diff --git a/colladadom/Makefile b/colladadom/Makefile
index 16ee9e9..5b094cc 100644
--- a/colladadom/Makefile
+++ b/colladadom/Makefile
@@ -2,25 +2,25 @@ all: installed
 TARBALL = build/collada-dom-2.2.zip
 TARBALL_URL = http://sourceforge.net/projects/collada-dom/files/Collada%20DOM/Collada%20DOM%202.2/collada-dom-2.2.zip/download
 SOURCE_DIR = build/colladadom
-INITIAL_DIR = build/collada-dom/dom
+INITIAL_DIR = build/collada-dom
 UNPACK_CMD = unzip
 TARBALL_PATCH=use_1_5.patch
 MD5SUM_FILE = collada-dom-2.2.zip.md5sum
 
 include $(shell rospack find mk)/download_unpack_build.mk
 
-ROOT = $(shell rospack find colladadom)/colladadom
+ROOT = $(shell rospack find colladadom)
 
 installed: wiped $(SOURCE_DIR)/unpacked
 	@echo "ROOT is: $(ROOT)"
-	-mkdir -p $(ROOT)
 	-mkdir -p $(ROOT)/include
 	-mkdir -p $(ROOT)/include/colladadom
 	-mkdir -p $(ROOT)/lib
 	@echo "making it"
-	cd $(SOURCE_DIR) && make && make install
-	#cd $(SOURCE_DIR) ; make $(ROS_PARALLEL_JOBS);
-	#mv $(SOURCE_DIR)/boost $(ROOT)/
+	cd $(SOURCE_DIR)/dom && make $(ROS_PARALLEL_JOBS)
+	cp -rf $(SOURCE_DIR)/dom/include/* $(ROOT)/include/colladadom/
+	mv $(ROOT)/include/1.5/dom $(ROOT)/include/dom
+	cp -f $(SOURCE_DIR)/dom/build/linux-1.5/*.* $(ROOT)/lib/
 	touch installed
 
 wiped: Makefile
@@ -29,7 +29,7 @@ wiped: Makefile
 
 clean:
 	-cd $(SOURCE_DIR) && make clean
-	rm -rf $(ROOT) installed
+	rm -rf $(ROOT)/include $(ROOT)/lib installed
 
 wipe: clean
 	rm -rf build
diff --git a/colladadom/manifest.xml b/colladadom/manifest.xml
index bbc7dc3..6bd76f3 100644
--- a/colladadom/manifest.xml
+++ b/colladadom/manifest.xml
@@ -9,6 +9,10 @@
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/colladadom</url>
 
+  <export>
+    <cpp lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -l" cflags="-I${prefix}/include"/>
+    <doxymaker external="http://playerstage.sourceforge.net/doc/Gazebo-manual-svn-html/"/>
+  </export>
 </package>
 
 
diff --git a/colladadom/use_1_5.patch b/colladadom/use_1_5.patch
index 94d7f8d..e8a739c 100644
--- a/colladadom/use_1_5.patch
+++ b/colladadom/use_1_5.patch
@@ -1,7 +1,7 @@
-Index: Makefile
+Index: dom/Makefile
 ===================================================================
---- Makefile	2008-10-02 17:48:30.000000000 -0700
-+++ Makefile	2010-03-03 14:44:09.162398249 -0800
+--- dom/Makefile	2008-10-02 17:48:30.000000000 -0700
++++ dom/Makefile	2010-03-03 14:44:09.162398249 -0800
 @@ -55,7 +55,7 @@
  conf := release
  
@@ -16,7 +16,7 @@ Index: Makefile
  # You can only install on Mac or Linux. Check for that.
  ifeq ($(oss),linux)
 -prefix := /usr/local
-+prefix := ../../colladadom
++prefix := ../../../
  else ifeq ($(oss),mac)
  prefix := /Library/Frameworks
  else