diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index a5c0456..9d0e228 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -1,14 +1,14 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(collada_urdf)
 
-find_package(catkin REQUIRED COMPONENTS angles collada_parser resource_retriever urdf geometric_shapes cmake_modules)
+find_package(catkin REQUIRED COMPONENTS angles collada_parser resource_retriever urdf geometric_shapes tf cmake_modules)
 
 find_package(TinyXML REQUIRED)
 
 catkin_package(
   LIBRARIES ${PROJECT_NAME}
   INCLUDE_DIRS include
-  DEPENDS angles collada_parser resource_retriever urdf)
+  DEPENDS angles collada_parser resource_retriever urdf geometric_shapes tf)
 
 include_directories(include)
 
diff --git a/collada_urdf/package.xml b/collada_urdf/package.xml
index 2cc5a06..a846861 100644
--- a/collada_urdf/package.xml
+++ b/collada_urdf/package.xml
@@ -28,6 +28,7 @@
   <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>
 
   <run_depend>angles</run_depend>
@@ -39,6 +40,7 @@
   <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>
 
 </package>