diff --git a/pal-hardware-interfaces/Makefile b/pal-hardware-interfaces/Makefile
index 29cde7364d6e812b7b48e9db2186df5806a8e915..8e0b3bcb020b7e972b34454ce56c943b7a8a7969 100644
--- a/pal-hardware-interfaces/Makefile
+++ b/pal-hardware-interfaces/Makefile
@@ -32,7 +32,7 @@ include ../../lang/ros-message-runtime/depend.mk
 include ../../middleware/ros-comm/depend.mk
 include ../../wip/sysdep/pal-distro.mk
 ifeq (palerbium,${PALDISTRO})
-  include ../../motion/ros-control/depend.mk
+  CMAKE_PREFIX_PATH+=/opt/pal/erbium
 else
   include ../../wip/prf-ros-control/depend.mk
 endif
diff --git a/roscontrol-sot/Makefile b/roscontrol-sot/Makefile
index c4c85b9ec5a4a67ae1291312b95dd5743ee2f710..56a6ad9585336b260754b429dda3ccd32c420d14 100644
--- a/roscontrol-sot/Makefile
+++ b/roscontrol-sot/Makefile
@@ -52,14 +52,16 @@ include ../../wip/sot-core-v3/depend.mk
 include ../../wip/sot-dynamic-pinocchio-v3/depend.mk
 include ../../mk/robotpkg.prefs.mk
 include ../../wip/sysdep/pal-distro.mk
-include ../../wip/pal-hardware-interfaces/depend.mk
 
+include ../../wip/sysdep/pal-distro.mk
 ifeq (palerbium,${PALDISTRO})
-  include ../../motion/ros-control/depend.mk
+  CMAKE_PREFIX_PATH+=/opt/pal/erbium
 else
+  include ../../wip/pal-hardware-interfaces/depend.mk
   include ../../wip/prf-ros-control/depend.mk
 endif
 
+
 include ../../devel/ros-roscpp-core/depend.mk
 include ../../devel/ros-catkin/depend.mk
 include ../../pkgtools/pkg-config/depend.mk