Index: kdl_parser/src/kdl_parser.cpp
===================================================================
--- kdl_parser.orig/src/kdl_parser.cpp
+++ kdl_parser/src/kdl_parser.cpp
@@ -64,7 +64,7 @@ Frame toKdl(urdf::Pose p)
 }
 
 // construct joint
-Joint toKdl(boost::shared_ptr<urdf::Joint> jnt)
+Joint toKdl(std::shared_ptr<urdf::Joint> jnt)
 {
   Frame F_parent_jnt = toKdl(jnt->parent_to_joint_origin_transform);
 
@@ -93,7 +93,7 @@ Joint toKdl(boost::shared_ptr<urdf::Join
 }
 
 // construct inertia
-RigidBodyInertia toKdl(boost::shared_ptr<urdf::Inertial> i)
+RigidBodyInertia toKdl(std::shared_ptr<urdf::Inertial> i)
 {
   Frame origin = toKdl(i->origin);
   
@@ -124,9 +124,9 @@ RigidBodyInertia toKdl(boost::shared_ptr
 
 
 // recursive function to walk through tree
-bool addChildrenToTree(boost::shared_ptr<const urdf::Link> root, Tree& tree)
+bool addChildrenToTree(std::shared_ptr<const urdf::Link> root, Tree& tree)
 {
-  std::vector<boost::shared_ptr<urdf::Link> > children = root->child_links;
+  std::vector<std::shared_ptr<urdf::Link> > children = root->child_links;
   ROS_DEBUG("Link %s had %i children", root->name.c_str(), (int)children.size());
 
   // constructs the optional inertia