diff --git a/eusgazebo/euslisp/eusgazebo.l b/eusgazebo/euslisp/eusgazebo.l
index 6331bd8c..42832f79 100644
--- a/eusgazebo/euslisp/eusgazebo.l
+++ b/eusgazebo/euslisp/eusgazebo.l
@@ -3,6 +3,7 @@
 (load "package://eusgazebo/euslisp/eusgazebo-util.l")
 (load "package://eusgazebo/euslisp/mass-property-util.l")
 
+(ros::load-ros-manifest "trajectory_msgs")
 (ros::load-ros-manifest "gazebo_msgs")
 
 (ros::roseus "eusgazebo_client")
diff --git a/hrpsys_gazebo_general/iob/CMakeLists.txt b/hrpsys_gazebo_general/iob/CMakeLists.txt
index c30dfe46..95855c27 100644
--- a/hrpsys_gazebo_general/iob/CMakeLists.txt
+++ b/hrpsys_gazebo_general/iob/CMakeLists.txt
@@ -22,7 +22,7 @@ set_target_properties(RobotHardware_gazebo PROPERTIES LIBRARY_OUTPUT_DIRECTORY $
 set_target_properties(RobotHardware_gazebo PROPERTIES OUTPUT_NAME RobotHardware)
 
 add_executable(RobotHardwareComp_gazebo ${ROBOTHARDWARE_SOURCE}/RobotHardwareComp.cpp ${comp_source})
-target_link_libraries(RobotHardwareComp_gazebo ${libs} ${omniorb_LIBRARIES} ${omnidynamic_LIBRARIES} RTC coil dl)
+target_link_libraries(RobotHardwareComp_gazebo ${libs} ${omniorb_LIBRARIES} ${omnidynamic_LIBRARIES} RTC coil dl pthread)
 set_target_properties(RobotHardwareComp_gazebo PROPERTIES OUTPUT_NAME RobotHardwareComp)
 
 add_library(hrpEC_gazebo SHARED ${HRPEC_SOURCE}/hrpEC.cpp ${HRPEC_SOURCE}/hrpEC-common.cpp)