diff --git a/hpp-universal-robot/Makefile b/hpp-universal-robot/Makefile
index 2d84e3660ea95c2d8752cedeb6a6ab3f1d6004e9..848a57630abb5b1912a08e7afa83baf978338ee6 100644
--- a/hpp-universal-robot/Makefile
+++ b/hpp-universal-robot/Makefile
@@ -22,4 +22,4 @@ include ../../mk/robotpkg.mk
 
 export PYTHONPATH=		$(word 1,${SYSTEM_PREFIX.ros-base})/lib/python${PYTHON_VERSION}/dist-packages
 export ROS_PACKAGE_PATH=	$(word 1,${SYSTEM_PREFIX.ros-base})
-export PATH=			$(word 1,${SYSTEM_PREFIX.ros-base})/bin
+CMAKE_PREFIX_PATH+=		$(word 1,${SYSTEM_PREFIX.ros-base})
diff --git a/hpp-universal-robot/distinfo b/hpp-universal-robot/distinfo
index 9ac1f7efa31cb8961e019f03f1acdfed90e8b6eb..5b5e54a6cfcbf44feb143239cd9d5fd7fa24d866 100644
--- a/hpp-universal-robot/distinfo
+++ b/hpp-universal-robot/distinfo
@@ -1,3 +1,4 @@
 SHA1 (hpp-universal-robot-4.2.1.tar.gz) = 13d93365327fa5804812aaa59447245cece25715
 RMD160 (hpp-universal-robot-4.2.1.tar.gz) = 11bfe4a222ac6fdd8861dc003a40b571db14b9d8
 Size (hpp-universal-robot-4.2.1.tar.gz) = 769198 bytes
+SHA1 (patch-aa) = 4de9ae5f2e7f3ad0c9afa724f3ae2a91f0f5862d
diff --git a/hpp-universal-robot/patches/patch-aa b/hpp-universal-robot/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..e3cdb6f23c177f78524feac2e1251856018e5035
--- /dev/null
+++ b/hpp-universal-robot/patches/patch-aa
@@ -0,0 +1,20 @@
+--- CMakeLists.txt.orig	2018-10-19 17:56:07.000000000 +0200
++++ CMakeLists.txt	2019-03-14 18:02:41.028852308 +0100
+@@ -21,6 +21,8 @@
+ INCLUDE(cmake/base.cmake)
+ INCLUDE(cmake/python.cmake)
+ 
++FIND_PROGRAM(XACRO_EXECUTABLE xacro)
++
+ # GENERATE_URDF_FILE FILENAME EXTENSION
+ # ------------------------------------
+ #
+@@ -43,7 +45,7 @@
+ 
+   ADD_CUSTOM_COMMAND(
+     OUTPUT ${FILENAME}
+-    COMMAND "xacro"
++    COMMAND ${XACRO_EXECUTABLE}
+     ARGS -o ${FILENAME} ${_XACRO_FILE_}
+     MAIN_DEPENDENCY ${_XACRO_FILE_}
+     COMMENT "Generating ${FILENAME} from ${_XACRO_FILE_}"