diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 8f2a469..520890c 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -3,7 +3,7 @@ project(kdl_parser)
 catkin_project(${PROJECT_NAME} 
   LIBRARIES ${PROJECT_NAME}
   INCLUDE_DIRS include
-  DEPENDS Orocos-KDL urdf)
+  DEPENDS urdf)
 
 include_directories(include)
 
@@ -22,9 +22,14 @@ link_directories(${Orocos-KDL_LIBRARY_DIRS})
 
 find_package(urdf)
 include_directories(${urdf_INCLUDE_DIRS})
+link_directories(${urdf_LIBRARY_DIRS})
+
+find_package(collada_parser REQUIRED)
+include_directories(${collada_parser_INCLUDE_DIRS})
+link_directories(${collada_parser_LIBRARY_DIRS})
 
 add_library(${PROJECT_NAME} src/kdl_parser.cpp)
-target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${Orocos-KDL_LIBRARIES} ${urdf_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${Orocos-KDL_LIBRARIES} ${collada_parser_LIBRARIES} ${urdf_LIBRARIES} ${catkin_LIBRARIES})
 
 add_executable(check_kdl_parser src/check_kdl_parser.cpp )
 target_link_libraries(check_kdl_parser ${PROJECT_NAME})
diff --git a/stack.xml b/stack.xml
index aea65de..407e25d 100644
--- a/stack.xml
+++ b/stack.xml
@@ -1,6 +1,6 @@
 <stack>
   <name>robot_model</name>
-  <version>1.9.8</version>
+  <version>1.9.9</version>
   <description brief="Modeling robot information">
     <tt>robot_model</tt> contains packages for modeling various
     aspects of robot information, specified in the Xml Robot