diff --git a/cora_description/CMakeLists.txt b/cora_description/CMakeLists.txt
index cecdc5b..b1d1739 100644
--- a/cora_description/CMakeLists.txt
+++ b/cora_description/CMakeLists.txt
@@ -18,7 +18,7 @@ catkin_package(
 
 xacro_add_files(
   urdf/cora.urdf.xacro
-    INORDER INSTALL DESTINATION urdf
+    INSTALL DESTINATION urdf
 )
 
 install(DIRECTORY models/
diff --git a/vorc_gazebo/CMakeLists.txt b/vorc_gazebo/CMakeLists.txt
index 8acc18e..92bff3f 100644
--- a/vorc_gazebo/CMakeLists.txt
+++ b/vorc_gazebo/CMakeLists.txt
@@ -45,7 +45,7 @@ xacro_add_files(
   worlds/station_keeping.world.xacro
   worlds/wayfinding.world.xacro
   worlds/gymkhana.world.xacro
-  INORDER INSTALL DESTINATION worlds
+  INSTALL DESTINATION worlds
 )
 
 install(DIRECTORY worlds/
diff --git a/vorc_gazebo/package.xml b/vorc_gazebo/package.xml
index b5cc21a..4f3813f 100644
--- a/vorc_gazebo/package.xml
+++ b/vorc_gazebo/package.xml
@@ -12,8 +12,14 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <depend>cora_description</depend>
   <depend>gazebo_dev</depend>
   <depend version_gte="2.5.17">gazebo_ros</depend>
+  <depend>joint_state_publisher</depend>
+  <depend>robot_localization</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rospy</depend>
+  <depend>rviz</depend>
   <depend>vrx_gazebo</depend>
   <depend>wamv_gazebo</depend>
   <depend>wave_gazebo</depend>