diff --git a/CMakeLists.txt b/CMakeLists.txt
index cb0358adc6..06ecb068be 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
     tf2_ros
     geometry_msgs
     # for closed-loop evaluation of Good Graph only
-    # trajectory_state_predictor
+    trajectory_state_predictor
 )
 
 message("ROS version = " $ENV{ROS_DISTRO})
diff --git a/README.md b/README.md
index 63770550e8..433a49424f 100644
--- a/README.md
+++ b/README.md
@@ -65,11 +65,13 @@ We recommend converting the ORB vocabulary to binary format, by calling
 
 ### Open-loop Evaluation
 
-To run GF-ORB-SLAM2 on public benchmarks, please refer to batch evaluation scripts at folder 
+To run GF-ORB-SLAM2 on open-loop, e.g., as a standalone running on public benchmarks, make sure the closed-loop macro `ENABLE_PLANNER_PREDICTION` at [include/Tracking.h](https://github.com/ivalab/gf_orb_slam2/tree/catkin/include/Tracking.h#L92) is commented out:
 
-    batch_script
+    // #define ENABLE_PLANNER_PREDICTION
 
-or follow the example calls at **rosrun_cmd.md** for your own sensor / sequence.
+and refer to batch evaluation scripts at folder [batch_script](https://github.com/ivalab/gf_orb_slam2/tree/catkin/batch_scripts) as examples.
+
+You could also follow the example calls at **rosrun_cmd.md** for your own sensor / sequence.
 
 Similar to original ORB-SLAM2, the camera parameters shall be provided in yaml format.  Some example configurations for public benchmarks are available at `ORB_Data` we just cloned.
 
diff --git a/package.xml b/package.xml
index b4431cd42b..7746a6e654 100644
--- a/package.xml
+++ b/package.xml
@@ -22,7 +22,7 @@
   <build_depend>tf2_geometry_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>tf2_ros</build_depend>
-
+  <build_depend>trajectory_state_predictor</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>tf</run_depend>
@@ -33,5 +33,6 @@
   <run_depend>tf2_geometry_msgs</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>tf2_ros</run_depend>
+  <run_depend>trajectory_state_predictor</run_depend>
 
 </package>