diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index d0a7b02..2b016fa 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -4,6 +4,8 @@ set(ROS_BUILD_TYPE RelWithDebInfo)
 rosbuild_init()
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 
+link_libraries(tinyxml)
+
 rosbuild_add_library(collada_urdf src/collada_urdf.cpp)
 rosbuild_link_boost(collada_urdf system)
 
diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 6625169..9522229 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -23,6 +23,8 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 #uncomment if you have defined services
 #rosbuild_gensrv()
 
+link_libraries(tinyxml)
+
 rosbuild_add_library(${PROJECT_NAME} src/kdl_parser.cpp)
 
 rosbuild_add_executable(check_kdl_parser src/check_kdl_parser.cpp )
diff --git a/rosdep.yaml b/rosdep.yaml
index 2d78050..7e67e1b 100644
--- a/rosdep.yaml
+++ b/rosdep.yaml
@@ -2,3 +2,7 @@ pcre:
   ubuntu: libpcre3-dev
   fedora: pcre-devel
   debian: libpcre3-dev
+  osxbrew:
+    homebrew:
+      packages: [ pcre++]
+