diff --git a/hrpsys_ros_bridge/cmake/compile_robot_model.cmake b/hrpsys_ros_bridge/cmake/compile_robot_model.cmake
index 07a92a57e..51c97c19a 100644
--- a/hrpsys_ros_bridge/cmake/compile_robot_model.cmake
+++ b/hrpsys_ros_bridge/cmake/compile_robot_model.cmake
@@ -316,9 +316,14 @@ endmacro()
 
 # get path to collada_to_urdf
 macro(get_collada_to_urdf _collada_to_urdf_exe)
+  find_package(collada_urdf_jsk_patch QUIET)
   find_package(collada_urdf REQUIRED)
-  set(${_collada_to_urdf_exe} ${collada_urdf_PREFIX}/lib/collada_urdf/collada_to_urdf)
-  if(NOT EXISTS ${${_collada_to_urdf_exe}})
+  if (collada_urdf_jsk_patch_FOUND)
+    set(${_collada_to_urdf_exe} ${collada_urdf_jsk_patch_PREFIX}/lib/collada_urdf_jsk_patch/collada_to_urdf)
+  elseif (collada_urdf_FOUND)
+    set(${_collada_to_urdf_exe} ${collada_urdf_PREFIX}/lib/collada_urdf/collada_to_urdf)
+  endif (collada_urdf_jsk_patch_FOUND)
+  if(NOT EXISTS "${${_collada_to_urdf_exe}}")
     message(FATAL_ERROR "could not find ${${_collada_to_urdf_exe}}")
   endif()
 endmacro(get_collada_to_urdf _collada_to_urdf_exe)