_OMP)
   #   SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp")
   #   SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -fopenmp")
diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
index 12cb1f33..fc3bd6e7 100644
--- a/octomap/CMakeLists.txt
+++ b/octomap/CMakeLists.txt
@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.0.2)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT( octomap )
 
 include(CTest)
@@ -173,7 +173,7 @@ ENDIF(DOXYGEN_FOUND)
 INCLUDE(CPackSettings)
 
 # Finished:
-MESSAGE ("\n")
+MESSAGE (STATUS "\n")
 MESSAGE (STATUS "Compile octomap using: make")
 MESSAGE (STATUS "Install octomap using: make install")
 MESSAGE (STATUS "    (be sure to set the correct CMAKE_INSTALL_PREFIX before)")
diff --git a/octomap/CMakeModules/CompilerSettings.cmake b/octomap/CMakeModules/CompilerSettings.cmake
index f4bab3e9..bae0cc48 100644
--- a/octomap/CMakeModules/CompilerSettings.cmake
+++ b/octomap/CMakeModules/CompilerSettings.cmake
@@ -4,7 +4,7 @@ IF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
    SET(CMAKE_BUILD_TYPE Release)
 ENDIF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
 
-MESSAGE ("\n")
+MESSAGE (STATUS "\n")
 MESSAGE (STATUS "${PROJECT_NAME} building as ${CMAKE_BUILD_TYPE}")
 
 # COMPILER FLAGS
diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
index e1e4f52a..892e29fa 100644
--- a/octovis/CMakeLists.txt
+++ b/octovis/CMakeLists.txt
@@ -1,4 +1,4 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.0.2)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT( octovis )
 
 include(CTest)
@@ -68,6 +68,7 @@ SET( BUILD_VIEWER 0)
 option(OCTOVIS_QT5 "Link Octovis against Qt5?" ON)
 
 # Look for required libraries:
+set(OpenGL_GL_PREFERENCE LEGACY)
 FIND_PACKAGE(OpenGL)
 if(NOT OCTOVIS_QT5)
   FIND_PACKAGE(Qt4)
diff --git a/octovis/CMakeModules/CompilerSettings.cmake b/octovis/CMakeModules/CompilerSettings.cmake
index 759902f9..51f689b0 100644
--- a/octovis/CMakeModules/CompilerSettings.cmake
+++ b/octovis/CMakeModules/CompilerSettings.cmake
@@ -4,13 +4,13 @@ IF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
    SET(CMAKE_BUILD_TYPE Release)
 ENDIF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
 
-MESSAGE ("\n")
+MESSAGE (STATUS "\n")
 MESSAGE (STATUS "${PROJECT_NAME} building as ${CMAKE_BUILD_TYPE}")
 
 # OCTOMAP_OMP = enable OpenMP
 # SET(OCTOMAP_OMP 1 CACHE BOOL "Enable/disable OpenMP")
 # IF($ENV{OCTOMAP_OMP})
-#   SET(OCTOMAP_OMP $ENV{OCTOMAP_OMP}) 
+#   SET(OCTOMAP_OMP $ENV{OCTOMAP_OMP})
 #   MESSAGE(STATUS "Found OCTOMAP_OMP=${OCTOMAP_OMP}")
 # ENDIF($ENV{OCTOMAP_OMP})
 
diff --git a/octovis/src/extern/QGLViewer/qglviewer.h b/octovis/src/extern/QGLViewer/qglviewer.h
index 561a1ea7..586ac457 100644
--- a/octovis/src/extern/QGLViewer/qglviewer.h
+++ b/octovis/src/extern/QGLViewer/qglviewer.h
@@ -81,9 +81,9 @@ class QGLVIEWER_EXPORT QGLViewer : public QGLWidget
 
 #else
 
-	explicit QGLViewer(QWidget* parent=0, const QGLWidget* shareWidget=0, Qt::WindowFlags flags=0);
-	explicit QGLViewer(QGLContext *context, QWidget* parent=0, const QGLWidget* shareWidget=0, Qt::WindowFlags flags=0);
-	explicit QGLViewer(const QGLFormat& format, QWidget* parent=0, const QGLWidget* shareWidget=0, Qt::WindowFlags flags=0);
+	explicit QGLViewer(QWidget* parent=0, const QGLWidget* shareWidget=0, Qt::WindowFlags flags=Qt::WindowFlags());
+	explicit QGLViewer(QGLContext *context, QWidget* parent=0, const QGLWidget* shareWidget=0, Qt::WindowFlags flags=Qt::WindowFlags());
+	explicit QGLViewer(const QGLFormat& format, QWidget* parent=0, const QGLWidget* shareWidget=0, Qt::WindowFlags flags=Qt::WindowFlags());
 #endif
 
 	virtual ~QGLViewer();