diff --git a/CMakeLists.txt b/CMakeLists.txt
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -41,7 +41,7 @@ if (NOT MSVC)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 endif()
 
-find_package(console_bridge 0.3 REQUIRED)
+find_package(console_bridge REQUIRED)
 include_directories(SYSTEM ${console_bridge_INCLUDE_DIRS})
 link_directories(${console_bridge_LIBRARY_DIRS})
 
diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@@ -1,5 +1,9 @@
 include_directories(include)
 
+if(MSVC)
+add_definitions(-D_USE_MATH_DEFINES)
+endif()
+
 add_library(urdfdom_world SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp src/world.cpp)
 target_link_libraries(urdfdom_world ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
 set_target_properties(urdfdom_world PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})