diff --git a/collada_parser/Makefile b/collada_parser/Makefile
deleted file mode 100644
index b75b928..0000000
--- a/collada_parser/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/collada_urdf/Makefile b/collada_urdf/Makefile
deleted file mode 100644
index b75b928..0000000
--- a/collada_urdf/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/collada_urdf/package.xml b/collada_urdf/package.xml
index be07830..d06f773 100644
--- a/collada_urdf/package.xml
+++ b/collada_urdf/package.xml
@@ -10,7 +10,8 @@
   </description>
   <author>Tim Field</author>
   <author>Rosen Diankov</author>
-  <maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>  <license>BSD</license>
+  <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>
diff --git a/kdl_parser/Makefile b/kdl_parser/Makefile
deleted file mode 100644
index b75b928..0000000
--- a/kdl_parser/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/resource_retriever/Makefile b/resource_retriever/Makefile
deleted file mode 100644
index b75b928..0000000
--- a/resource_retriever/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/robot_model/package.xml b/robot_model/package.xml
index 03667c7..7f89e38 100644
--- a/robot_model/package.xml
+++ b/robot_model/package.xml
@@ -13,8 +13,6 @@
   <maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>
 
   <license>BSD</license>  
-  <license>GPL</license>
-  <license>MIT</license>  
 
   <url type="website">http://ros.org/wiki/robot_model</url>
 
@@ -37,13 +35,12 @@
   <build_depend>ros</build_depend>
   <build_depend>ros_comm</build_depend> 
   <build_depend>rosconsole_bridge</build_depend>
-  <build_depend>srdf</build_depend>
   <build_depend>urdf</build_depend>
-  <build_depend>urdf_interface</build_depend>
   <build_depend>urdf_parser</build_depend>
   <build_depend>urdfdom</build_depend>
   <build_depend>urdfdom_headers</build_depend>
-  
+  <build_depend>joint_state_publisher</build_depend>
+
   <run_depend>angles</run_depend> 
   <run_depend>assimp</run_depend>
   <run_depend>collada-dom</run_depend>
@@ -61,12 +58,11 @@
   <run_depend>ros</run_depend>
   <run_depend>ros_comm</run_depend> 
   <run_depend>rosconsole_bridge</run_depend>
-  <run_depend>srdf</run_depend>
   <run_depend>urdf</run_depend>
-  <run_depend>urdf_interface</run_depend>
   <run_depend>urdf_parser</run_depend>
   <run_depend>urdfdom</run_depend>
   <run_depend>urdfdom_headers</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
 
   <!-- Add this dep for backward compatibility -->
   <run_depend>robot_state_publisher</run_depend> 
diff --git a/urdf/Makefile b/urdf/Makefile
deleted file mode 100644
index b75b928..0000000
--- a/urdf/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file