diff --git a/recipes-ros/ar-track-alvar/ar-track-alvar_0.5.4.bb b/recipes-ros/ar-track-alvar/ar-track-alvar_0.6.1.bb
similarity index 63%
rename from recipes-ros/ar-track-alvar/ar-track-alvar_0.5.4.bb
rename to recipes-ros/ar-track-alvar/ar-track-alvar_0.6.1.bb
index 8b20392..a1fe0fa 100644
--- a/recipes-ros/ar-track-alvar/ar-track-alvar_0.5.4.bb
+++ b/recipes-ros/ar-track-alvar/ar-track-alvar_0.6.1.bb
@@ -1,13 +1,13 @@
 DESCRIPTION = "This package is a ROS wrapper for Alvar, an open source AR tag tracking library."
 SECTION = "devel"
 LICENSE = "LGPL-2.1"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=061abe8dc89f326789675967c8760541"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=061abe8dc89f326789675967c8760541"
 
 DEPENDS = "ar-track-alvar-msgs cmake-modules cv-bridge image-transport libtinyxml pcl-ros resource-retriever roscpp tf visualization-msgs"
 
 SRC_URI = "https://github.com/sniekum/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "9f13592fbfcdfe7731227c87bd774877"
-SRC_URI[sha256sum] = "519b89f6af09a703822864408195cdc55e8835b734c33ba38e6bab5849e9eadc"
+SRC_URI[md5sum] = "e293fe0ffc37232beca6494ef76ae5ea"
+SRC_URI[sha256sum] = "c34ff4358fb167edccc4357d74425e3370691f04be1f8971f5258aa25dd6ff9b"
 
 S = "${WORKDIR}/${ROS_SP}"
 
diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 1414041..479e5b9 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -171,10 +171,10 @@ RDEPENDS_${PN} = "\
     rosbridge-library \
     rosbridge-server \
     rosbridge-suite \
-    "
+    ar-track-alvar \
+"
 
 # collada-parser and collada-urdf require collada-dom, which does not compile with gcc6.
-# ar-track-alvar does not compile due to unknown opencv identifiers.
 # image-view requires gtk+, but it cannot be found by cmake for some reason.
 # sound-play requires python-gst (which is not available in any layers' master branch)
 # joint-state-publisher still has some issues.