diff --git a/collada_parser/manifest.xml b/collada_parser/manifest.xml
index 7c3c8a2..d45233a 100644
--- a/collada_parser/manifest.xml
+++ b/collada_parser/manifest.xml
@@ -17,8 +17,12 @@
   <rosdep name="colladadom"/>
 
   <export>
-    <cpp cflags="-I${prefix}/include `pkg-config --cflags urdfdom_headers` `pkg-config --silence-errors --cflags collada15dom || echo` `pkg-config --silence-errors --cflags collada-dom-150 || echo`" 
-         lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lcollada_parser `pkg-config --silence-errors --libs collada15dom || echo` `pkg-config --silence-errors --libs collada-dom-150 || echo`"/>
+    <cpp cflags="`pkg-config --cflags collada_urdf`" lflags="`pkg-config --libs collada_urdf`"/>
+  </export>
+
+  <export>
+    <cpp cflags="`pkg-config --cflags collada_parser` `pkg-config --cflags urdfdom_headers` `pkg-config --silence-errors --cflags collada15dom || echo` `pkg-config --silence-errors --cflags collada-dom-150 || echo`" 
+         lflags="`pkg-config --libs collada_parser` `pkg-config --silence-errors --libs collada15dom || echo` `pkg-config --silence-errors --libs collada-dom-150 || echo`"/>
   </export>
 
 </package>
diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml
index 31f728a..a569352 100644
--- a/collada_urdf/manifest.xml
+++ b/collada_urdf/manifest.xml
@@ -19,11 +19,7 @@
   <rosdep name="assimp"/>
 
   <export>
-    <cpp cflags="-I${prefix}/include"
-         lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lcollada_urdf" />
+    <cpp cflags="`pkg-config --cflags collada_urdf`" lflags="`pkg-config --libs collada_urdf`"/>
   </export>
 
-  <platform os="ubuntu" version="9.04"/>
-  <platform os="ubuntu" version="9.10"/>
-  <platform os="ubuntu" version="10.04"/>
 </package>
diff --git a/kdl_parser/manifest.xml b/kdl_parser/manifest.xml
index b2aeb41..27a6d57 100644
--- a/kdl_parser/manifest.xml
+++ b/kdl_parser/manifest.xml
@@ -17,13 +17,10 @@
   <depend package="urdf" />
   <depend package="roscpp" />
   
-<export>
-  <cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lkdl_parser"/>
-
-</export>
-  <platform os="ubuntu" version="9.04"/>
-  <platform os="ubuntu" version="9.10"/>
-  <platform os="ubuntu" version="10.04"/>
+  <export>
+    <cpp cflags="`pkg-config --cflags kdl_parser`" lflags="`pkg-config --libs kdl_parser`"/>
+  </export>
+  
 </package>
 
 
diff --git a/resource_retriever/manifest.xml b/resource_retriever/manifest.xml
index 5ab0755..21e1bdc 100644
--- a/resource_retriever/manifest.xml
+++ b/resource_retriever/manifest.xml
@@ -17,13 +17,9 @@
   <depend package="rosconsole"/>
 
   <export>
-    <cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -Wl,-rpath,${prefix}/lib -lresource_retriever"/>
+    <cpp cflags="`pkg-config --cflags resource_retriever`" lflags="`pkg-config --libs resource_retriever`"/>
   </export>
 
   <rosdep name="curl"/>
-  <platform os="ubuntu" version="9.04"/>
-  <platform os="ubuntu" version="9.10"/>
-  <platform os="ubuntu" version="10.04"/>
+
 </package>
-
-
diff --git a/stack.xml b/stack.xml
index 407e25d..a7ef693 100644
--- a/stack.xml
+++ b/stack.xml
@@ -1,6 +1,6 @@
 <stack>
   <name>robot_model</name>
-  <version>1.9.9</version>
+  <version>1.9.10</version>
   <description brief="Modeling robot information">
     <tt>robot_model</tt> contains packages for modeling various
     aspects of robot information, specified in the Xml Robot
@@ -33,6 +33,7 @@
   <build_depends>urdfdom</build_depends>
   <build_depends>urdfdom_headers</build_depends>
   <build_depends>collada-dev</build_depends>
+  <build_depends>convex_decomposition</build_depends>
 
   <depends>common_msgs</depends>
   <depends>orocos_kdl</depends> 
@@ -47,5 +48,6 @@
   <depends>urdfdom</depends>
   <depends>urdfdom_headers</depends>
   <depends>collada-dev</depends>
+  <depends>convex_decomposition</depends>
 
 </stack>
diff --git a/urdf/manifest.xml b/urdf/manifest.xml
index 099de84..80ee971 100644
--- a/urdf/manifest.xml
+++ b/urdf/manifest.xml
@@ -5,7 +5,7 @@
     The code API of the parser has been through our review process and will remain
     backwards compatible in future releases.
   </description>
-  <author>Wim Meeussen, John Hsu, Rosen Diankov</author>
+  <author>Maintained by Ioan Sucan</author>
   <license>BSD</license>
   <review status="Doc reviewed" notes=""/>
   <url>http://ros.org/wiki/urdf</url>
@@ -17,12 +17,9 @@
   <rosdep name="urdfdom" /> 
 
   <export>
-    <cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lurdf"/>
+    <cpp cflags="`pkg-config --cflags urdf`" lflags="`pkg-config --libs urdf`"/>
   </export>
 
-  <platform os="ubuntu" version="9.04"/>
-  <platform os="ubuntu" version="9.10"/>
-  <platform os="ubuntu" version="10.04"/>
 </package>