diff --git a/CMakeLists.txt b/CMakeLists.txt
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -70,3 +70,3 @@
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
-set(DART_PKG_EXTERNAL_DEPS "eigen, ccd, fcl, assimp, boost")
+set(DART_PKG_EXTERNAL_DEPS "assimp, ccd, eigen3, fcl, octomap")