diff --git a/CMakeLists.txt b/CMakeLists.txt
index be5ae2f..6c60572 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,6 +4,7 @@ cmake_policy(SET CMP0057 NEW)
 
 find_package(Rock)
 rock_init(base 1.0)
+rock_feature(NOCURDIR)
 
 set(CMAKE_CXX_STANDARD 11)
 
diff --git a/manifest.xml b/manifest.xml
index bbcaea4..ccea530 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -19,5 +19,7 @@
     <depend package="rice" optional="1" />
     <depend package="external/sisl" optional="1" />
     <depend package="gui/vizkit3d" optional="1" />
+    <!-- gui/osgviz is directly used here, also pulled in by gui/vizkit3d -->
+    <depend package="gui/osgviz" optional="1" />
     <tags>stable</tags>
 </package>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 24f487b..b6d3a23 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -8,6 +8,7 @@ if(SISL_FOUND)
         Spline.cpp
         Trajectory.cpp
     )
+    set(BASE-TYPES_EXTRA_DEPS_CMAKE SISL)
 endif()
 
 rock_library(
@@ -118,10 +119,10 @@ rock_library(
     DEPS_PKGCONFIG
         base-logging
         eigen3
+    DEPS_CMAKE ${BASE-TYPES_EXTRA_DEPS_CMAKE}
 )
 
 if(SISL_FOUND)
-    target_link_libraries(base-types ${SISL_LIBRARIES})
     install(FILES ${CMAKE_SOURCE_DIR}/src/Spline.hpp
             DESTINATION include/base/geometry)
     configure_file(base-types-sisl.pc.in ${CMAKE_BINARY_DIR}/base-types-sisl.pc @ONLY)
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index bc32845..65522a4 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -1,3 +1,8 @@
+
+rock_find_qt4(OPTIONAL)
+rock_find_qt5(OPTIONAL)
+include(RockQt)
+
 if(SISL_FOUND)
     list(APPEND OPTIONAL_TESTS
         test_Spline.cpp)
@@ -21,9 +26,14 @@ rock_executable(benchmark benchmark.cpp bench_func.cpp
     DEPS base-types
     DEPS_PKGCONFIG base-logging
     NOINSTALL)
-rock_executable(test_DepthMapVisualization test_DepthMapVisualization.cpp
-    DEPS base-types base-viz
-    DEPS_PKGCONFIG vizkit3d
+
+rock_qt_executable(
+    TARGETPREFIX test_DepthMapVisualization
+    QT4_SUFFIX ""
+    SOURCES test_DepthMapVisualization.cpp
+    DEPS base-types
+    DEPS_QT base-viz
+    DEPS_PKGCONFIG_QT vizkit3d
     LIBS ${Boost_SYSTEM_LIBRARY}
     NOINSTALL)
 
diff --git a/viz/CMakeLists.txt b/viz/CMakeLists.txt
index 98c9c12..5c0c90e 100644
--- a/viz/CMakeLists.txt
+++ b/viz/CMakeLists.txt
@@ -1,4 +1,7 @@
-rock_find_qt4()
+rock_find_qt4(OPTIONAL)
+rock_find_qt5(OPTIONAL)
+
+include(RockQt)
 
 unset(OPTIONAL_HPP)
 unset(OPTIONAL_MOC)
@@ -15,7 +18,11 @@ if(SISL_FOUND)
     )
 endif()
 
-rock_vizkit_plugin(base-viz
+rock_qt_vizkit_plugin(
+    TARGETPREFIX base-viz
+    QT4_SUFFIX ""
+    MISSINGQTDEPS_NOBUILD
+    SOURCES
         PluginLoader.cpp Uncertainty.cpp Vizkit3DHelper.cpp
         DistanceImageVisualization.cpp
         LaserScanVisualization.cpp
@@ -28,8 +35,10 @@ rock_vizkit_plugin(base-viz
         SonarVisualization.cpp
         PointcloudVisualization.cpp
         DepthMapVisualization.cpp
+        OrientedBoundingBoxVisualization.cpp
         ${OPTIONAL_CPP}
     MOC
+        PluginLoader.hpp
         DistanceImageVisualization.hpp
         LaserScanVisualization.hpp
         MotionCommandVisualization.hpp
@@ -41,6 +50,7 @@ rock_vizkit_plugin(base-viz
         SonarVisualization.hpp
         PointcloudVisualization.hpp
         DepthMapVisualization.hpp
+        OrientedBoundingBoxVisualization.hpp
         ${OPTIONAL_MOC}
     HEADERS
         Uncertainty.hpp
@@ -56,8 +66,17 @@ rock_vizkit_plugin(base-viz
         SonarVisualization.hpp
         PointcloudVisualization.hpp
         DepthMapVisualization.hpp
+        OrientedBoundingBoxVisualization.hpp
         ${OPTIONAL_HPP}
     DEPS base-types
     LIBS ${Boost_SYSTEM_LIBRARY}
-    DEPS_PKGCONFIG base-logging
+    DEPS_PKGCONFIG base-logging PrimitivesFactory
 )
+if(SISL_FOUND)
+    if(TARGET base-viz)
+        target_compile_definitions(base-viz PRIVATE SISL_FOUND)
+    endif()
+    if(TARGET base-viz-qt5)
+        target_compile_definitions(base-viz-qt5 PRIVATE SISL_FOUND)
+    endif()
+endif(SISL_FOUND)
diff --git a/viz/OrientedBoundingBoxVisualization.cpp b/viz/OrientedBoundingBoxVisualization.cpp
new file mode 100644
index 0000000..c9b434b
--- /dev/null
+++ b/viz/OrientedBoundingBoxVisualization.cpp
@@ -0,0 +1,69 @@
+#include "OrientedBoundingBoxVisualization.hpp"
+
+#include <osg/Geode>
+#include <osg/Geometry>
+#include <osg/Group>
+#include <osg/ShapeDrawable>
+
+#include <vizkit3d/Vizkit3DHelper.hpp>
+
+using namespace vizkit3d;
+
+struct OrientedBoundingBoxVisualization::Data {
+    // Copy of the value given to updateDataIntern.
+    // Making a copy is required because of how OSG works
+    std::vector<base::samples::OrientedBoundingBox> data;
+};
+
+
+OrientedBoundingBoxVisualization::OrientedBoundingBoxVisualization()
+    : p(new Data), color(1.0f, 1.0f, 1.0f, 1.0f) {
+}
+
+OrientedBoundingBoxVisualization::~OrientedBoundingBoxVisualization() {
+    delete p;
+}
+
+void OrientedBoundingBoxVisualization::setColor(QColor q_color) {
+    color = osg::Vec4(q_color.redF(), q_color.greenF(),
+            q_color.blueF(), q_color.alphaF());
+    setDirty();
+    emit propertyChanged("Color");
+}
+
+QColor OrientedBoundingBoxVisualization::getColor() const {
+    QColor q_color;
+    q_color.setRgbF(color[0], color[1], color[2], color[3]);
+    return q_color;
+}
+
+osg::ref_ptr<osg::Node> OrientedBoundingBoxVisualization::createMainNode() {
+    osg::ref_ptr<osg::Group> boxes = new osg::Group();
+
+    addBoxes(boxes);
+
+    return boxes;
+}
+
+void OrientedBoundingBoxVisualization::updateMainNode(osg::Node* node) {
+    node->asGroup()->removeChildren(0, node->asGroup()->getNumChildren());
+    addBoxes(node->asGroup());
+}
+
+void OrientedBoundingBoxVisualization::updateDataIntern(std::vector<base::samples::OrientedBoundingBox> const& data) {
+    p->data = data;
+}
+
+void  OrientedBoundingBoxVisualization::updateDataIntern(base::samples::OrientedBoundingBox const& data) {
+    p->data.clear();
+    p->data.push_back(data);
+}
+
+void OrientedBoundingBoxVisualization::addBoxes(osg::Group* group) {
+    for (const auto & box : p->data) {
+        osg::ref_ptr<osgviz::Object> wireframe = primitives.createWireframeBox(box.dimension.x(), box.dimension.y(), box.dimension.z(), color);
+        wireframe->setPosition(box.position.x(), box.position.y(), box.position.z());
+        wireframe->setOrientation(box.orientation.x(), box.orientation.y(), box.orientation.z(), box.orientation.w());
+        group->addChild(wireframe);
+    }
+}
diff --git a/viz/OrientedBoundingBoxVisualization.hpp b/viz/OrientedBoundingBoxVisualization.hpp
new file mode 100644
index 0000000..e97f4d5
--- /dev/null
+++ b/viz/OrientedBoundingBoxVisualization.hpp
@@ -0,0 +1,88 @@
+#pragma once
+
+#include <vector>
+#include <boost/noncopyable.hpp>
+#include <vizkit3d/Vizkit3DPlugin.hpp>
+#include <base/samples/OrientedBoundingBox.hpp>
+#include <osgViz/modules/viz/Primitives/PrimitivesFactory.h>
+
+namespace osg {
+class Group;
+}
+
+namespace vizkit3d {
+
+
+class OrientedBoundingBoxVisualization
+    : public vizkit3d::Vizkit3DPlugin< std::vector<base::samples::OrientedBoundingBox> >
+    , public vizkit3d::VizPluginAddType<base::samples::OrientedBoundingBox>
+    , boost::noncopyable
+{
+Q_OBJECT
+Q_PROPERTY(QColor Color READ getColor WRITE setColor)
+
+ public:
+    OrientedBoundingBoxVisualization();
+    ~OrientedBoundingBoxVisualization();
+
+    /**
+     * Thread-safe call of 
+     * 'updateDataIntern ( std::vector<base::samples::OrientedBoundingBox> const& data )'.
+     */
+    Q_INVOKABLE void updateData(std::vector<base::samples::OrientedBoundingBox> const &sample) {
+        vizkit3d::Vizkit3DPlugin< std::vector<base::samples::OrientedBoundingBox> >::updateData(sample);
+    }
+
+    /**
+     * Thread-safe call of 'updateDataIntern ( const base::samples::OrientedBoundingBox& data )'.
+     */
+    Q_INVOKABLE void updateData(base::samples::OrientedBoundingBox const &sample) {
+        vizkit3d::Vizkit3DPlugin< std::vector<base::samples::OrientedBoundingBox> >::updateData(sample);
+    }
+
+ public slots:
+    /**
+     * Sets the color of all boxes.
+     */
+    void setColor(QColor q_color);
+
+    /**
+     * Returns the current color of the boxes.
+     */
+    QColor getColor() const;
+
+ protected:
+    /**
+     * OSG tree: Group <- Transformation <- Geode <- Sphere 
+     *                                            <- Triangle
+     */
+    osg::ref_ptr<osg::Node> createMainNode();
+
+    /**
+     * Clears the group and redraws all boxes.
+     */
+    void updateMainNode(osg::Node* node);
+
+    /**
+     * Replaces the current list of boxes with the passed one.
+     */
+    void updateDataIntern(std::vector<base::samples::OrientedBoundingBox> const& data);
+
+    /**
+     * Clears the current list of boxes and adds the new waypoint.
+     */
+    void updateDataIntern(base::samples::OrientedBoundingBox const& data);
+
+ private:
+    osg::ref_ptr<osg::Group> group;
+    struct Data;
+    Data* p;
+    osg::Vec4 color;
+    osgviz::PrimitivesFactory primitives;
+    /**
+     * Inserts all boxes into the tree using the tree structure shown 
+     * in \a createMainNode() and the currently set color.
+     */
+    void addBoxes(osg::Group* group);
+};
+}  // namespace vizkit3d
diff --git a/viz/PluginLoader.cpp b/viz/PluginLoader.cpp
index 9f4688b..b0cecb2 100644
--- a/viz/PluginLoader.cpp
+++ b/viz/PluginLoader.cpp
@@ -1,8 +1,12 @@
-#include <vizkit3d/Vizkit3DPlugin.hpp>
+
+#include "PluginLoader.hpp"
+
 #include "LaserScanVisualization.hpp"
 #include "WaypointVisualization.hpp"
 #include "MotionCommandVisualization.hpp"
+#ifdef SISL_FOUND
 #include "TrajectoryVisualization.hpp"
+#endif
 #include "RigidBodyStateVisualization.hpp"
 #include "BodyStateVisualization.hpp"
 #include "SonarGroundDistanceVisualization.hpp"
@@ -11,95 +15,102 @@
 #include "SonarVisualization.hpp"
 #include "DepthMapVisualization.hpp"
 #include "DistanceImageVisualization.hpp"
+#include "OrientedBoundingBoxVisualization.hpp"
 
 namespace vizkit3d {
-    class QtPluginVizkitBase : public vizkit3d::VizkitPluginFactory {
-    private:
-    public:
-	
-	QtPluginVizkitBase() {
-	}
-	
+
+
 	/**
 	* Returns a list of all available visualization plugins.
 	* @return list of plugin names
 	*/
-        virtual QStringList* getAvailablePlugins() const
+	QStringList* QtPluginVizkitBase::getAvailablePlugins() const
 	{
-	    QStringList *pluginNames = new QStringList();
-	    pluginNames->push_back("WaypointVisualization");
-	    pluginNames->push_back("TrajectoryVisualization");
-	    pluginNames->push_back("MotionCommandVisualization");
-	    pluginNames->push_back("RigidBodyStateVisualization");
-	    pluginNames->push_back("BodyStateVisualization");
-	    pluginNames->push_back("LaserScanVisualization");
-	    pluginNames->push_back("SonarGroundDistanceVisualization");
-	    pluginNames->push_back("PointcloudVisualization");
-	    pluginNames->push_back("SonarBeamVisualization");
-	    pluginNames->push_back("SonarVisualization");
-	    pluginNames->push_back("DepthMapVisualization");
-	    pluginNames->push_back("DistanceImageVisualization");
-	    return pluginNames;
+		QStringList *pluginNames = new QStringList();
+		pluginNames->push_back("WaypointVisualization");
+		#ifdef SISL_FOUND
+		pluginNames->push_back("TrajectoryVisualization");
+		#endif
+		pluginNames->push_back("MotionCommandVisualization");
+		pluginNames->push_back("RigidBodyStateVisualization");
+		pluginNames->push_back("BodyStateVisualization");
+		pluginNames->push_back("LaserScanVisualization");
+		pluginNames->push_back("SonarGroundDistanceVisualization");
+		pluginNames->push_back("PointcloudVisualization");
+		pluginNames->push_back("SonarBeamVisualization");
+		pluginNames->push_back("SonarVisualization");
+		pluginNames->push_back("DepthMapVisualization");
+		pluginNames->push_back("DistanceImageVisualization");
+		pluginNames->push_back("OrientedBoundingBoxVisualization");
+		return pluginNames;
 	}
 	
-        virtual QObject* createPlugin(QString const& pluginName)
-        {
-	    vizkit3d::VizPluginBase* plugin = 0;
-	    if (pluginName == "WaypointVisualization")
-	    {
-		    plugin = new vizkit3d::WaypointVisualization();
-	    }
-	    else if (pluginName == "MotionCommandVisualization")
-	    {
-    		plugin = new vizkit3d::MotionCommandVisualization();
-	    }
-	    else if (pluginName == "TrajectoryVisualization")
-	    {
-	    	plugin = new vizkit3d::TrajectoryVisualization();
-	    }
-	    else if (pluginName == "RigidBodyStateVisualization")
-	    {
-		    plugin = new vizkit3d::RigidBodyStateVisualization();
-	    }
-	    else if (pluginName == "BodyStateVisualization")
-	    {
-    		plugin = new vizkit3d::BodyStateVisualization();
-	    }
-	    else if (pluginName == "LaserScanVisualization")
-	    {
-	        plugin = new vizkit3d::LaserScanVisualization();
-	    }
-	    else if (pluginName == "SonarGroundDistanceVisualization")
-	    {
-	        plugin = new vizkit3d::SonarGroundDistanceVisualization();
-	    }
-	    else if (pluginName == "PointcloudVisualization")
-	    {
-	        plugin = new vizkit3d::PointcloudVisualization();
-	    }
-	    else if (pluginName == "SonarBeamVisualization")
-	    {
-	        plugin = new vizkit3d::SonarBeamVisualization();
-	    }
-	    else if (pluginName == "SonarVisualization")
-	    {
-		    plugin = new vizkit3d::SonarVisualization();
-	    }
-	    else if (pluginName == "DepthMapVisualization")
-	    {
-	    	plugin = new vizkit3d::DepthMapVisualization();
-	    }
-	    else if (pluginName == "DistanceImageVisualization")
-	    {
+	QObject* QtPluginVizkitBase::createPlugin(QString const& pluginName)
+	{
+		vizkit3d::VizPluginBase* plugin = 0;
+		if (pluginName == "WaypointVisualization")
+		{
+			plugin = new vizkit3d::WaypointVisualization();
+		}
+		else if (pluginName == "MotionCommandVisualization")
+		{
+			plugin = new vizkit3d::MotionCommandVisualization();
+		}
+		#ifdef SISL_FOUND
+		else if (pluginName == "TrajectoryVisualization")
+		{
+			plugin = new vizkit3d::TrajectoryVisualization();
+		}
+		#endif
+		else if (pluginName == "RigidBodyStateVisualization")
+		{
+			plugin = new vizkit3d::RigidBodyStateVisualization();
+		}
+		else if (pluginName == "BodyStateVisualization")
+		{
+			plugin = new vizkit3d::BodyStateVisualization();
+		}
+		else if (pluginName == "LaserScanVisualization")
+		{
+			plugin = new vizkit3d::LaserScanVisualization();
+		}
+		else if (pluginName == "SonarGroundDistanceVisualization")
+		{
+			plugin = new vizkit3d::SonarGroundDistanceVisualization();
+		}
+		else if (pluginName == "PointcloudVisualization")
+		{
+			plugin = new vizkit3d::PointcloudVisualization();
+		}
+		else if (pluginName == "SonarBeamVisualization")
+		{
+			plugin = new vizkit3d::SonarBeamVisualization();
+		}
+		else if (pluginName == "SonarVisualization")
+		{
+			plugin = new vizkit3d::SonarVisualization();
+		}
+		else if (pluginName == "DepthMapVisualization")
+		{
+			plugin = new vizkit3d::DepthMapVisualization();
+		}
+		else if (pluginName == "DistanceImageVisualization")
+		{
 		plugin = new vizkit3d::DistanceImageVisualization();
-	    }
+		}
+		else if (pluginName == "OrientedBoundingBoxVisualization")
+		{
+		plugin = new vizkit3d::OrientedBoundingBoxVisualization();
+		}
+
+		if (plugin)
+		{
+			return plugin;
+		}
+		return NULL;
+	}
 
-	    if (plugin) 
-	    {
-		    return plugin;
-	    }
-	    return NULL;
-        };
-    };
-    Q_EXPORT_PLUGIN2(QtPluginVizkitBase, QtPluginVizkitBase)
+#if QT_VERSION < 0x050000
+	Q_EXPORT_PLUGIN2(QtPluginVizkitBase, QtPluginVizkitBase)
+#endif
 }
diff --git a/viz/PluginLoader.hpp b/viz/PluginLoader.hpp
new file mode 100644
index 0000000..04744ef
--- /dev/null
+++ b/viz/PluginLoader.hpp
@@ -0,0 +1,28 @@
+#pragma once
+
+#include <vizkit3d/Vizkit3DPlugin.hpp>
+
+namespace vizkit3d {
+
+class QtPluginVizkitBase : public vizkit3d::VizkitPluginFactory {
+	Q_OBJECT
+#if QT_VERSION >= 0x050000
+	Q_PLUGIN_METADATA(IID "rock.vizkit3d.VizkitPluginFactory")
+#endif
+	//Q_INTERFACES(vizkit3d::VizkitPluginFactory)
+
+ private:
+ public:
+	
+	QtPluginVizkitBase() {
+	}
+
+	/**
+	* Returns a list of all available visualization plugins.
+	* @return list of plugin names
+	*/
+	virtual QStringList* getAvailablePlugins() const;
+	virtual QObject* createPlugin(QString const& pluginName);
+};
+
+}  // namespace vizkit3d
diff --git a/viz/base-viz-qt5.pc.in b/viz/base-viz-qt5.pc.in
new file mode 100644
index 0000000..24800b6
--- /dev/null
+++ b/viz/base-viz-qt5.pc.in
@@ -0,0 +1,12 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=@CMAKE_INSTALL_PREFIX@
+libdir=${prefix}/lib
+includedir=${prefix}/include
+
+Name: @PROJECT_NAME@-viz-qt5
+Description: base types Vizkit3D plugins
+Version: @PROJECT_VERSION@
+Requires: vizkit3d-qt5
+Libs: -L${libdir} -l@PROJECT_NAME@-viz-qt5
+Cflags: -I${includedir}
+
diff --git a/viz/vizkit_plugin.rb b/viz/vizkit_plugin.rb
index dde2711..b5dece9 100644
--- a/viz/vizkit_plugin.rb
+++ b/viz/vizkit_plugin.rb
@@ -29,3 +29,6 @@
 Vizkit::UiLoader.register_3d_plugin_for('DepthMapVisualization', "/base/samples/DepthMap", :updateDepthMap)
 Vizkit::UiLoader.register_3d_plugin('DistanceImageVisualization', "base", 'DistanceImageVisualization')
 Vizkit::UiLoader.register_3d_plugin_for('DistanceImageVisualization', "/base/samples/DistanceImage", :updateDistanceImage)
+Vizkit::UiLoader.register_3d_plugin('OrientedBoundingBoxVisualization',"base", 'OrientedBoundingBoxVisualization')
+Vizkit::UiLoader.register_3d_plugin_for('OrientedBoundingBoxVisualization', "/std/vector</base/samples/OrientedBoundingBox>", :updateData )
+Vizkit::UiLoader.register_3d_plugin_for('OrientedBoundingBoxVisualization', "/base/samples/OrientedBoundingBox", :updateData )