diff --git a/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h
index 64c74de4e..8e93d94e4 100644
--- a/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h
+++ b/btgui/urdf/urdfdom_headers/urdf_model/include/urdf_model/model.h
@@ -41,7 +41,7 @@
 #include <map>
 //#include <boost/function.hpp>
 #include <urdf/urdfdom_headers/urdf_model/include/urdf_model/link.h>
-
+#include <stdio.h> //printf
 #include <urdf/urdfdom_headers/urdf_exception/include/urdf_exception/exception.h>
 
 namespace urdf {
@@ -134,7 +134,7 @@ public:
         this->getLink(child_link_name, child_link);
         if (!child_link)
         {
-			printf("Error: child link [%s] of joint [%s] not found\n", child_link_name,joint->first );
+			printf("Error: child link [%s] of joint [%s] not found\n", child_link_name.c_str(),joint->first.c_str() );
 			assert(0);
 //          throw ParseError("child link [" + child_link_name + "] of joint [" + joint->first + "] not found");
         }
diff --git a/src/Bullet3Common/b3FileUtils.h b/src/Bullet3Common/b3FileUtils.h
index 9e43e623e..ea5cafa9c 100644
--- a/src/Bullet3Common/b3FileUtils.h
+++ b/src/Bullet3Common/b3FileUtils.h
@@ -3,6 +3,7 @@
 
 #include <stdio.h>
 #include "b3Scalar.h"
+#include <stddef.h>//ptrdiff_h
 
 struct b3FileUtils
 {