diff --git a/dev-ros/gazebo_ros_control/files/urdfdom1.patch b/dev-ros/gazebo_ros_control/files/urdfdom1.patch
new file mode 100644
index 0000000000000..0da763186ca99
--- /dev/null
+++ b/dev-ros/gazebo_ros_control/files/urdfdom1.patch
@@ -0,0 +1,13 @@
+Index: gazebo_ros_control/src/default_robot_hw_sim.cpp
+===================================================================
+--- gazebo_ros_control.orig/src/default_robot_hw_sim.cpp
++++ gazebo_ros_control/src/default_robot_hw_sim.cpp
+@@ -381,7 +381,7 @@ void DefaultRobotHWSim::registerJointLim
+ 
+   if (urdf_model != NULL)
+   {
+-    const boost::shared_ptr<const urdf::Joint> urdf_joint = urdf_model->getJoint(joint_name);
++    const std::shared_ptr<const urdf::Joint> urdf_joint = urdf_model->getJoint(joint_name);
+     if (urdf_joint != NULL)
+     {
+       *joint_type = urdf_joint->type;
diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.7.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.7-r1.ebuild
similarity index 80%
rename from dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.7.ebuild
rename to dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.7-r1.ebuild
index 63ccb13e17d38..8f80022535e95 100644
--- a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.7.ebuild
+++ b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.7-r1.ebuild
@@ -22,8 +22,10 @@ RDEPEND="
 	dev-ros/hardware_interface
 	dev-ros/transmission_interface
 	dev-ros/pluginlib
-	dev-ros/joint_limits_interface
-	dev-ros/urdf
+	>=dev-ros/joint_limits_interface-0.11.0
+	>=dev-ros/urdf-1.12.3-r1
+	dev-libs/urdfdom:=
 	sci-electronics/gazebo
 "
 DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-9999.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-9999.ebuild
index a8ee99778afd3..edf64680c22e1 100644
--- a/dev-ros/gazebo_ros_control/gazebo_ros_control-9999.ebuild
+++ b/dev-ros/gazebo_ros_control/gazebo_ros_control-9999.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2016 Gentoo Foundation
 # Distributed under the terms of the GNU General Public License v2
 # $Id$
 
@@ -25,5 +25,6 @@ RDEPEND="
 	dev-ros/joint_limits_interface
 	dev-ros/urdf
 	sci-electronics/gazebo
+	dev-libs/urdfdom:=
 "
 DEPEND="${RDEPEND}"