diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 988c0a7..b2147cd 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -2,29 +2,27 @@ cmake_minimum_required(VERSION 2.8.3)
 
 project(kdl_parser)
 
-find_package(catkin REQUIRED COMPONENTS collada_parser orocos_kdl roscpp rosconsole urdf)
-
-catkin_package(
-  LIBRARIES ${PROJECT_NAME}
-  INCLUDE_DIRS include
-  CATKIN_DEPENDS collada_parser roscpp rosconsole urdf)
-
-include_directories(include)
-
 find_package(Boost REQUIRED)
 include_directories(${Boost_INCLUDE_DIR})
 
 find_library(tinyxml_library tinyxml)
 
-find_package(Orocos-KDL REQUIRED)
-include_directories(${Orocos-KDL_INCLUDE_DIRS})
-link_directories(${Orocos-KDL_LIBRARY_DIRS})
+find_package(catkin REQUIRED
+  COMPONENTS collada_parser orocos_kdl roscpp rosconsole urdf
+)
 
-include_directories(${catkin_INCLUDE_DIRS})
-link_directories(${catkin_LIBRARY_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+catkin_package(
+  LIBRARIES ${PROJECT_NAME}
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS collada_parser roscpp rosconsole urdf
+)
 
 add_library(${PROJECT_NAME} src/kdl_parser.cpp)
-target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${Orocos-KDL_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}
+  ${tinyxml_library} ${catkin_LIBRARIES}
+)
 
 add_executable(check_kdl_parser src/check_kdl_parser.cpp )
 target_link_libraries(check_kdl_parser ${PROJECT_NAME})