diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index 9b5be44..f0ae921 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(collada_urdf)
 
-find_package(catkin REQUIRED COMPONENTS angles collada_parser resource_retriever urdf geometric_shapes)
+find_package(catkin REQUIRED COMPONENTS angles collada_parser resource_retriever urdf geometric_shapes cmake_modules)
+
+find_package(TinyXML REQUIRED)
 
 catkin_package(
   LIBRARIES ${PROJECT_NAME}
@@ -39,19 +41,17 @@ else()
   set(IS_ASSIMP3 0) # most likely not
 endif()
 
-find_library(tinyxml_library tinyxml)
-
 find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
 if( COLLADA_DOM_FOUND )
   include_directories(${COLLADA_DOM_INCLUDE_DIRS})
   link_directories(${COLLADA_DOM_LIBRARY_DIRS})
 endif()
 
-include_directories(${catkin_INCLUDE_DIRS})
+include_directories(${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_library} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}  
+target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_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}") 
diff --git a/collada_urdf/package.xml b/collada_urdf/package.xml
index 619337c..4acf786 100644
--- a/collada_urdf/package.xml
+++ b/collada_urdf/package.xml
@@ -26,6 +26,7 @@
   <build_depend>roscpp</build_depend>
   <build_depend>urdf</build_depend>
   <build_depend>geometric_shapes</build_depend>
+  <build_depend>cmake_modules</build_depend>
 
   <run_depend>angles</run_depend>
   <run_depend>assimp</run_depend>
diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 485bef3..7522ac3 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -5,14 +5,13 @@ project(kdl_parser)
 find_package(Boost REQUIRED)
 include_directories(${Boost_INCLUDE_DIR})
 
-find_library(tinyxml_library tinyxml)
-
 find_package(catkin REQUIRED
-  COMPONENTS roscpp rosconsole urdf
+  COMPONENTS roscpp rosconsole urdf cmake_modules
 )
 find_package(orocos_kdl REQUIRED)
+find_package(TinyXML REQUIRED)
 
-include_directories(include ${orocos_kdl_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+include_directories(include ${orocos_kdl_INCLUDE_DIRS} ${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
 link_directories(${catkin_LIBRARY_DIRS})
 link_directories(${orocos_kdl_LIBRARY_DIRS})
@@ -26,7 +25,7 @@ catkin_package(
 
 add_library(${PROJECT_NAME} src/kdl_parser.cpp)
 target_link_libraries(${PROJECT_NAME}
-  ${tinyxml_library} ${orocos_kdl_LIBRARIES} ${catkin_LIBRARIES}
+  ${TinyXML_LIBRARIES} ${orocos_kdl_LIBRARIES} ${catkin_LIBRARIES}
 )
 
 add_executable(check_kdl_parser src/check_kdl_parser.cpp )
diff --git a/kdl_parser/package.xml b/kdl_parser/package.xml
index be89288..0b61512 100644
--- a/kdl_parser/package.xml
+++ b/kdl_parser/package.xml
@@ -23,6 +23,7 @@
   <build_depend>rosconsole</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>urdf</build_depend>
+  <build_depend>cmake_modules</build_depend>
 
   <run_depend>orocos_kdl</run_depend>
   <run_depend>rosconsole</run_depend>
diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
index 0afcb03..5fde363 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@@ -3,11 +3,14 @@ project(urdf)
 
 find_package(Boost REQUIRED thread)
 find_package(urdfdom REQUIRED)
-find_package(catkin REQUIRED COMPONENTS urdfdom_headers urdf_parser_plugin pluginlib rosconsole_bridge roscpp)
+find_package(catkin REQUIRED COMPONENTS
+  urdfdom_headers urdf_parser_plugin pluginlib rosconsole_bridge roscpp cmake_modules)
+
+find_package(TinyXML REQUIRED)
 
 catkin_package(
   LIBRARIES ${PROJECT_NAME}
-  INCLUDE_DIRS include
+  INCLUDE_DIRS include ${TinyXML_INCLUDE_DIRS}
   CATKIN_DEPENDS rosconsole_bridge roscpp
   DEPENDS urdfdom_headers urdfdom Boost
 )
@@ -15,15 +18,16 @@ catkin_package(
 include_directories(SYSTEM ${Boost_INCLUDE_DIR})
 link_directories(${Boost_LIBRARY_DIRS})
 
-include_directories(include)
-
-include_directories(${catkin_INCLUDE_DIRS} ${urdfdom_INCLUDE_DIRS})
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${urdfdom_INCLUDE_DIRS}
+  ${TinyXML_INCLUDE_DIRS}
+  )
 link_directories(${catkin_LIBRARY_DIRS})
 
-find_library(TINYXML tinyxml)
-
 add_library(${PROJECT_NAME} src/model.cpp src/rosconsole_bridge.cpp)
-target_link_libraries(${PROJECT_NAME} ${TINYXML} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES})
 
 if(APPLE)
   set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
diff --git a/urdf/package.xml b/urdf/package.xml
index 3052348..cc972eb 100644
--- a/urdf/package.xml
+++ b/urdf/package.xml
@@ -25,6 +25,7 @@
   <build_depend>urdfdom_headers</build_depend>
   <build_depend>urdf_parser_plugin</build_depend>
   <build_depend>pluginlib</build_depend>
+  <build_depend>cmake_modules</build_depend>
 
   <run_depend>rosconsole_bridge</run_depend>
   <run_depend>roscpp</run_depend>