diff --git a/packages/gpu_voxels/CMakeLists.txt b/packages/gpu_voxels/CMakeLists.txt
index a2cff10..ce27ded 100644
--- a/packages/gpu_voxels/CMakeLists.txt
+++ b/packages/gpu_voxels/CMakeLists.txt
@@ -61,7 +61,7 @@ ENDIF(CUDA_FOUND)
 IF(GLEW_FOUND AND GLM_FOUND AND OPENGL_FOUND AND GLUT_FOUND)
   MESSAGE(STATUS "[OK]      Building GPU-Voxels with visualization. GLEW, GLM, OpenGL and GLUT were found.")
 ELSE(GLEW_FOUND AND GLM_FOUND AND OPENGL_FOUND AND GLUT_FOUND)
-  MESSAGE(STATUS "[WARNING] Building GPU-Voxels without visualization because the following packages are missing:") 
+  MESSAGE(STATUS "[WARNING] Building GPU-Voxels without visualization because the following packages are missing:")
   IF(NOT GLEW_FOUND)
     MESSAGE(STATUS "    Glew")
   ENDIF(NOT GLEW_FOUND)
@@ -136,7 +136,7 @@ MESSAGE(STATUS "----------------------------------------------------------------
 # Change these lines to increase performance if your GPU's compute capability is higher
 # GPU-Voxels requires GPU CUDA capabilities >= 2.0
 #SET(ICMAKER_CUDA_COMPUTE_VERSION 20)
-SET(ICMAKER_CUDA_COMPUTE_VERSION 35)
+SET(ICMAKER_CUDA_COMPUTE_VERSION 61)
 
 SET(ICMAKER_CUDA_ARCH compute_${ICMAKER_CUDA_COMPUTE_VERSION})
 SET(ICMAKER_CUDA_CODE compute_${ICMAKER_CUDA_COMPUTE_VERSION})
@@ -144,7 +144,7 @@ SET(ICMAKER_CUDA_CODE compute_${ICMAKER_CUDA_COMPUTE_VERSION})
 #Usage example for specifying PTX for compute_35 and cubin for sm_51:
 # SET(ICMAKER_CUDA_CODE compute_35,sm_51)
 
-## Uncomment this definition if you want to avoid PTX JIT compilation at first runtime. 
+## Uncomment this definition if you want to avoid PTX JIT compilation at first runtime.
 ## Having both a compute_ and a sm_ code target will include both PTX and CUBIN in the final binary.
 ## IMPORTANT: Check your device's compute capability. the sm_xy argument needs to match your device to have any effect!
 ## Version table: https://en.wikipedia.org/wiki/CUDA#GPUs_supported
diff --git a/packages/gpu_voxels/src/gpu_visualization/Visualizer.cu b/packages/gpu_voxels/src/gpu_visualization/Visualizer.cu
index 43fcb14..bc6324b 100644
--- a/packages/gpu_voxels/src/gpu_visualization/Visualizer.cu
+++ b/packages/gpu_voxels/src/gpu_visualization/Visualizer.cu
@@ -1684,7 +1684,7 @@ void Visualizer::renderFunction(void)
   {
     float wait = 1000.f / m_max_fps - m_delta_time;
     m_delta_time += wait;
-    boost::this_thread::sleep(boost::posix_time::milliseconds(wait));
+    boost::this_thread::sleep(boost::posix_time::milliseconds(long(wait)));
   }
 }
 
diff --git a/packages/gpu_voxels/src/gpu_voxels/octree/NTree.hpp b/packages/gpu_voxels/src/gpu_voxels/octree/NTree.hpp
index fc2aae2..9de25ad 100644
--- a/packages/gpu_voxels/src/gpu_voxels/octree/NTree.hpp
+++ b/packages/gpu_voxels/src/gpu_voxels/octree/NTree.hpp
@@ -65,10 +65,11 @@ namespace cub = thrust::system::cuda::detail::cub_;
 #else // Cuda 9 or higher
 #define THRUST_CUB_NS_PREFIX namespace thrust {   namespace cuda_cub {
 #define THRUST_CUB_NS_POSTFIX }  }
-#include <thrust/system/cuda/detail/cub/device/device_radix_sort.cuh>
-#undef CUB_NS_PREFIX
-#undef CUB_NS_POSTFIX
-namespace cub = thrust::cuda_cub::cub;
+/* #include <thrust/system/cuda/detail/cub/device/device_radix_sort.cuh> */
+#include <cub/device/device_radix_sort.cuh>
+/* #undef CUB_NS_PREFIX */
+/* #undef CUB_NS_POSTFIX */
+/* namespace cub = thrust::cuda_cub::cub; */
 #endif
 
 // Internal dependencies
diff --git a/packages/gpu_voxels/src/gpu_voxels/octree/NTreeData.h b/packages/gpu_voxels/src/gpu_voxels/octree/NTreeData.h
index c07c135..83fda71 100644
--- a/packages/gpu_voxels/src/gpu_voxels/octree/NTreeData.h
+++ b/packages/gpu_voxels/src/gpu_voxels/octree/NTreeData.h
@@ -44,10 +44,11 @@ namespace cub = thrust::system::cuda::detail::cub_;
 #else // Cuda 9 or higher
 #define THRUST_CUB_NS_PREFIX namespace thrust {   namespace cuda_cub {
 #define THRUST_CUB_NS_POSTFIX }  }
-#include <thrust/system/cuda/detail/cub/util_type.cuh>
-#undef CUB_NS_PREFIX
-#undef CUB_NS_POSTFIX
-namespace cub = thrust::cuda_cub::cub;
+/* #include <thrust/system/cuda/detail/cub/util_type.cuh> */
+#include <cub/util_type.cuh>
+/* #undef CUB_NS_PREFIX */
+/* #undef CUB_NS_POSTFIX */
+/* namespace cub = thrust::cuda_cub::cub; */
 #endif
 
 namespace gpu_voxels {
diff --git a/packages/gpu_voxels/src/gpu_voxels/octree/PointCloud.cu b/packages/gpu_voxels/src/gpu_voxels/octree/PointCloud.cu
index 5b3c009..e62f9e2 100644
--- a/packages/gpu_voxels/src/gpu_voxels/octree/PointCloud.cu
+++ b/packages/gpu_voxels/src/gpu_voxels/octree/PointCloud.cu
@@ -19,10 +19,11 @@ namespace cub = thrust::system::cuda::detail::cub_;
 #else // Cuda 9 or higher
 #define THRUST_CUB_NS_PREFIX namespace thrust {   namespace cuda_cub {
 #define THRUST_CUB_NS_POSTFIX }   }
-#include <thrust/system/cuda/detail/cub/device/device_radix_sort.cuh>
-#undef CUB_NS_PREFIX
-#undef CUB_NS_POSTFIX
-namespace cub = thrust::cuda_cub::cub;
+/* #include <thrust/system/cuda/detail/cub/device/device_radix_sort.cuh> */
+#include <cub/device/device_radix_sort.cuh>
+/* #undef CUB_NS_PREFIX */
+/* #undef CUB_NS_POSTFIX */
+/* namespace cub = thrust::cuda_cub::cub; */
 #endif
 
 #include <thrust/sort.h>
diff --git a/packages/gpu_voxels/src/gpu_voxels/octree/kernels/kernel_common.h b/packages/gpu_voxels/src/gpu_voxels/octree/kernels/kernel_common.h
index 4e9ff6e..ad9c9ee 100644
--- a/packages/gpu_voxels/src/gpu_voxels/octree/kernels/kernel_common.h
+++ b/packages/gpu_voxels/src/gpu_voxels/octree/kernels/kernel_common.h
@@ -43,10 +43,11 @@ namespace cub = thrust::system::cuda::detail::cub_;
 #else // Cuda 9 or higher
 #define THRUST_CUB_NS_PREFIX namespace thrust {   namespace cuda_cub {
 #define THRUST_CUB_NS_POSTFIX }  }
-#include <thrust/system/cuda/detail/cub/util_type.cuh>
-#undef CUB_NS_PREFIX
-#undef CUB_NS_POSTFIX
-namespace cub = thrust::cuda_cub::cub;
+/* #include <thrust/system/cuda/detail/cub/util_type.cuh> */
+#include <cub/util_type.cuh>
+/* #undef CUB_NS_PREFIX */
+/* #undef CUB_NS_POSTFIX */
+/* namespace cub = thrust::cuda_cub::cub; */
 #endif
 
 // __ballot has been replaced by __ballot_sync in Cuda9
diff --git a/packages/gpu_voxels/src/gpu_voxels/test/testing_thrust.cu b/packages/gpu_voxels/src/gpu_voxels/test/testing_thrust.cu
index 8192252..256db57 100644
--- a/packages/gpu_voxels/src/gpu_voxels/test/testing_thrust.cu
+++ b/packages/gpu_voxels/src/gpu_voxels/test/testing_thrust.cu
@@ -25,6 +25,7 @@
 #include <thrust/binary_search.h>
 #include <thrust/generate.h>
 #include <thrust/device_vector.h>
+#include <thrust/host_vector.h>
 #include <thrust/execution_policy.h>
 #include <boost/test/unit_test.hpp>
 #include <gpu_voxels/test/testing_fixtures.hpp>
diff --git a/packages/gpu_voxels/src/gpu_voxels/voxellist/BitVoxelList.h b/packages/gpu_voxels/src/gpu_voxels/voxellist/BitVoxelList.h
index b2c8f90..91d1471 100644
--- a/packages/gpu_voxels/src/gpu_voxels/voxellist/BitVoxelList.h
+++ b/packages/gpu_voxels/src/gpu_voxels/voxellist/BitVoxelList.h
@@ -24,6 +24,7 @@
 #ifndef GPU_VOXELS_VOXELLIST_BITVOXELLIST_H
 #define GPU_VOXELS_VOXELLIST_BITVOXELLIST_H
 
+#include <thrust/host_vector.h>
 #include <gpu_voxels/voxel/BitVoxel.h>
 #include <gpu_voxels/voxel/SVCollider.h>
 #include <gpu_voxels/voxellist/TemplateVoxelList.h>
diff --git a/packages/gpu_voxels/src/gpu_voxels/voxellist/TemplateVoxelList.hpp b/packages/gpu_voxels/src/gpu_voxels/voxellist/TemplateVoxelList.hpp
index 4fc32eb..1a630d6 100644
--- a/packages/gpu_voxels/src/gpu_voxels/voxellist/TemplateVoxelList.hpp
+++ b/packages/gpu_voxels/src/gpu_voxels/voxellist/TemplateVoxelList.hpp
@@ -37,6 +37,7 @@
 #include <thrust/remove.h>
 #include <thrust/binary_search.h>
 #include <thrust/system_error.h>
+#include <thrust/host_vector.h>
 
 namespace gpu_voxels {
 namespace voxellist {
diff --git a/packages/gpu_voxels/src/gpu_voxels/voxelmap/DistanceVoxelMap.hpp b/packages/gpu_voxels/src/gpu_voxels/voxelmap/DistanceVoxelMap.hpp
index bc26ba8..505d94f 100644
--- a/packages/gpu_voxels/src/gpu_voxels/voxelmap/DistanceVoxelMap.hpp
+++ b/packages/gpu_voxels/src/gpu_voxels/voxelmap/DistanceVoxelMap.hpp
@@ -34,6 +34,7 @@
 
 #include <thrust/device_ptr.h>
 #include <thrust/device_vector.h>
+#include <thrust/host_vector.h>
 #include <thrust/inner_product.h>
 #include <thrust/fill.h>
 #include <thrust/count.h>