diff --git a/src/robot_models/rbdl/RobotModelRBDL.cpp b/src/robot_models/rbdl/RobotModelRBDL.cpp
index 2cf7978..36d478f 100644
--- a/src/robot_models/rbdl/RobotModelRBDL.cpp
+++ b/src/robot_models/rbdl/RobotModelRBDL.cpp
@@ -3,6 +3,7 @@
 #include <rbdl/rbdl_utils.h>
 #include <rbdl/addons/urdfreader/urdfreader.h>
 #include <base-logging/Logging.hpp>
+#include <tinyxml2.h>
 
 using namespace RigidBodyDynamics;