diff --git a/src/dynamixel_slave_ftdi.cpp b/src/dynamixel_slave_ftdi.cpp
index 47335a99309c9a5847447408f9a5e10982dbd39c..f947036d02851d2ed405706273618f36144bca72 100644
--- a/src/dynamixel_slave_ftdi.cpp
+++ b/src/dynamixel_slave_ftdi.cpp
@@ -68,7 +68,7 @@ void CDynamixelSlaveFTDI::config(std::string &filename)
   {
     // try to open the specified file
     try{
-      std::auto_ptr<dyn_server_ftdi_config_t> cfg(dyn_server_ftdi_config(filename.c_str(), xml_schema::flags::dont_validate));
+      std::unique_ptr<dyn_server_ftdi_config_t> cfg(dyn_server_ftdi_config(filename.c_str(), xml_schema::flags::dont_validate));
       this->config_bus(cfg->serial_num(),cfg->baudrate());
     }catch (const xml_schema::exception& e){
       std::ostringstream os;
diff --git a/src/dynamixelserver_ftdi.cpp b/src/dynamixelserver_ftdi.cpp
index e29bcdd9dea05a6f6b3c9b749e7748976601f57a..da88b2c5f25c0f65f56f175d9bacfdd8619ccdd1 100644
--- a/src/dynamixelserver_ftdi.cpp
+++ b/src/dynamixelserver_ftdi.cpp
@@ -87,7 +87,7 @@ void CDynamixelServerFTDI::config(std::string &filename)
   {
     // try to open the specified file
     try{
-      std::auto_ptr<dyn_server_ftdi_config_t> cfg(dyn_server_ftdi_config(filename.c_str(), xml_schema::flags::dont_validate));
+      std::unique_ptr<dyn_server_ftdi_config_t> cfg(dyn_server_ftdi_config(filename.c_str(), xml_schema::flags::dont_validate));
       this->config_bus(cfg->serial_num(),cfg->baudrate());
     }catch (const xml_schema::exception& e){
       std::ostringstream os;
diff --git a/src/dynamixelserver_serial.cpp b/src/dynamixelserver_serial.cpp
index 2d55c3d434b451d771fb43f33b30a9123e7b1b3c..d0199df5cf50489fe3fad117182bb946fc84b291 100644
--- a/src/dynamixelserver_serial.cpp
+++ b/src/dynamixelserver_serial.cpp
@@ -64,7 +64,7 @@ void CDynamixelServerSerial::config(std::string &filename)
   {
     // try to open the specified file
     try{
-      std::auto_ptr<dyn_server_serial_config_t> cfg(dyn_server_serial_config(filename.c_str(), xml_schema::flags::dont_validate));
+      std::unique_ptr<dyn_server_serial_config_t> cfg(dyn_server_serial_config(filename.c_str(), xml_schema::flags::dont_validate));
       this->config_bus(cfg->serial_dev(),cfg->baudrate());
     }catch (const xml_schema::exception& e){
       std::ostringstream os;
diff --git a/src/xml/CMakeLists.txt b/src/xml/CMakeLists.txt
index 1a4a350e0aa0687fcbe60dff22a89823fd3d620f..d49ad31560929acfd1ba549a5fcc4e2fc74299bd 100644
--- a/src/xml/CMakeLists.txt
+++ b/src/xml/CMakeLists.txt
@@ -36,7 +36,7 @@ IF(XSD_FOUND)
       ADD_CUSTOM_TARGET(xsd_files_gen DEPENDS ${XSD_SOURCES_INT})
       ADD_CUSTOM_COMMAND(
          OUTPUT ${XSD_SOURCES_INT}
-         COMMAND xsdcxx cxx-tree --generate-serialization ${XSD_FILES}
+         COMMAND xsdcxx cxx-tree --std c++11 --generate-serialization ${XSD_FILES}
          WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
          DEPENDS ${XSD_PATH_FILES}
          COMMENT "Parsing the xml template file ${XSD_FILES}")