diff --git a/hrpsys_gazebo_general/CMakeLists.txt b/hrpsys_gazebo_general/CMakeLists.txt
index 1c46b1f0..44fc9c36 100644
--- a/hrpsys_gazebo_general/CMakeLists.txt
+++ b/hrpsys_gazebo_general/CMakeLists.txt
@@ -25,6 +25,10 @@ pkg_check_modules(omnidynamic omniDynamic4 REQUIRED)
 pkg_check_modules(openrtm_aist openrtm-aist REQUIRED)
 pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
 pkg_check_modules(hrpsys hrpsys-base REQUIRED)
+### hotfix for https://github.com/fkanehiro/hrpsys-base/pull/803
+list(GET hrpsys_INCLUDE_DIRS 0 hrpsys_first_incdir)
+list(APPEND hrpsys_INCLUDE_DIRS ${hrpsys_first_incdir}/hrpsys)
+list(APPEND hrpsys_INCLUDE_DIRS ${hrpsys_first_incdir}/hrpsys/idl)
 if(EXISTS ${hrpsys_SOURCE_DIR})
   set(ROBOTHARDWARE_SOURCE ${hrpsys_SOURCE_DIR}/src/rtc/RobotHardware)
   set(HRPEC_SOURCE         ${hrpsys_SOURCE_DIR}/src/ec/hrpEC)