diff --git a/robot_calibration/include/robot_calibration/optimization/ceres_optimizer.hpp b/robot_calibration/include/robot_calibration/optimization/ceres_optimizer.hpp
index c25dc7e7..bfcfe542 100644
--- a/robot_calibration/include/robot_calibration/optimization/ceres_optimizer.hpp
+++ b/robot_calibration/include/robot_calibration/optimization/ceres_optimizer.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2018-2022 Michael Ferguson
+ * Copyright (C) 2018-2024 Michael Ferguson
  * Copyright (C) 2014 Fetch Robotics Inc.
  * Copyright (C) 2013-2014 Unbounded Robotics Inc.
  *
@@ -24,7 +24,11 @@
 #include <memory>
 #include <ceres/ceres.h>
 
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 #include <kdl_parser/kdl_parser.hpp>
 #include <rclcpp/logger.hpp>
 #include <robot_calibration_msgs/msg/calibration_data.hpp>
diff --git a/robot_calibration/include/robot_calibration/util/mesh_loader.hpp b/robot_calibration/include/robot_calibration/util/mesh_loader.hpp
index 477be390..3907e0f6 100644
--- a/robot_calibration/include/robot_calibration/util/mesh_loader.hpp
+++ b/robot_calibration/include/robot_calibration/util/mesh_loader.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2022 Michael Ferguson
+ * Copyright (C) 2022-2024 Michael Ferguson
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -24,7 +24,11 @@
 #include <vector>
 
 #include <geometric_shapes/shape_operations.h>
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 
 namespace robot_calibration
 {
diff --git a/robot_calibration/src/nodes/viz.cpp b/robot_calibration/src/nodes/viz.cpp
index 15cd98b5..d0187523 100644
--- a/robot_calibration/src/nodes/viz.cpp
+++ b/robot_calibration/src/nodes/viz.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2018-2022 Michael Ferguson
+ * Copyright (C) 2018-2024 Michael Ferguson
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -22,7 +22,11 @@
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 #include <kdl_parser/kdl_parser.hpp>
 
 #include <robot_calibration/optimization/offsets.hpp>
diff --git a/robot_calibration/src/nodes/viz_mesh.cpp b/robot_calibration/src/nodes/viz_mesh.cpp
index 163640ba..7a3e34fd 100644
--- a/robot_calibration/src/nodes/viz_mesh.cpp
+++ b/robot_calibration/src/nodes/viz_mesh.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2018-2022 Michael Ferguson
+ * Copyright (C) 2018-2024 Michael Ferguson
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -17,7 +17,11 @@
 // Author: Michael Ferguson
 
 #include <rclcpp/rclcpp.hpp>
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 #include <robot_calibration/util/mesh_loader.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
diff --git a/robot_calibration/src/optimization/ceres_optimizer.cpp b/robot_calibration/src/optimization/ceres_optimizer.cpp
index 8cbba384..6a0d5075 100644
--- a/robot_calibration/src/optimization/ceres_optimizer.cpp
+++ b/robot_calibration/src/optimization/ceres_optimizer.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2018-2023 Michael Ferguson
+ * Copyright (C) 2018-2024 Michael Ferguson
  * Copyright (C) 2014-2015 Fetch Robotics Inc.
  * Copyright (C) 2013-2014 Unbounded Robotics Inc.
  *
@@ -23,7 +23,11 @@
 #include <memory>
 #include <ceres/ceres.h>
 
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 #include <kdl_parser/kdl_parser.hpp>
 #include <robot_calibration_msgs/msg/calibration_data.hpp>
 
diff --git a/robot_calibration/test/error_block_tests.cpp b/robot_calibration/test/error_block_tests.cpp
index fb10c10e..334ed44e 100644
--- a/robot_calibration/test/error_block_tests.cpp
+++ b/robot_calibration/test/error_block_tests.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2022 Michael Ferguson
+ * Copyright (C) 2022-2024 Michael Ferguson
  * Copyright (C) 2015 Fetch Robotics Inc.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -15,7 +15,11 @@
  * limitations under the License.
  */
 
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 #include <robot_calibration/cost_functions/chain3d_to_mesh_error.hpp>
 #include <robot_calibration/optimization/ceres_optimizer.hpp>
 #include <robot_calibration/util/calibration_data.hpp>
diff --git a/robot_calibration/test/error_block_tests2.cpp b/robot_calibration/test/error_block_tests2.cpp
index b1a01d73..5f211545 100644
--- a/robot_calibration/test/error_block_tests2.cpp
+++ b/robot_calibration/test/error_block_tests2.cpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2022 Michael Ferguson
+ * Copyright (C) 2022-2024 Michael Ferguson
  * Copyright (C) 2015 Fetch Robotics Inc.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -15,7 +15,11 @@
  * limitations under the License.
  */
 
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 #include <robot_calibration/optimization/ceres_optimizer.hpp>
 #include <gtest/gtest.h>
 
diff --git a/robot_calibration/test/optimization_offsets_tests.cpp b/robot_calibration/test/optimization_offsets_tests.cpp
index ff9e0269..5f804a80 100644
--- a/robot_calibration/test/optimization_offsets_tests.cpp
+++ b/robot_calibration/test/optimization_offsets_tests.cpp
@@ -1,5 +1,9 @@
 #include <boost/algorithm/string.hpp>
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 #include <robot_calibration/optimization/offsets.hpp>
 #include <robot_calibration/models/chain3d.hpp>  // for rotation functions
 #include <gtest/gtest.h>