diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
index d3cfecf..ac088c9 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@@ -10,11 +10,14 @@ find_package(catkin REQUIRED COMPONENTS
 
 find_package(TinyXML REQUIRED)
 
+find_package(PkgConfig)
+pkg_check_modules(libpcrecpp libpcrecpp)
+
 catkin_package(
   LIBRARIES ${PROJECT_NAME}
   INCLUDE_DIRS include ${TinyXML_INCLUDE_DIRS}
   CATKIN_DEPENDS rosconsole_bridge roscpp
-  DEPENDS urdfdom_headers urdfdom Boost
+  DEPENDS urdfdom_headers urdfdom Boost pcrecpp
 )
 
 include_directories(SYSTEM ${Boost_INCLUDE_DIR})
@@ -30,7 +33,7 @@ include_directories(
 link_directories(${catkin_LIBRARY_DIRS})
 
 add_library(${PROJECT_NAME} src/model.cpp src/rosconsole_bridge.cpp)
-target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${libpcrecpp_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 5a778e6..c0cc382 100644
--- a/urdf/package.xml
+++ b/urdf/package.xml
@@ -23,6 +23,7 @@
   <build_depend>liburdfdom-headers-dev</build_depend>
   <build_depend>rosconsole_bridge</build_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>pcre</build_depend>
   <build_depend>urdf_parser_plugin</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>cmake_modules</build_depend>
@@ -32,6 +33,7 @@
   <run_depend>liburdfdom-headers-dev</run_depend>
   <run_depend>rosconsole_bridge</run_depend>
   <run_depend>roscpp</run_depend>
+  <run_depend>pcre</run_depend>
   <run_depend>urdf_parser_plugin</run_depend>
   <run_depend>pluginlib</run_depend>
 
diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp
index 7a6d4ff..636c697 100644
--- a/urdf/src/model.cpp
+++ b/urdf/src/model.cpp
@@ -52,6 +52,9 @@
 #include <fstream>
 #include <iostream>
 
+#include <pcrecpp.h>
+pcrecpp::RE __re__("");
+
 namespace urdf{
 
 static bool IsColladaData(const std::string& data)