diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index 2b016fa..74f5a11 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -8,6 +8,7 @@ link_libraries(tinyxml)
 
 rosbuild_add_library(collada_urdf src/collada_urdf.cpp)
 rosbuild_link_boost(collada_urdf system)
+target_link_libraries(collada_urdf assimp)
 
 rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp)
 target_link_libraries(urdf_to_collada collada_urdf)
diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml
index 6e38389..ceab97d 100644
--- a/collada_urdf/manifest.xml
+++ b/collada_urdf/manifest.xml
@@ -15,7 +15,13 @@
   <depend package="colladadom" />
   <depend package="resource_retriever" />
   <depend package="angles" />
-  <depend package="assimp"/>
+
+  <rosdep name="assimp"/>
+
+  <export>
+    <cpp cflags="-I${prefix}/include"
+         lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lcollada_urdf" />
+  </export>
 
   <platform os="ubuntu" version="9.04"/>
   <platform os="ubuntu" version="9.10"/>