diff --git a/collada_parser/CMakeLists.txt b/collada_parser/CMakeLists.txt
index d6f5330..86fdc0a 100644
--- a/collada_parser/CMakeLists.txt
+++ b/collada_parser/CMakeLists.txt
@@ -7,7 +7,7 @@ catkin_project(${PROJECT_NAME}
 
 include_directories(include)
 
-find_package(Boost REQUIRED)
+find_package(Boost REQUIRED system)
 include_directories(${Boost_INCLUDE_DIR})
 
 find_package(urdfdom_headers REQUIRED)
@@ -30,7 +30,7 @@ endif()
 
 #common commands for building c++ executables and libraries
 add_library(${PROJECT_NAME} src/collada_parser.cpp)
-target_link_libraries(${PROJECT_NAME} ${COLLADA_DOM_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${COLLADA_DOM_LIBRARIES} ${Boost_LIBRARIES})
 
 set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${COLLADA_DOM_CFLAGS_OTHER}")
 if(APPLE) 
diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 639bfcf..73b1f5b 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -12,8 +12,9 @@ include_directories(${Boost_INCLUDE_DIR})
 
 find_library(tinyxml_library tinyxml)
 
-find_package(ROS REQUIRED COMPONENTS roscpp rosconsole)
-include_directories(${ROS_INCLUDE_DIRS})
+find_package(catkin REQUIRED COMPONENTS roscpp rosconsole)
+include_directories(${catkin_INCLUDE_DIRS})
+link_directories(${catkin_LIBRARY_DIRS})
 
 find_package(Orocos-KDL REQUIRED)
 include_directories(${Orocos-KDL_INCLUDE_DIRS})
@@ -23,7 +24,7 @@ find_package(urdf)
 include_directories(${urdf_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME} src/kdl_parser.cpp)
-target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${Orocos-KDL_LIBRARIES} ${urdf_LIBRARIES} ${ROS_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${Orocos-KDL_LIBRARIES} ${urdf_LIBRARIES} ${catkin_LIBRARIES})
 
 add_executable(check_kdl_parser src/check_kdl_parser.cpp )
 target_link_libraries(check_kdl_parser ${PROJECT_NAME})
diff --git a/resource_retriever/CMakeLists.txt b/resource_retriever/CMakeLists.txt
index 35907cd..512ed4d 100644
--- a/resource_retriever/CMakeLists.txt
+++ b/resource_retriever/CMakeLists.txt
@@ -6,8 +6,9 @@ catkin_project(${PROJECT_NAME}
 
 include_directories(include)
 
-find_package(ROS REQUIRED COMPONENTS rosconsole roslib)
-include_directories(${ROS_INCLUDE_DIRS})
+find_package(catkin REQUIRED COMPONENTS rosconsole roslib)
+include_directories(${catkin_INCLUDE_DIRS})
+link_directories(${catkin_LIBRARY_DIRS})
 
 include(FindCURL)
 if(NOT CURL_FOUND)
@@ -18,7 +19,7 @@ include_directories(${CURL_INCLUDE_DIRS})
 
 
 add_library(${PROJECT_NAME} src/retriever.cpp)
-target_link_libraries(${PROJECT_NAME} ${CURL_LIBRARIES} ${ROS_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${CURL_LIBRARIES} ${catkin_LIBRARIES})
 
 add_subdirectory(test EXCLUDE_FROM_ALL)
 
diff --git a/stack.xml b/stack.xml
index 2307650..9c74643 100644
--- a/stack.xml
+++ b/stack.xml
@@ -1,6 +1,6 @@
 <stack>
   <name>robot_model</name>
-  <version>1.9.2</version>
+  <version>1.9.3</version>
   <description brief="Modeling robot information">
     <tt>robot_model</tt> contains packages for modeling various
     aspects of robot information, specified in the Xml Robot
diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
index 500dc3c..29a34d6 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@@ -22,11 +22,14 @@ find_package(rosconsole_bridge REQUIRED)
 include_directories(${rosconsole_bridge_INCLUDE_DIRS})
 link_directories(${rosconsole_bridge_LIBRARY_DIRS})
 
-find_package(ROS REQUIRED COMPONENTS roscpp rosconsole rostime)
-include_directories(${ROS_INCLUDE_DIRS})
+find_package(catkin REQUIRED COMPONENTS roscpp rosconsole rostime)
+include_directories(${catkin_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} ${urdfdom_LIBRARIES} ${collada_parser_LIBRARIES} ${rosconsole_bridge_LIBRARIES} ${ROS_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${urdfdom_LIBRARIES} ${collada_parser_LIBRARIES} ${rosconsole_bridge_LIBRARIES} ${TINYXML} ${catkin_LIBRARIES})
 
 if(APPLE) 
   set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")