diff --git a/include/srdfdom/model.h b/include/srdfdom/model.h
index 0d5535c..6868a89 100644
--- a/include/srdfdom/model.h
+++ b/include/srdfdom/model.h
@@ -38,11 +38,17 @@
 #define SRDF_MODEL_
 
 #include <map>
+#include <memory>
 #include <string>
 #include <vector>
 #include <utility>
+
+#include <rclcpp/version.h>
+#if RCLCPP_VERSION_GTE(28, 3, 3)  // Rolling
 #include <urdf/model.hpp>
-#include <memory>
+#else
+#include <urdf/model.h>
+#endif
 #include <tinyxml2.h>
 
 #include "visibility_control.h"