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/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/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/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/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/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/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/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})