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Index: urdf/src/model.cpp
===================================================================
--- urdf.orig/src/model.cpp
+++ urdf/src/model.cpp
@@ -136,7 +136,7 @@ bool Model::initXml(TiXmlElement *robot_
 
 bool Model::initString(const std::string& xml_string)
 {
-  boost::shared_ptr<ModelInterface> model;
+  std::shared_ptr<ModelInterface> model;
 
   // necessary for COLLADA compatibility
   if( IsColladaData(xml_string) ) {