diff --git a/kdl_parser/src/check_kdl_parser.cpp b/kdl_parser/src/check_kdl_parser.cpp
index aa8a142..2c02637 100644
--- a/kdl_parser/src/check_kdl_parser.cpp
+++ b/kdl_parser/src/check_kdl_parser.cpp
@@ -34,7 +34,7 @@
 #include "kdl/chainfksolverpos_recursive.hpp"
 #include "kdl/frames_io.hpp"
 #include "kdl_parser/kdl_parser.hpp"
-#include "urdf/model.h"
+#include "urdf/model.hpp"
 
 void printLink(const KDL::SegmentMap::const_iterator & link, const std::string & prefix)
 {
diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp
index ef50983..adbf405 100644
--- a/kdl_parser/src/kdl_parser.cpp
+++ b/kdl_parser/src/kdl_parser.cpp
@@ -34,7 +34,7 @@
 #include <vector>
 
 #include "kdl/frames_io.hpp"
-#include "urdf/model.h"
+#include "urdf/model.hpp"
 #include "urdf/urdfdom_compatibility.h"
 #include "rcutils/logging_macros.h"