diff --git a/collada_parser/package.xml b/collada_parser/package.xml
index a3b29d3..3579a22 100644
--- a/collada_parser/package.xml
+++ b/collada_parser/package.xml
@@ -13,6 +13,8 @@
   <maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/collada_parser</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
   
   <build_depend>collada-dom</build_depend> 
   <build_depend>roscpp</build_depend> 
diff --git a/collada_urdf/package.xml b/collada_urdf/package.xml
index 71e1922..3f2938e 100644
--- a/collada_urdf/package.xml
+++ b/collada_urdf/package.xml
@@ -13,6 +13,7 @@
   <maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>  <license>BSD</license>
   <url type="website">http://ros.org/wiki/collada_urdf</url>
 
+  <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>angles</build_depend> 
   <build_depend>assimp</build_depend> 
@@ -30,16 +31,4 @@
   <run_depend>roscpp</run_depend> 
   <run_depend>urdf</run_depend> 
 
-<!--
-  <depend package="roscpp" />
-  <depend package="urdf" />
-  <depend package="resource_retriever" />
-  <depend package="angles" />
-  <depend package="common_rosdeps" />
-
-  <rosdep name="assimp"/>
--->
-  <export>
-  </export>
-
 </package>
diff --git a/kdl_parser/package.xml b/kdl_parser/package.xml
index b12e28c..9d40f9c 100644
--- a/kdl_parser/package.xml
+++ b/kdl_parser/package.xml
@@ -15,6 +15,7 @@
   <maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>  <license>BSD</license>
   <url type="website">http://ros.org/wiki/kdl_parser</url>
 
+  <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>catkin</build_depend>
   <build_depend>collada_parser</build_depend>
@@ -23,21 +24,12 @@
   <build_depend>roscpp</build_depend> 
   <build_depend>urdf</build_depend> 
 
-
-  <run_depend>catkin</run_depend>
   <run_depend>collada_parser</run_depend>
   <run_depend>orocos_kdl</run_depend>
   <run_depend>rosconsole</run_depend> 
   <run_depend>roscpp</run_depend> 
   <run_depend>urdf</run_depend> 
 
-<!--  
-  <depend package="urdf" />
-  <depend package="roscpp" />
--->
-  <export>
-  </export>
-  
 </package>
 
 
diff --git a/resource_retriever/package.xml b/resource_retriever/package.xml
index 79afac4..da24f98 100644
--- a/resource_retriever/package.xml
+++ b/resource_retriever/package.xml
@@ -16,24 +16,14 @@
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/resource_retriever</url>
 
-  <build_depend>catkin</build_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+
   <build_depend>curl</build_depend>
   <build_depend>rosconsole</build_depend> 
   <build_depend>roslib</build_depend> 
 
-
-  <run_depend>catkin</run_depend>
   <run_depend>curl</run_depend>
   <run_depend>rosconsole</run_depend> 
   <run_depend>roslib</run_depend> 
 
-<!--
-  <depend package="roslib"/>
-  <depend package="rosconsole"/>
-  <rosdep name="curl"/>
--->
-  <export>
-  </export>
-
-
 </package>
diff --git a/robot_model/package.xml b/robot_model/package.xml
index fc82fb3..f9d6cc0 100644
--- a/robot_model/package.xml
+++ b/robot_model/package.xml
@@ -18,7 +18,7 @@
 
   <url type="website">http://ros.org/wiki/robot_model</url>
 
-  <build_depend>catkin</build_depend>
+  <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>angles</build_depend> 
   <build_depend>assimp</build_depend>
diff --git a/srdf/package.xml b/srdf/package.xml
index 719c5a6..775370d 100644
--- a/srdf/package.xml
+++ b/srdf/package.xml
@@ -13,21 +13,12 @@
 
   <url type="website">http://ros.org/wiki/srdf</url>
 
+  <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>catkin</build_depend>
   <build_depend>srdfdom</build_depend>
   <build_depend>tinyxml</build_depend>
 
-
-  <run_depend>catkin</run_depend>
   <run_depend>srdfdom</run_depend>
   <run_depend>tinyxml</run_depend>
 
-<!--
-  <rosdep name="tinyxml" />
-  <rosdep name="srdfdom" />
--->
-  <export>
-  </export>
-
 </package>
diff --git a/urdf/package.xml b/urdf/package.xml
index bf6401a..3c7ec5a 100644
--- a/urdf/package.xml
+++ b/urdf/package.xml
@@ -12,15 +12,14 @@
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/urdf</url>
 
+  <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>catkin</build_depend>
   <build_depend>collada_parser</build_depend>
   <build_depend>rosconsole_bridge</build_depend> 
   <build_depend>roscpp</build_depend> 
   <build_depend>urdfdom</build_depend> 
   <build_depend>urdfdom_headers</build_depend> 
 
-  <run_depend>catkin</run_depend>
   <run_depend>collada_parser</run_depend>
   <run_depend>rosconsole_bridge</run_depend> 
   <run_depend>roscpp</run_depend> 
diff --git a/urdf_interface/package.xml b/urdf_interface/package.xml
index 8cdf8d7..7d4844c 100644
--- a/urdf_interface/package.xml
+++ b/urdf_interface/package.xml
@@ -13,17 +13,12 @@
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/urdf_interface</url>
 
-  <build_depend>catkin</build_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+
   <build_depend>urdfdom</build_depend>
 
-  <run_depend>catkin</run_depend>
   <run_depend>urdfdom</run_depend>
 
-  <!--rosdep name="urdfdom" /-->
-
-  <export>
-  </export>
-
 </package>
 
 
diff --git a/urdf_parser/package.xml b/urdf_parser/package.xml
index b9f42a8..add1b19 100644
--- a/urdf_parser/package.xml
+++ b/urdf_parser/package.xml
@@ -20,15 +20,10 @@
 
   <url type="website">http://ros.org/wiki/urdf_parser</url>
 
+  <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>catkin</build_depend>
   <build_depend>urdfdom</build_depend>
 
-  <run_depend>catkin</run_depend>
   <run_depend>urdfdom</run_depend>
-  <!--rosdep name="urdfdom" /-->
-
-  <export>  
-  </export>
 
 </package>