diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index 9362f2b..4772125 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -3,7 +3,7 @@ project(collada_urdf)
 catkin_project(${PROJECT_NAME} 
   LIBRARIES ${PROJECT_NAME}
   INCLUDE_DIRS include
-  DEPENDS collada_parser)
+  DEPENDS collada_parser urdf)
 
 include_directories(include)
 
@@ -43,9 +43,11 @@ endif()
 
 find_package(urdf)
 include_directories(${urdf_INCLUDE_DIRS})
+link_directories(${urdf_LIBRARY_DIRS})
 
 find_package(resource_retriever)
 include_directories(${resource_retriever_INCLUDE_DIRS})
+link_directories(${resource_retriever_LIBRARY_DIRS})
 
 find_package(geometry_angles_utils)
 include_directories(${geometry_angles_utils_INCLUDE_DIRS})
diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
index 29a34d6..eb45257 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@@ -3,7 +3,7 @@ project(urdf)
 catkin_project(${PROJECT_NAME} 
   LIBRARIES ${PROJECT_NAME}
   INCLUDE_DIRS include
-  DEPENDS urdfdom urdfdom_headers collada_parser)
+  DEPENDS urdfdom urdfdom_headers collada_parser roscpp)
 
 include_directories(include)