diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index 524f2e9..0e301e9 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -44,6 +44,12 @@ endif()
find_package(Boost REQUIRED COMPONENTS system filesystem program_options)
include_directories(${Boost_INCLUDE_DIR})
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(PCRECPP libpcrecpp)
+if( PCRECPP_FOUND )
+ include_directories(${PCRECPP_INCLUDE_DIRS})
+ link_directories(${PCRECPP_LIBRARY_DIRS})
+endif()
find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
if( COLLADA_DOM_FOUND )
include_directories(${COLLADA_DOM_INCLUDE_DIRS})
@@ -54,17 +60,17 @@ include_directories(${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS})
add_library(${PROJECT_NAME} src/collada_urdf.cpp)
-target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
+target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${PCRECPP_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
${Boost_LIBRARIES} ${ASSIMP_LIBRARIES})
set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}")
add_executable(urdf_to_collada src/urdf_to_collada.cpp)
-target_link_libraries(urdf_to_collada ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
+target_link_libraries(urdf_to_collada ${catkin_LIBRARIES} ${PCRECPP_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
${Boost_LIBRARIES} ${PROJECT_NAME})
add_executable(collada_to_urdf src/collada_to_urdf.cpp)
-target_link_libraries(collada_to_urdf ${ASSIMP_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(collada_to_urdf ${ASSIMP_LIBRARIES} ${catkin_LIBRARIES} ${PCRECPP_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${Boost_LIBRARIES})
set_target_properties(collada_to_urdf PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
set_target_properties(collada_to_urdf PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}")
diff --git a/collada_urdf/package.xml b/collada_urdf/package.xml
index 6958062..77f435d 100644
--- a/collada_urdf/package.xml
+++ b/collada_urdf/package.xml
@@ -25,6 +25,7 @@
collada_parser
liburdfdom-dev
liburdfdom-headers-dev
+ pcrecpp
roscpp
urdf
geometric_shapes
@@ -38,6 +39,7 @@
liburdfdom-dev
liburdfdom-headers-dev
resource_retriever
+ pcrecpp
roscpp
urdf
tf
diff --git a/collada_urdf/src/urdf_to_collada.cpp b/collada_urdf/src/urdf_to_collada.cpp
index 58cec49..06d6c34 100644
--- a/collada_urdf/src/urdf_to_collada.cpp
+++ b/collada_urdf/src/urdf_to_collada.cpp
@@ -37,6 +37,9 @@
#include "collada_urdf/collada_urdf.h"
#include
+#include
+pcrecpp::RE __re__(""); // https://github.com/ros/robot_model/issues/89
+
int main(int argc, char** argv)
{
if (argc != 3) {