diff --git a/scripts/full_install.sh b/scripts/full_install.sh
index 129c382e..c85f466a 100644
--- a/scripts/full_install.sh
+++ b/scripts/full_install.sh
@@ -19,6 +19,8 @@ make -j8 && sudo make install && cd ../..
 
 # URDF
 sudo apt-get -y install liburdfdom-headers-dev liburdfdom-dev 
+# compatability with urdfdom >= 4.0.0 (Ubuntu24.04)´
+sudo apt-get -y install libtinyxml2-dev
 
 # Clone WBC repo to have the patches 
 git clone https://github.com/ARC-OPT/wbc.git
diff --git a/scripts/install.sh b/scripts/install.sh
index 940e7c25..a737dfb7 100644
--- a/scripts/install.sh
+++ b/scripts/install.sh
@@ -18,7 +18,9 @@ cmake .. -DUSE_SISL=OFF -DBINDINGS_RUBY=OFF -DROCK_VIZ_ENABLED=OFF
 make -j8 && sudo make install && cd ../..
 
 # URDF
-sudo apt-get -y install liburdfdom-headers-dev liburdfdom-dev 
+sudo apt-get -y install liburdfdom-headers-dev liburdfdom-dev
+# compatability with urdfdom >= 4.0.0
+sudo apt-get -y install libtinyxml2-dev
 
 # Clone WBC repo here to have the patches
 git clone https://github.com/ARC-OPT/wbc.git
diff --git a/src/tools/CMakeLists.txt b/src/tools/CMakeLists.txt
index aae8b556..0db8a5dc 100644
--- a/src/tools/CMakeLists.txt
+++ b/src/tools/CMakeLists.txt
@@ -7,10 +7,12 @@ pkg_search_module(base-types REQUIRED IMPORTED_TARGET base-types)
 pkg_search_module(base-logging REQUIRED IMPORTED_TARGET base-logging)
 pkg_search_module(urdfdom REQUIRED IMPORTED_TARGET urdfdom)
 pkg_search_module(eigen3 REQUIRED IMPORTED_TARGET eigen3)
+pkg_search_module(tinyxml2 REQUIRED IMPORTED_TARGET tinyxml2)
 
 list(APPEND PKGCONFIG_REQUIRES base-types)
 list(APPEND PKGCONFIG_REQUIRES base-logging)
 list(APPEND PKGCONFIG_REQUIRES urdfdom)
+list(APPEND PKGCONFIG_REQUIRES tinyxml2)
 list(APPEND PKGCONFIG_REQUIRES eigen3)
 string (REPLACE ";" " " PKGCONFIG_REQUIRES "${PKGCONFIG_REQUIRES}")
 
@@ -24,6 +26,7 @@ target_link_libraries(${TARGET_NAME} PUBLIC
                       PkgConfig::base-types
                       PkgConfig::base-logging
                       PkgConfig::urdfdom
+                      PkgConfig::tinyxml2
                       PkgConfig::eigen3)
 
 set_target_properties(${TARGET_NAME} PROPERTIES
diff --git a/src/tools/URDFTools.cpp b/src/tools/URDFTools.cpp
index 036ed65e..93eb0878 100644
--- a/src/tools/URDFTools.cpp
+++ b/src/tools/URDFTools.cpp
@@ -1,9 +1,10 @@
 #include "URDFTools.hpp"
 #include <base/JointLimits.hpp>
 #include <base-logging/Logging.hpp>
-#include <urdf_model/link.h>
 #include <stack>
 #include <fstream>
+#include <iostream>
+#include <tinyxml2.h>
 
 namespace wbc {