diff --git a/simulation/frc_gazebo_plugins/Makefile b/simulation/frc_gazebo_plugins/Makefile
index cd8fcda2d3..005a77c30e 100644
--- a/simulation/frc_gazebo_plugins/Makefile
+++ b/simulation/frc_gazebo_plugins/Makefile
@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 .PHONY : all build copy-plugins clean docs clean-docs
 
 all: build copy-plugins
@@ -20,15 +25,15 @@ build:
 
 copy-plugins:
 	mkdir -p plugins
-	cp msgs/build/libgz_msgs.so plugins
-	cp dc_motor/build/libgz_dc_motor.so plugins
-	cp pneumatic_piston/build/libgz_pneumatic_piston.so plugins
-	cp potentiometer/build/libgz_potentiometer.so plugins
-	cp rangefinder/build/libgz_rangefinder.so plugins
-	cp encoder/build/libgz_encoder.so plugins
-	cp gyro/build/libgz_gyro.so plugins
-	cp limit_switch/build/libgz_limit_switch.so plugins
-	cp clock/build/libgz_clock.so plugins
+	cp msgs/build/libgz_msgs$(ext) plugins
+	cp dc_motor/build/libgz_dc_motor$(ext) plugins
+	cp pneumatic_piston/build/libgz_pneumatic_piston$(ext) plugins
+	cp potentiometer/build/libgz_potentiometer$(ext) plugins
+	cp rangefinder/build/libgz_rangefinder$(ext) plugins
+	cp encoder/build/libgz_encoder$(ext) plugins
+	cp gyro/build/libgz_gyro$(ext) plugins
+	cp limit_switch/build/libgz_limit_switch$(ext) plugins
+	cp clock/build/libgz_clock$(ext) plugins
 
 clean: clean-docs
 	cd msgs && make clean
diff --git a/simulation/frc_gazebo_plugins/clock/CMakeLists.txt b/simulation/frc_gazebo_plugins/clock/CMakeLists.txt
index 4872c99eb4..e20c8345a3 100644
--- a/simulation/frc_gazebo_plugins/clock/CMakeLists.txt
+++ b/simulation/frc_gazebo_plugins/clock/CMakeLists.txt
@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/simulation/frc_gazebo_plugins/clock/Makefile b/simulation/frc_gazebo_plugins/clock/Makefile
index 22f17de166..b8f6f9bb4c 100644
--- a/simulation/frc_gazebo_plugins/clock/Makefile
+++ b/simulation/frc_gazebo_plugins/clock/Makefile
@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_clock.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_clock$(ext) $(DESTDIR)$(plugin.dir)
diff --git a/simulation/frc_gazebo_plugins/dc_motor/CMakeLists.txt b/simulation/frc_gazebo_plugins/dc_motor/CMakeLists.txt
index c985f93fcd..e8054549e7 100644
--- a/simulation/frc_gazebo_plugins/dc_motor/CMakeLists.txt
+++ b/simulation/frc_gazebo_plugins/dc_motor/CMakeLists.txt
@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/simulation/frc_gazebo_plugins/dc_motor/Makefile b/simulation/frc_gazebo_plugins/dc_motor/Makefile
index 6105c1ae06..a45630ea33 100644
--- a/simulation/frc_gazebo_plugins/dc_motor/Makefile
+++ b/simulation/frc_gazebo_plugins/dc_motor/Makefile
@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_dc_motor.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_dc_motor$(ext) $(DESTDIR)$(plugin.dir)
diff --git a/simulation/frc_gazebo_plugins/encoder/CMakeLists.txt b/simulation/frc_gazebo_plugins/encoder/CMakeLists.txt
index 707bb7ce98..3bb34b0888 100644
--- a/simulation/frc_gazebo_plugins/encoder/CMakeLists.txt
+++ b/simulation/frc_gazebo_plugins/encoder/CMakeLists.txt
@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/simulation/frc_gazebo_plugins/encoder/Makefile b/simulation/frc_gazebo_plugins/encoder/Makefile
index 8f483413f1..42f322fe56 100644
--- a/simulation/frc_gazebo_plugins/encoder/Makefile
+++ b/simulation/frc_gazebo_plugins/encoder/Makefile
@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_encoder.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_encoder$(ext) $(DESTDIR)$(plugin.dir)
diff --git a/simulation/frc_gazebo_plugins/gyro/CMakeLists.txt b/simulation/frc_gazebo_plugins/gyro/CMakeLists.txt
index 2c3a15e89a..136509ba81 100644
--- a/simulation/frc_gazebo_plugins/gyro/CMakeLists.txt
+++ b/simulation/frc_gazebo_plugins/gyro/CMakeLists.txt
@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/simulation/frc_gazebo_plugins/gyro/Makefile b/simulation/frc_gazebo_plugins/gyro/Makefile
index 09d1fd9fd0..f70e5713be 100644
--- a/simulation/frc_gazebo_plugins/gyro/Makefile
+++ b/simulation/frc_gazebo_plugins/gyro/Makefile
@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_gyro.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_gyro$(ext) $(DESTDIR)$(plugin.dir)
diff --git a/simulation/frc_gazebo_plugins/limit_switch/CMakeLists.txt b/simulation/frc_gazebo_plugins/limit_switch/CMakeLists.txt
index 4935744ee8..ee72cfade6 100644
--- a/simulation/frc_gazebo_plugins/limit_switch/CMakeLists.txt
+++ b/simulation/frc_gazebo_plugins/limit_switch/CMakeLists.txt
@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/simulation/frc_gazebo_plugins/limit_switch/Makefile b/simulation/frc_gazebo_plugins/limit_switch/Makefile
index d97fb1bc9d..8656c9913f 100644
--- a/simulation/frc_gazebo_plugins/limit_switch/Makefile
+++ b/simulation/frc_gazebo_plugins/limit_switch/Makefile
@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_limit_switch.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_limit_switch$(ext) $(DESTDIR)$(plugin.dir)
diff --git a/simulation/frc_gazebo_plugins/msgs/Makefile b/simulation/frc_gazebo_plugins/msgs/Makefile
index 971a8ecba3..4ec4bd5e0c 100644
--- a/simulation/frc_gazebo_plugins/msgs/Makefile
+++ b/simulation/frc_gazebo_plugins/msgs/Makefile
@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_msgs.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_msgs$(ext) $(DESTDIR)$(plugin.dir)
diff --git a/simulation/frc_gazebo_plugins/pneumatic_piston/CMakeLists.txt b/simulation/frc_gazebo_plugins/pneumatic_piston/CMakeLists.txt
index f4b6206952..8b9a050319 100644
--- a/simulation/frc_gazebo_plugins/pneumatic_piston/CMakeLists.txt
+++ b/simulation/frc_gazebo_plugins/pneumatic_piston/CMakeLists.txt
@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/simulation/frc_gazebo_plugins/pneumatic_piston/Makefile b/simulation/frc_gazebo_plugins/pneumatic_piston/Makefile
index 3a78d0f69d..f87ca630be 100644
--- a/simulation/frc_gazebo_plugins/pneumatic_piston/Makefile
+++ b/simulation/frc_gazebo_plugins/pneumatic_piston/Makefile
@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_pneumatic_piston.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_pneumatic_piston$(ext) $(DESTDIR)$(plugin.dir)
diff --git a/simulation/frc_gazebo_plugins/potentiometer/CMakeLists.txt b/simulation/frc_gazebo_plugins/potentiometer/CMakeLists.txt
index a62b006275..0d15c62c76 100644
--- a/simulation/frc_gazebo_plugins/potentiometer/CMakeLists.txt
+++ b/simulation/frc_gazebo_plugins/potentiometer/CMakeLists.txt
@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/simulation/frc_gazebo_plugins/potentiometer/Makefile b/simulation/frc_gazebo_plugins/potentiometer/Makefile
index 147add9314..54fb9ac7df 100644
--- a/simulation/frc_gazebo_plugins/potentiometer/Makefile
+++ b/simulation/frc_gazebo_plugins/potentiometer/Makefile
@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_potentiometer.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_potentiometer$(ext) $(DESTDIR)$(plugin.dir)
diff --git a/simulation/frc_gazebo_plugins/rangefinder/CMakeLists.txt b/simulation/frc_gazebo_plugins/rangefinder/CMakeLists.txt
index 38b95ad06e..f198303589 100644
--- a/simulation/frc_gazebo_plugins/rangefinder/CMakeLists.txt
+++ b/simulation/frc_gazebo_plugins/rangefinder/CMakeLists.txt
@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/simulation/frc_gazebo_plugins/rangefinder/Makefile b/simulation/frc_gazebo_plugins/rangefinder/Makefile
index f9a1fcc508..21c3732b3e 100644
--- a/simulation/frc_gazebo_plugins/rangefinder/Makefile
+++ b/simulation/frc_gazebo_plugins/rangefinder/Makefile
@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_rangefinder.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_rangefinder$(ext) $(DESTDIR)$(plugin.dir)