diff --git a/include/ur_client_library/comm/socket_t.h b/include/ur_client_library/comm/socket_t.h
index 9c1e980b..79d2358c 100644
--- a/include/ur_client_library/comm/socket_t.h
+++ b/include/ur_client_library/comm/socket_t.h
@@ -46,8 +46,11 @@ static inline int ur_close(socket_t s)
 
 #else  // _WIN32
 
+#  include <arpa/inet.h>
 #  include <netdb.h>
+#  include <sys/select.h>
 #  include <sys/socket.h>
+#  include <sys/time.h>
 #  include <sys/types.h>
 #  include <unistd.h>
 
diff --git a/include/ur_client_library/comm/tcp_server.h b/include/ur_client_library/comm/tcp_server.h
index 66f113e4..238bea13 100644
--- a/include/ur_client_library/comm/tcp_server.h
+++ b/include/ur_client_library/comm/tcp_server.h
@@ -33,6 +33,7 @@
 #include <chrono>
 #include <functional>
 #include <thread>
+#include <vector>
 
 #include "ur_client_library/comm/socket_t.h"
 
diff --git a/include/ur_client_library/exceptions.h b/include/ur_client_library/exceptions.h
index 125e4117..3e3ac106 100644
--- a/include/ur_client_library/exceptions.h
+++ b/include/ur_client_library/exceptions.h
@@ -41,6 +41,8 @@
 #  ifdef ERROR
 #    undef ERROR
 #  endif  // ERROR
+#else
+#  include <sys/time.h>
 #endif
 
 namespace urcl
diff --git a/include/ur_client_library/queue/atomicops.h b/include/ur_client_library/queue/atomicops.h
index e4b24826..4e02a214 100644
--- a/include/ur_client_library/queue/atomicops.h
+++ b/include/ur_client_library/queue/atomicops.h
@@ -408,7 +408,7 @@ __declspec(dllimport) int __stdcall ReleaseSemaphore(void* hSemaphore, long lRel
 }
 #elif defined(__MACH__)
 #  include <mach/mach.h>
-#elif defined(__unix__)
+#elif defined(__unix__) || defined(__VXWORKS__)
 #  include <semaphore.h>
 #endif
 
@@ -543,7 +543,7 @@ class Semaphore
     }
   }
 };
-#elif defined(__unix__)
+#elif defined(__unix__) || defined(__VXWORKS__)
 //---------------------------------------------------------
 // Semaphore (POSIX, Linux)
 //---------------------------------------------------------