diff --git a/gazebo_plugins/CMakeLists.txt b/gazebo_plugins/CMakeLists.txt
index 2ce02bfbc..c104e3c53 100644
--- a/gazebo_plugins/CMakeLists.txt
+++ b/gazebo_plugins/CMakeLists.txt
@@ -39,6 +39,7 @@ endif()
 
 # Depend on system install of Gazebo and SDFormat
 find_package(gazebo REQUIRED)
+find_package(SDFormat REQUIRED)
 find_package(Boost REQUIRED COMPONENTS thread)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
@@ -138,8 +139,8 @@ catkin_package(
   camera_info_manager
   std_msgs
   DEPENDS 
-    gazebo 
-    SDF
+    GAZEBO
+    SDFormat
   )
 add_dependencies(${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})