diff --git a/collada_urdf/manifest.xml b/collada_urdf/manifest.xml
index 6e38389..c45cc27 100644
--- a/collada_urdf/manifest.xml
+++ b/collada_urdf/manifest.xml
@@ -16,6 +16,7 @@
   <depend package="resource_retriever" />
   <depend package="angles" />
   <depend package="assimp"/>
+  <depend package="tinyxml"/>
 
   <platform os="ubuntu" version="9.04"/>
   <platform os="ubuntu" version="9.10"/>
diff --git a/kdl_parser/manifest.xml b/kdl_parser/manifest.xml
index b2aeb41..bc861f9 100644
--- a/kdl_parser/manifest.xml
+++ b/kdl_parser/manifest.xml
@@ -16,6 +16,7 @@
   <depend package="kdl" />
   <depend package="urdf" />
   <depend package="roscpp" />
+  <depend package="tinyxml" />
   
 <export>
   <cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lkdl_parser"/>
diff --git a/rosdep.yaml b/rosdep.yaml
index 2d78050..09d1a49 100644
--- a/rosdep.yaml
+++ b/rosdep.yaml
@@ -2,3 +2,7 @@ pcre:
   ubuntu: libpcre3-dev
   fedora: pcre-devel
   debian: libpcre3-dev
+  osx:
+    lion:
+      homebrew:
+        packages: [ pcre++]