diff --git a/kdl_parser/manifest.xml b/kdl_parser/manifest.xml
index 7ab50a7..b2aeb41 100644
--- a/kdl_parser/manifest.xml
+++ b/kdl_parser/manifest.xml
@@ -14,7 +14,6 @@
   <url>http://ros.org/wiki/kdl_parser</url>
 
   <depend package="kdl" />
-  <depend package="tinyxml" />
   <depend package="urdf" />
   <depend package="roscpp" />
   
diff --git a/urdf/manifest.xml b/urdf/manifest.xml
index 18ef0a0..bf320f2 100644
--- a/urdf/manifest.xml
+++ b/urdf/manifest.xml
@@ -10,7 +10,6 @@
   <review status="Doc reviewed" notes=""/>
   <url>http://ros.org/wiki/urdf</url>
 
-  <depend package="tinyxml" />
   <depend package="roscpp" />
   <depend package="colladadom" />
   <depend package="urdf_parser" />
diff --git a/urdf_interface/CMakeLists.txt b/urdf_interface/CMakeLists.txt
index c84ac36..f41e154 100644
--- a/urdf_interface/CMakeLists.txt
+++ b/urdf_interface/CMakeLists.txt
@@ -7,21 +7,13 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 #  Release        : w/o debug symbols, w/ optimization
 #  RelWithDebInfo : w/ debug symbols, w/ optimization
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-set(ROS_BUILD_TYPE Debug)
+#set(ROS_BUILD_TYPE RelWithDebInfo)
 
-rosbuild_init()
+#rosbuild_init()
 
 #set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#target_link_libraries(${PROJECT_NAME} another_library)
-rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
+#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+#rosbuild_add_boost_directories()
 
diff --git a/urdf_interface/include/urdf_interface/joint.h b/urdf_interface/include/urdf_interface/joint.h
index 742b025..6095e1d 100644
--- a/urdf_interface/include/urdf_interface/joint.h
+++ b/urdf_interface/include/urdf_interface/joint.h
@@ -39,7 +39,7 @@
 
 #include <string>
 #include <vector>
-#include <tinyxml/tinyxml.h>
+#include <tinyxml.h>
 #include <boost/shared_ptr.hpp>
 
 #include "pose.h"
diff --git a/urdf_interface/include/urdf_interface/link.h b/urdf_interface/include/urdf_interface/link.h
index 8f5af44..2d8dc81 100644
--- a/urdf_interface/include/urdf_interface/link.h
+++ b/urdf_interface/include/urdf_interface/link.h
@@ -39,7 +39,7 @@
 
 #include <string>
 #include <vector>
-#include <tinyxml/tinyxml.h>
+#include <tinyxml.h>
 #include <boost/shared_ptr.hpp>
 
 #include "joint.h"
diff --git a/urdf_interface/include/urdf_interface/pose.h b/urdf_interface/include/urdf_interface/pose.h
index c781da4..f4fbbb1 100644
--- a/urdf_interface/include/urdf_interface/pose.h
+++ b/urdf_interface/include/urdf_interface/pose.h
@@ -44,7 +44,7 @@
 #include <boost/algorithm/string.hpp>
 #include <boost/lexical_cast.hpp>
 
-#include <tinyxml/tinyxml.h> // FIXME: remove parser from here
+#include <tinyxml.h> // FIXME: remove parser from here
 #include <ros/ros.h>
 
 namespace urdf{
diff --git a/urdf_interface/manifest.xml b/urdf_interface/manifest.xml
index 8ebf2c1..329e908 100644
--- a/urdf_interface/manifest.xml
+++ b/urdf_interface/manifest.xml
@@ -7,7 +7,9 @@
   <license>BSD</license>
   <review status="Doc reviewed" notes=""/>
   <url>http://ros.org/wiki/urdf_interface</url>
-  <depend package="tinyxml" />
+
+  <rosdep name="tinyxml" />
+
   <export>
     <cpp cflags="-I${prefix}/include"/>
   </export>
diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
index a5efa3e..d9090ef 100644
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@@ -23,7 +23,7 @@ rosbuild_gensrv()
 
 #common commands for building c++ executables and libraries
 rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/urdf_parser.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
+target_link_libraries(${PROJECT_NAME} tinyxml)
 rosbuild_add_boost_directories()
 #rosbuild_link_boost(${PROJECT_NAME} thread)
 
diff --git a/urdf_parser/include/urdf_parser/urdf_parser.h b/urdf_parser/include/urdf_parser/urdf_parser.h
index b01a875..357c112 100644
--- a/urdf_parser/include/urdf_parser/urdf_parser.h
+++ b/urdf_parser/include/urdf_parser/urdf_parser.h
@@ -39,7 +39,7 @@
 
 #include <string>
 #include <map>
-#include <tinyxml/tinyxml.h>
+#include <tinyxml.h>
 #include <boost/function.hpp>
 #include <urdf_interface/model.h>
 
diff --git a/urdf_parser/manifest.xml b/urdf_parser/manifest.xml
index 24e72f3..a82e16f 100644
--- a/urdf_parser/manifest.xml
+++ b/urdf_parser/manifest.xml
@@ -12,7 +12,8 @@
   <review status="Doc reviewed" notes=""/>
   <url>http://ros.org/wiki/urdf_parser</url>
 
-  <depend package="tinyxml" />
+  <rosdep name="tinyxml" />
+
   <depend package="roscpp" />  <!-- Only to call ROS_ERROR -->
   <depend package="urdf_interface" />