diff --git a/collada_parser/package.xml b/collada_parser/package.xml
index 0f77da4..50a7a1b 100644
--- a/collada_parser/package.xml
+++ b/collada_parser/package.xml
@@ -20,14 +20,14 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>collada-dom</build_depend>
+  <build_depend>liburdfdom-headers-dev</build_depend>
   <build_depend>roscpp</build_depend>
-  <build_depend>urdfdom_headers</build_depend>
   <build_depend>urdf_parser_plugin</build_depend>
   <build_depend>class_loader</build_depend>
 
   <run_depend>collada-dom</run_depend>
+  <run_depend>liburdfdom-headers-dev</run_depend>
   <run_depend>roscpp</run_depend>
-  <run_depend>urdfdom_headers</run_depend>
   <run_depend>urdf_parser_plugin</run_depend>
   <run_depend>class_loader</run_depend>
 
diff --git a/collada_urdf/package.xml b/collada_urdf/package.xml
index 6288fd3..4239326 100644
--- a/collada_urdf/package.xml
+++ b/collada_urdf/package.xml
@@ -23,10 +23,10 @@
   <build_depend>resource_retriever</build_depend>
   <build_depend>collada-dom</build_depend>
   <build_depend>collada_parser</build_depend>
+  <build_depend>liburdfdom-dev</build_depend>
+  <build_depend>liburdfdom-headers-dev</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>urdf</build_depend>
-  <build_depend>urdfdom</build_depend>
-  <build_depend>urdfdom_headers</build_depend>
   <build_depend>geometric_shapes</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>cmake_modules</build_depend>
@@ -35,11 +35,11 @@
   <run_depend>assimp</run_depend>
   <run_depend>collada-dom</run_depend>
   <run_depend>collada_parser</run_depend>
+  <run_depend>liburdfdom-dev</run_depend>
+  <run_depend>liburdfdom-headers-dev</run_depend>
   <run_depend>resource_retriever</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>urdf</run_depend>
-  <run_depend>urdfdom</run_depend>
-  <run_depend>urdfdom_headers</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>geometric_shapes</run_depend>
 
diff --git a/urdf/package.xml b/urdf/package.xml
index e4562f1..9f6b6c0 100644
--- a/urdf/package.xml
+++ b/urdf/package.xml
@@ -19,19 +19,19 @@
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
+  <build_depend>liburdfdom-dev</build_depend>
+  <build_depend>liburdfdom-headers-dev</build_depend>
   <build_depend>rosconsole_bridge</build_depend>
   <build_depend>roscpp</build_depend>
-  <build_depend>urdfdom</build_depend>
-  <build_depend>urdfdom_headers</build_depend>
   <build_depend>urdf_parser_plugin</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>rostest</build_depend>
 
+  <run_depend>liburdfdom-dev</run_depend>
+  <run_depend>liburdfdom-headers-dev</run_depend>
   <run_depend>rosconsole_bridge</run_depend>
   <run_depend>roscpp</run_depend>
-  <run_depend>urdfdom</run_depend>
-  <run_depend>urdfdom_headers</run_depend>
   <run_depend>urdf_parser_plugin</run_depend>
   <run_depend>pluginlib</run_depend>
 
diff --git a/urdf_parser_plugin/package.xml b/urdf_parser_plugin/package.xml
index 1b80829..30db4cc 100644
--- a/urdf_parser_plugin/package.xml
+++ b/urdf_parser_plugin/package.xml
@@ -15,7 +15,7 @@
   <url type="bugtracker">https://github.com/ros/robot_model/issues</url>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>urdfdom_headers</build_depend>
-  <run_depend>urdfdom_headers</run_depend>
+  <build_depend>liburdfdom-headers-dev</build_depend>
+  <run_depend>liburdfdom-headers-dev</run_depend>
 
 </package>