diff --git a/do_everything.sh b/do_everything.sh
index fca731a..a41a0bb 100755
--- a/do_everything.sh
+++ b/do_everything.sh
@@ -254,7 +254,7 @@ if [[ $skip -ne 1 ]] ; then
 
     # Patch robot_state_publisher - Add ARCHIVE DESTINATION
     # TODO: Create PR to add ARCHIVE DESTINATION
-    # apply_patch $my_loc/patches/robot_state_publisher.patch
+    apply_patch $my_loc/patches/robot_state_publisher.patch
 
     # Patch moveit_core - Add fcl library cmake variables
     # TODO: The correct way to handle this would be to create .cmake files for fcl and do a findpackage(fcl)
@@ -275,6 +275,9 @@ if [[ $skip -ne 1 ]] ; then
     # Patch depth_image_proc - Solved transitive linking problems
     apply_patch $my_loc/patches/depth_image_proc.patch
 
+    # Patch urdf - Fixed linking with pluginlib and dependencies in downstream packages
+    apply_patch $my_loc/patches/urdf.patch
+
     # Patch global_planner - Add angles dependency
     # TODO: PR merged: https://github.com/ros-planning/navigation/pull/359
     # Wait for next release to remove (current 1.12.4)
@@ -376,10 +379,6 @@ echo
 echo -e '\e[34mCreating Android.mk.\e[39m'
 echo
 
-# Library path is incorrect for urdf.
-# TODO: Need to investigate the source of the issue
-#sed -i 's/set(libraries "urdf;/set(libraries "/g' $CMAKE_PREFIX_PATH/share/urdf/cmake/urdfConfig.cmake
-
 run_cmd create_android_mk $prefix/catkin_ws/src $prefix/roscpp_android_ndk
 
 if [[ $debugging -eq 1 ]];then
diff --git a/ndk.rosinstall b/ndk.rosinstall
index 62bc895..0ad6a3b 100644
--- a/ndk.rosinstall
+++ b/ndk.rosinstall
@@ -294,14 +294,15 @@
     local-name: interactive_markers
     uri: https://github.com/ros-gbp/interactive_markers-release/archive/release/kinetic/interactive_markers/1.11.4-0.tar.gz
     version: interactive_markers-release-release-kinetic-interactive_markers-1.11.4-0
+# Python based package, not needed.
 # - tar:
 #     local-name: joint_state_publisher
 #     uri: https://github.com/ros-gbp/joint_state_publisher-release/archive/release/kinetic/joint_state_publisher/1.12.13-0.tar.gz
 #     version: joint_state_publisher-release-release-kinetic-joint_state_publisher-1.12.13-0
-# - tar:
-#     local-name: kdl_parser/kdl_parser
-#     uri: https://github.com/ros-gbp/kdl_parser-release/archive/release/kinetic/kdl_parser/1.12.11-0.tar.gz
-#     version: kdl_parser-release-release-kinetic-kdl_parser-1.12.11-0
+- tar:
+    local-name: kdl_parser/kdl_parser
+    uri: https://github.com/ros-gbp/kdl_parser-release/archive/release/kinetic/kdl_parser/1.12.11-0.tar.gz
+    version: kdl_parser-release-release-kinetic-kdl_parser-1.12.11-0
 - tar:
     local-name: laser_assembler
     uri: https://github.com/ros-gbp/laser_assembler-release/archive/release/kinetic/laser_assembler/1.7.4-0.tar.gz
@@ -486,10 +487,10 @@
 #     local-name: robot_model
 #     uri: https://github.com/ros-gbp/robot_model-release/archive/release/kinetic/robot_model/1.12.11-0.tar.gz
 #     version: robot_model-release-release-kinetic-robot_model-1.12.11-0
-# - tar:
-#     local-name: robot_state_publisher
-#     uri: https://github.com/ros-gbp/robot_state_publisher-release/archive/release/kinetic/robot_state_publisher/1.13.6-0.tar.gz
-#     version: robot_state_publisher-release-release-kinetic-robot_state_publisher-1.13.6-0
+- tar:
+    local-name: robot_state_publisher
+    uri: https://github.com/ros-gbp/robot_state_publisher-release/archive/release/kinetic/robot_state_publisher/1.13.6-0.tar.gz
+    version: robot_state_publisher-release-release-kinetic-robot_state_publisher-1.13.6-0
 # - tar:
 #     local-name: ros/mk
 #     uri: https://github.com/ros-gbp/ros-release/archive/release/kinetic/mk/1.14.4-0.tar.gz
@@ -634,10 +635,10 @@
 #     local-name: rosbag_migration_rule
 #     uri: https://github.com/ros-gbp/rosbag_migration_rule-release/archive/release/kinetic/rosbag_migration_rule/1.0.0-0.tar.gz
 #     version: rosbag_migration_rule-release-release-kinetic-rosbag_migration_rule-1.0.0-0
-# - tar:
-#     local-name: rosconsole_bridge
-#     uri: https://github.com/ros-gbp/rosconsole_bridge-release/archive/release/kinetic/rosconsole_bridge/0.5.2-0.tar.gz
-#     version: rosconsole_bridge-release-release-kinetic-rosconsole_bridge-0.5.2-0
+- tar:
+    local-name: rosconsole_bridge
+    uri: https://github.com/ros-gbp/rosconsole_bridge-release/archive/release/kinetic/rosconsole_bridge/0.5.2-0.tar.gz
+    version: rosconsole_bridge-release-release-kinetic-rosconsole_bridge-0.5.2-0
 - tar:
     local-name: roscpp_core/cpp_common
     uri: https://github.com/ros-gbp/roscpp_core-release/archive/release/kinetic/cpp_common/0.6.11-0.tar.gz
@@ -674,14 +675,14 @@
     local-name: std_msgs
     uri: https://github.com/ros-gbp/std_msgs-release/archive/release/kinetic/std_msgs/0.5.11-0.tar.gz
     version: std_msgs-release-release-kinetic-std_msgs-0.5.11-0
-# - tar:
-#     local-name: urdf/urdf
-#     uri: https://github.com/ros-gbp/urdf-release/archive/release/kinetic/urdf/1.12.12-0.tar.gz
-#     version: urdf-release-release-kinetic-urdf-1.12.12-0
-# - tar:
-#     local-name: urdf/urdf_parser_plugin
-#     uri: https://github.com/ros-gbp/urdf-release/archive/release/kinetic/urdf_parser_plugin/1.12.12-0.tar.gz
-#     version: urdf-release-release-kinetic-urdf_parser_plugin-1.12.12-0
+- tar:
+    local-name: urdf/urdf
+    uri: https://github.com/ros-gbp/urdf-release/archive/release/kinetic/urdf/1.12.12-0.tar.gz
+    version: urdf-release-release-kinetic-urdf-1.12.12-0
+- tar:
+    local-name: urdf/urdf_parser_plugin
+    uri: https://github.com/ros-gbp/urdf-release/archive/release/kinetic/urdf_parser_plugin/1.12.12-0.tar.gz
+    version: urdf-release-release-kinetic-urdf_parser_plugin-1.12.12-0
 - tar:
     local-name: vision_opencv/cv_bridge
     uri: https://github.com/ros-gbp/vision_opencv-release/archive/release/kinetic/cv_bridge/1.12.8-0.tar.gz
diff --git a/patches/robot_state_publisher.patch b/patches/robot_state_publisher.patch
index 7892fd4..f17b63a 100644
--- a/patches/robot_state_publisher.patch
+++ b/patches/robot_state_publisher.patch
@@ -1,9 +1,9 @@
---- catkin_ws/src/robot_state_publisher/CMakeLists.txt	2016-05-10 16:10:02.284800164 -0400
-+++ catkin_ws/src/robot_state_publisher/CMakeLists.txt	2016-05-10 16:58:36.717713582 -0400
-@@ -59,6 +63,7 @@
- #rosbuild_download_test_data(http://pr.willowgarage.com/data/robot_state_publisher/joint_states_indexed.bag test/joint_states_indexed.bag 793e0b566ebe4698265a936b92fa2bba)
+--- catkin_ws/src/robot_state_publisher/CMakeLists.txt	2018-04-05 22:22:21.000000000 +0200
++++ catkin_ws/src/robot_state_publisher/CMakeLists.txt	2018-12-05 23:52:33.042000625 +0100
+@@ -70,6 +70,7 @@
+ endif()
  
- install(TARGETS ${PROJECT_NAME}_solver ${PROJECT_NAME} state_publisher
+ install(TARGETS ${PROJECT_NAME}_solver joint_state_listener ${PROJECT_NAME} state_publisher
 +  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/patches/urdf.patch b/patches/urdf.patch
new file mode 100644
index 0000000..15dc241
--- /dev/null
+++ b/patches/urdf.patch
@@ -0,0 +1,11 @@
+--- catkin_ws/src/urdf/urdf/CMakeLists.txt
++++ catkin_ws/src/urdf/urdf/CMakeLists.txt
+@@ -26,7 +26,7 @@
+ catkin_package(
+   LIBRARIES ${PROJECT_NAME}
+   INCLUDE_DIRS include ${CATKIN_DEVEL_PREFIX}/include
+-  CATKIN_DEPENDS rosconsole_bridge roscpp
++  CATKIN_DEPENDS pluginlib rosconsole_bridge roscpp
+   DEPENDS urdfdom_headers urdfdom Boost TinyXML
+ )
+ install(FILES ${generated_compat_header} DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})