diff --git a/urdf_parser/include/urdf_parser/urdf_parser.h b/urdf_parser/include/urdf_parser/urdf_parser.h
index 858b236c..b7419483 100644
--- a/urdf_parser/include/urdf_parser/urdf_parser.h
+++ b/urdf_parser/include/urdf_parser/urdf_parser.h
@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -51,8 +51,6 @@
 
 #include "exportdecl.h"
 
-using namespace tinyxml2;
-
 namespace urdf_export_helpers {
 
 URDFDOM_DLLAPI std::string values2str(unsigned int count, const double *values, double (*conv)(double) = NULL);
@@ -145,13 +143,13 @@ namespace urdf{
 
   URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDF(const std::string &xml_string);
   URDFDOM_DLLAPI ModelInterfaceSharedPtr parseURDFFile(const std::string &path);
-  URDFDOM_DLLAPI XMLDocument*  exportURDF(ModelInterfaceSharedPtr &model);
-  URDFDOM_DLLAPI XMLDocument*  exportURDF(const ModelInterface &model);
-  URDFDOM_DLLAPI bool parsePose(Pose&, XMLElement*);
-  URDFDOM_DLLAPI bool parseCamera(Camera&, XMLElement*);
-  URDFDOM_DLLAPI bool parseRay(Ray&, XMLElement*);
-  URDFDOM_DLLAPI bool parseSensor(Sensor&, XMLElement*);
-  URDFDOM_DLLAPI bool parseModelState(ModelState&, XMLElement*);
+  URDFDOM_DLLAPI tinyxml2::XMLDocument*  exportURDF(ModelInterfaceSharedPtr &model);
+  URDFDOM_DLLAPI tinyxml2::XMLDocument*  exportURDF(const ModelInterface &model);
+  URDFDOM_DLLAPI bool parsePose(Pose&, tinyxml2::XMLElement*);
+  URDFDOM_DLLAPI bool parseCamera(Camera&, tinyxml2::XMLElement*);
+  URDFDOM_DLLAPI bool parseRay(Ray&, tinyxml2::XMLElement*);
+  URDFDOM_DLLAPI bool parseSensor(Sensor&, tinyxml2::XMLElement*);
+  URDFDOM_DLLAPI bool parseModelState(ModelState&, tinyxml2::XMLElement*);
 }
 
 #endif
diff --git a/urdf_parser/src/joint.cpp b/urdf_parser/src/joint.cpp
index 05140ee9..670e5912 100644
--- a/urdf_parser/src/joint.cpp
+++ b/urdf_parser/src/joint.cpp
@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software Ligcense Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -45,9 +45,9 @@
 
 namespace urdf{
 
-bool parsePose(Pose &pose, XMLElement* xml);
+bool parsePose(Pose &pose, tinyxml2::XMLElement* xml);
 
-bool parseJointDynamics(JointDynamics &jd, XMLElement* config)
+bool parseJointDynamics(JointDynamics &jd, tinyxml2::XMLElement* config)
 {
   jd.clear();
 
@@ -94,7 +94,7 @@ bool parseJointDynamics(JointDynamics &jd, XMLElement* config)
   }
 }
 
-bool parseJointLimits(JointLimits &jl, XMLElement* config)
+bool parseJointLimits(JointLimits &jl, tinyxml2::XMLElement* config)
 {
   jl.clear();
 
@@ -165,7 +165,7 @@ bool parseJointLimits(JointLimits &jl, XMLElement* config)
   return true;
 }
 
-bool parseJointSafety(JointSafety &js, XMLElement* config)
+bool parseJointSafety(JointSafety &js, tinyxml2::XMLElement* config)
 {
   js.clear();
 
@@ -239,7 +239,7 @@ bool parseJointSafety(JointSafety &js, XMLElement* config)
   return true;
 }
 
-bool parseJointCalibration(JointCalibration &jc, XMLElement* config)
+bool parseJointCalibration(JointCalibration &jc, tinyxml2::XMLElement* config)
 {
   jc.clear();
 
@@ -280,7 +280,7 @@ bool parseJointCalibration(JointCalibration &jc, XMLElement* config)
   return true;
 }
 
-bool parseJointMimic(JointMimic &jm, XMLElement* config)
+bool parseJointMimic(JointMimic &jm, tinyxml2::XMLElement* config)
 {
   jm.clear();
 
@@ -294,14 +294,14 @@ bool parseJointMimic(JointMimic &jm, XMLElement* config)
   }
   else
     jm.joint_name = joint_name_str;
-  
+
   // Get mimic multiplier
   const char* multiplier_str = config->Attribute("multiplier");
 
   if (multiplier_str == NULL)
   {
     CONSOLE_BRIDGE_logDebug("urdfdom.joint_mimic: no multiplier, using default value of 1");
-    jm.multiplier = 1;    
+    jm.multiplier = 1;
   }
   else
   {
@@ -313,7 +313,7 @@ bool parseJointMimic(JointMimic &jm, XMLElement* config)
     }
   }
 
-  
+
   // Get mimic offset
   const char* offset_str = config->Attribute("offset");
   if (offset_str == NULL)
@@ -334,7 +334,7 @@ bool parseJointMimic(JointMimic &jm, XMLElement* config)
   return true;
 }
 
-bool parseJoint(Joint &joint, XMLElement* config)
+bool parseJoint(Joint &joint, tinyxml2::XMLElement* config)
 {
   joint.clear();
 
@@ -348,7 +348,7 @@ bool parseJoint(Joint &joint, XMLElement* config)
   joint.name = name;
 
   // Get transform from Parent Link to Joint Frame
-  XMLElement *origin_xml = config->FirstChildElement("origin");
+  tinyxml2::XMLElement *origin_xml = config->FirstChildElement("origin");
   if (!origin_xml)
   {
     CONSOLE_BRIDGE_logDebug("urdfdom: Joint [%s] missing origin tag under parent describing transform from Parent Link to Joint Frame, (using Identity transform).", joint.name.c_str());
@@ -365,7 +365,7 @@ bool parseJoint(Joint &joint, XMLElement* config)
   }
 
   // Get Parent Link
-  XMLElement *parent_xml = config->FirstChildElement("parent");
+  tinyxml2::XMLElement *parent_xml = config->FirstChildElement("parent");
   if (parent_xml)
   {
     const char *pname = parent_xml->Attribute("link");
@@ -380,7 +380,7 @@ bool parseJoint(Joint &joint, XMLElement* config)
   }
 
   // Get Child Link
-  XMLElement *child_xml = config->FirstChildElement("child");
+  tinyxml2::XMLElement *child_xml = config->FirstChildElement("child");
   if (child_xml)
   {
     const char *pname = child_xml->Attribute("link");
@@ -401,7 +401,7 @@ bool parseJoint(Joint &joint, XMLElement* config)
     CONSOLE_BRIDGE_logError("joint [%s] has no type, check to see if it's a reference.", joint.name.c_str());
     return false;
   }
-  
+
   std::string type_str = type_char;
   if (type_str == "planar")
     joint.type = Joint::PLANAR;
@@ -425,7 +425,7 @@ bool parseJoint(Joint &joint, XMLElement* config)
   if (joint.type != Joint::FLOATING && joint.type != Joint::FIXED)
   {
     // axis
-    XMLElement *axis_xml = config->FirstChildElement("axis");
+    tinyxml2::XMLElement *axis_xml = config->FirstChildElement("axis");
     if (!axis_xml){
       CONSOLE_BRIDGE_logDebug("urdfdom: no axis element for Joint link [%s], defaulting to (1,0,0) axis", joint.name.c_str());
       joint.axis = Vector3(1.0, 0.0, 0.0);
@@ -445,7 +445,7 @@ bool parseJoint(Joint &joint, XMLElement* config)
   }
 
   // Get limit
-  XMLElement *limit_xml = config->FirstChildElement("limit");
+  tinyxml2::XMLElement *limit_xml = config->FirstChildElement("limit");
   if (limit_xml)
   {
     joint.limits.reset(new JointLimits());
@@ -463,12 +463,12 @@ bool parseJoint(Joint &joint, XMLElement* config)
   }
   else if (joint.type == Joint::PRISMATIC)
   {
-    CONSOLE_BRIDGE_logError("Joint [%s] is of type PRISMATIC without limits", joint.name.c_str()); 
+    CONSOLE_BRIDGE_logError("Joint [%s] is of type PRISMATIC without limits", joint.name.c_str());
     return false;
   }
 
   // Get safety
-  XMLElement *safety_xml = config->FirstChildElement("safety_controller");
+  tinyxml2::XMLElement *safety_xml = config->FirstChildElement("safety_controller");
   if (safety_xml)
   {
     joint.safety.reset(new JointSafety());
@@ -481,7 +481,7 @@ bool parseJoint(Joint &joint, XMLElement* config)
   }
 
   // Get calibration
-  XMLElement *calibration_xml = config->FirstChildElement("calibration");
+  tinyxml2::XMLElement *calibration_xml = config->FirstChildElement("calibration");
   if (calibration_xml)
   {
     joint.calibration.reset(new JointCalibration());
@@ -494,7 +494,7 @@ bool parseJoint(Joint &joint, XMLElement* config)
   }
 
   // Get Joint Mimic
-  XMLElement *mimic_xml = config->FirstChildElement("mimic");
+  tinyxml2::XMLElement *mimic_xml = config->FirstChildElement("mimic");
   if (mimic_xml)
   {
     joint.mimic.reset(new JointMimic());
@@ -507,7 +507,7 @@ bool parseJoint(Joint &joint, XMLElement* config)
   }
 
   // Get Dynamics
-  XMLElement *prop_xml = config->FirstChildElement("dynamics");
+  tinyxml2::XMLElement *prop_xml = config->FirstChildElement("dynamics");
   if (prop_xml)
   {
     joint.dynamics.reset(new JointDynamics());
@@ -524,20 +524,20 @@ bool parseJoint(Joint &joint, XMLElement* config)
 
 
 /* exports */
-bool exportPose(Pose &pose, XMLElement* xml);
+bool exportPose(Pose &pose, tinyxml2::XMLElement* xml);
 
-bool exportJointDynamics(JointDynamics &jd, XMLElement* xml)
+bool exportJointDynamics(JointDynamics &jd, tinyxml2::XMLElement* xml)
 {
-  XMLElement *dynamics_xml = xml->InsertNewChildElement("dynamics");
+  tinyxml2::XMLElement *dynamics_xml = xml->InsertNewChildElement("dynamics");
   dynamics_xml->SetAttribute("damping", urdf_export_helpers::values2str(jd.damping).c_str() );
   dynamics_xml->SetAttribute("friction", urdf_export_helpers::values2str(jd.friction).c_str() );
   xml->LinkEndChild(dynamics_xml);
   return true;
 }
 
-bool exportJointLimits(JointLimits &jl, XMLElement* xml)
+bool exportJointLimits(JointLimits &jl, tinyxml2::XMLElement* xml)
 {
-  XMLElement *limit_xml = xml->InsertNewChildElement("limit");
+  tinyxml2::XMLElement *limit_xml = xml->InsertNewChildElement("limit");
   limit_xml->SetAttribute("effort", urdf_export_helpers::values2str(jl.effort).c_str());
   limit_xml->SetAttribute("velocity", urdf_export_helpers::values2str(jl.velocity).c_str());
   limit_xml->SetAttribute("lower", urdf_export_helpers::values2str(jl.lower).c_str());
@@ -546,9 +546,9 @@ bool exportJointLimits(JointLimits &jl, XMLElement* xml)
   return true;
 }
 
-bool exportJointSafety(JointSafety &js, XMLElement* xml)
+bool exportJointSafety(JointSafety &js, tinyxml2::XMLElement* xml)
 {
-  XMLElement *safety_xml = xml->InsertNewChildElement("safety_controller");
+  tinyxml2::XMLElement *safety_xml = xml->InsertNewChildElement("safety_controller");
   safety_xml->SetAttribute("k_position", urdf_export_helpers::values2str(js.k_position).c_str());
   safety_xml->SetAttribute("k_velocity", urdf_export_helpers::values2str(js.k_velocity).c_str());
   safety_xml->SetAttribute("soft_lower_limit", urdf_export_helpers::values2str(js.soft_lower_limit).c_str());
@@ -557,11 +557,11 @@ bool exportJointSafety(JointSafety &js, XMLElement* xml)
   return true;
 }
 
-bool exportJointCalibration(JointCalibration &jc, XMLElement* xml)
+bool exportJointCalibration(JointCalibration &jc, tinyxml2::XMLElement* xml)
 {
   if (jc.falling || jc.rising)
   {
-    XMLElement *calibration_xml = xml->InsertNewChildElement("calibration");
+    tinyxml2::XMLElement *calibration_xml = xml->InsertNewChildElement("calibration");
     if (jc.falling)
       calibration_xml->SetAttribute("falling", urdf_export_helpers::values2str(*jc.falling).c_str());
     if (jc.rising)
@@ -572,11 +572,11 @@ bool exportJointCalibration(JointCalibration &jc, XMLElement* xml)
   return true;
 }
 
-bool exportJointMimic(JointMimic &jm, XMLElement* xml)
+bool exportJointMimic(JointMimic &jm, tinyxml2::XMLElement* xml)
 {
   if (!jm.joint_name.empty())
   {
-    XMLElement *mimic_xml = xml->InsertNewChildElement("mimic");
+    tinyxml2::XMLElement *mimic_xml = xml->InsertNewChildElement("mimic");
     mimic_xml->SetAttribute("offset", urdf_export_helpers::values2str(jm.offset).c_str());
     mimic_xml->SetAttribute("multiplier", urdf_export_helpers::values2str(jm.multiplier).c_str());
     mimic_xml->SetAttribute("joint", jm.joint_name.c_str());
@@ -585,9 +585,9 @@ bool exportJointMimic(JointMimic &jm, XMLElement* xml)
   return true;
 }
 
-bool exportJoint(Joint &joint, XMLElement* xml)
+bool exportJoint(Joint &joint, tinyxml2::XMLElement* xml)
 {
-  XMLElement * joint_xml = xml->InsertNewChildElement("joint");
+  tinyxml2::XMLElement * joint_xml = xml->InsertNewChildElement("joint");
   joint_xml->SetAttribute("name", joint.name.c_str());
   if (joint.type == urdf::Joint::PLANAR)
     joint_xml->SetAttribute("type", "planar");
@@ -608,17 +608,17 @@ bool exportJoint(Joint &joint, XMLElement* xml)
   exportPose(joint.parent_to_joint_origin_transform, joint_xml);
 
   // axis
-  XMLElement * axis_xml = joint_xml->InsertNewChildElement("axis");
+  tinyxml2::XMLElement * axis_xml = joint_xml->InsertNewChildElement("axis");
   axis_xml->SetAttribute("xyz", urdf_export_helpers::values2str(joint.axis).c_str());
   joint_xml->LinkEndChild(axis_xml);
 
-  // parent 
-  XMLElement * parent_xml = joint_xml->InsertNewChildElement("parent");
+  // parent
+  tinyxml2::XMLElement * parent_xml = joint_xml->InsertNewChildElement("parent");
   parent_xml->SetAttribute("link", joint.parent_link_name.c_str());
   joint_xml->LinkEndChild(parent_xml);
 
   // child
-  XMLElement * child_xml = joint_xml->InsertNewChildElement("child");
+  tinyxml2::XMLElement * child_xml = joint_xml->InsertNewChildElement("child");
   child_xml->SetAttribute("link", joint.child_link_name.c_str());
   joint_xml->LinkEndChild(child_xml);
 
diff --git a/urdf_parser/src/link.cpp b/urdf_parser/src/link.cpp
index 12a8de96..49b16121 100644
--- a/urdf_parser/src/link.cpp
+++ b/urdf_parser/src/link.cpp
@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -50,9 +50,9 @@
 
 namespace urdf{
 
-bool parsePose(Pose &pose, XMLElement* xml);
+bool parsePose(Pose &pose, tinyxml2::XMLElement* xml);
 
-bool parseMaterial(Material &material, XMLElement *config, bool only_name_is_ok)
+bool parseMaterial(Material &material, tinyxml2::XMLElement *config, bool only_name_is_ok)
 {
   bool has_rgb = false;
   bool has_filename = false;
@@ -64,11 +64,11 @@ bool parseMaterial(Material &material, XMLElement *config, bool only_name_is_ok)
     CONSOLE_BRIDGE_logError("Material must contain a name attribute");
     return false;
   }
-  
+
   material.name = config->Attribute("name");
 
   // texture
-  XMLElement *t = config->FirstChildElement("texture");
+  tinyxml2::XMLElement *t = config->FirstChildElement("texture");
   if (t)
   {
     if (t->Attribute("filename"))
@@ -79,7 +79,7 @@ bool parseMaterial(Material &material, XMLElement *config, bool only_name_is_ok)
   }
 
   // color
-  XMLElement *c = config->FirstChildElement("color");
+  tinyxml2::XMLElement *c = config->FirstChildElement("color");
   if (c)
   {
     if (c->Attribute("rgba")) {
@@ -88,7 +88,7 @@ bool parseMaterial(Material &material, XMLElement *config, bool only_name_is_ok)
         material.color.init(c->Attribute("rgba"));
         has_rgb = true;
       }
-      catch (ParseError &e) {  
+      catch (ParseError &e) {
         material.color.clear();
         CONSOLE_BRIDGE_logError(std::string("Material [" + material.name + "] has malformed color rgba values: " + e.what()).c_str());
       }
@@ -107,7 +107,7 @@ bool parseMaterial(Material &material, XMLElement *config, bool only_name_is_ok)
 }
 
 
-bool parseSphere(Sphere &s, XMLElement *c)
+bool parseSphere(Sphere &s, tinyxml2::XMLElement *c)
 {
   s.clear();
 
@@ -130,10 +130,10 @@ bool parseSphere(Sphere &s, XMLElement *c)
   return true;
 }
 
-bool parseBox(Box &b, XMLElement *c)
+bool parseBox(Box &b, tinyxml2::XMLElement *c)
 {
   b.clear();
-  
+
   b.type = Geometry::BOX;
   if (!c->Attribute("size"))
   {
@@ -153,7 +153,7 @@ bool parseBox(Box &b, XMLElement *c)
   return true;
 }
 
-bool parseCylinder(Cylinder &y, XMLElement *c)
+bool parseCylinder(Cylinder &y, tinyxml2::XMLElement *c)
 {
   y.clear();
 
@@ -187,7 +187,7 @@ bool parseCylinder(Cylinder &y, XMLElement *c)
 }
 
 
-bool parseMesh(Mesh &m, XMLElement *c)
+bool parseMesh(Mesh &m, tinyxml2::XMLElement *c)
 {
   m.clear();
 
@@ -216,12 +216,12 @@ bool parseMesh(Mesh &m, XMLElement *c)
   return true;
 }
 
-GeometrySharedPtr parseGeometry(XMLElement *g)
+GeometrySharedPtr parseGeometry(tinyxml2::XMLElement *g)
 {
   GeometrySharedPtr geom;
   if (!g) return geom;
 
-  XMLElement *shape = g->FirstChildElement();
+  tinyxml2::XMLElement *shape = g->FirstChildElement();
   if (!shape)
   {
     CONSOLE_BRIDGE_logError("Geometry tag contains no child element.");
@@ -255,30 +255,30 @@ GeometrySharedPtr parseGeometry(XMLElement *g)
     Mesh *m = new Mesh();
     geom.reset(m);
     if (parseMesh(*m, shape))
-      return geom;    
+      return geom;
   }
   else
   {
     CONSOLE_BRIDGE_logError("Unknown geometry type '%s'", type_name.c_str());
     return geom;
   }
-  
+
   return GeometrySharedPtr();
 }
 
-bool parseInertial(Inertial &i, XMLElement *config)
+bool parseInertial(Inertial &i, tinyxml2::XMLElement *config)
 {
   i.clear();
 
   // Origin
-  XMLElement *o = config->FirstChildElement("origin");
+  tinyxml2::XMLElement *o = config->FirstChildElement("origin");
   if (o)
   {
     if (!parsePose(i.origin, o))
       return false;
   }
 
-  XMLElement *mass_xml = config->FirstChildElement("mass");
+  tinyxml2::XMLElement *mass_xml = config->FirstChildElement("mass");
   if (!mass_xml)
   {
     CONSOLE_BRIDGE_logError("Inertial element must have a mass element");
@@ -300,7 +300,7 @@ bool parseInertial(Inertial &i, XMLElement *config)
     return false;
   }
 
-  XMLElement *inertia_xml = config->FirstChildElement("inertia");
+  tinyxml2::XMLElement *inertia_xml = config->FirstChildElement("inertia");
   if (!inertia_xml)
   {
     CONSOLE_BRIDGE_logError("Inertial element must have inertia element");
@@ -346,19 +346,19 @@ bool parseInertial(Inertial &i, XMLElement *config)
   return true;
 }
 
-bool parseVisual(Visual &vis, XMLElement *config)
+bool parseVisual(Visual &vis, tinyxml2::XMLElement *config)
 {
   vis.clear();
 
   // Origin
-  XMLElement *o = config->FirstChildElement("origin");
+  tinyxml2::XMLElement *o = config->FirstChildElement("origin");
   if (o) {
     if (!parsePose(vis.origin, o))
       return false;
   }
 
   // Geometry
-  XMLElement *geom = config->FirstChildElement("geometry");
+  tinyxml2::XMLElement *geom = config->FirstChildElement("geometry");
   vis.geometry = parseGeometry(geom);
   if (!vis.geometry)
     return false;
@@ -368,7 +368,7 @@ bool parseVisual(Visual &vis, XMLElement *config)
     vis.name = name_char;
 
   // Material
-  XMLElement *mat = config->FirstChildElement("material");
+  tinyxml2::XMLElement *mat = config->FirstChildElement("material");
   if (mat) {
     // get material name
     if (!mat->Attribute("name")) {
@@ -376,7 +376,7 @@ bool parseVisual(Visual &vis, XMLElement *config)
       return false;
     }
     vis.material_name = mat->Attribute("name");
-    
+
     // try to parse material element in place
     vis.material.reset(new Material());
     if (!parseMaterial(*vis.material, mat, true))
@@ -384,23 +384,23 @@ bool parseVisual(Visual &vis, XMLElement *config)
       vis.material.reset();
     }
   }
-  
+
   return true;
 }
 
-bool parseCollision(Collision &col, XMLElement* config)
-{  
+bool parseCollision(Collision &col, tinyxml2::XMLElement* config)
+{
   col.clear();
 
   // Origin
-  XMLElement *o = config->FirstChildElement("origin");
+  tinyxml2::XMLElement *o = config->FirstChildElement("origin");
   if (o) {
     if (!parsePose(col.origin, o))
       return false;
   }
-  
+
   // Geometry
-  XMLElement *geom = config->FirstChildElement("geometry");
+  tinyxml2::XMLElement *geom = config->FirstChildElement("geometry");
   col.geometry = parseGeometry(geom);
   if (!col.geometry)
     return false;
@@ -412,9 +412,9 @@ bool parseCollision(Collision &col, XMLElement* config)
   return true;
 }
 
-bool parseLink(Link &link, XMLElement* config)
+bool parseLink(Link &link, tinyxml2::XMLElement* config)
 {
-  
+
   link.clear();
 
   const char *name_char = config->Attribute("name");
@@ -426,7 +426,7 @@ bool parseLink(Link &link, XMLElement* config)
   link.name = std::string(name_char);
 
   // Inertial (optional)
-  XMLElement *i = config->FirstChildElement("inertial");
+  tinyxml2::XMLElement *i = config->FirstChildElement("inertial");
   if (i)
   {
     link.inertial.reset(new Inertial());
@@ -438,7 +438,7 @@ bool parseLink(Link &link, XMLElement* config)
   }
 
   // Multiple Visuals (optional)
-  for (XMLElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual"))
+  for (tinyxml2::XMLElement* vis_xml = config->FirstChildElement("visual"); vis_xml; vis_xml = vis_xml->NextSiblingElement("visual"))
   {
 
     VisualSharedPtr vis;
@@ -459,14 +459,14 @@ bool parseLink(Link &link, XMLElement* config)
   // Assign the first visual to the .visual ptr, if it exists
   if (!link.visual_array.empty())
     link.visual = link.visual_array[0];
-  
+
   // Multiple Collisions (optional)
-  for (XMLElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision"))
+  for (tinyxml2::XMLElement* col_xml = config->FirstChildElement("collision"); col_xml; col_xml = col_xml->NextSiblingElement("collision"))
   {
     CollisionSharedPtr col;
     col.reset(new Collision());
     if (parseCollision(*col, col_xml))
-    {      
+    {
       link.collision_array.push_back(col);
     }
     else
@@ -476,8 +476,8 @@ bool parseLink(Link &link, XMLElement* config)
       return false;
     }
   }
-  
-  // Collision (optional)  
+
+  // Collision (optional)
   // Assign the first collision to the .collision ptr, if it exists
   if (!link.collision_array.empty())
     link.collision = link.collision_array[0];
@@ -486,57 +486,57 @@ bool parseLink(Link &link, XMLElement* config)
 }
 
 /* exports */
-bool exportPose(Pose &pose, XMLElement* xml);
+bool exportPose(Pose &pose, tinyxml2::XMLElement* xml);
 
-bool exportMaterial(Material &material, XMLElement *xml)
+bool exportMaterial(Material &material, tinyxml2::XMLElement *xml)
 {
-  XMLElement* material_xml = xml->InsertNewChildElement("material");
+  tinyxml2::XMLElement* material_xml = xml->InsertNewChildElement("material");
   material_xml->SetAttribute("name", material.name.c_str());
 
-  XMLElement* texture = material_xml->InsertNewChildElement("texture");
+  tinyxml2::XMLElement* texture = material_xml->InsertNewChildElement("texture");
   if (!material.texture_filename.empty())
     texture->SetAttribute("filename", material.texture_filename.c_str());
   material_xml->LinkEndChild(texture);
 
-  XMLElement* color = material_xml->InsertNewChildElement("color");
+  tinyxml2::XMLElement* color = material_xml->InsertNewChildElement("color");
   color->SetAttribute("rgba", urdf_export_helpers::values2str(material.color).c_str());
   material_xml->LinkEndChild(color);
   xml->LinkEndChild(material_xml);
   return true;
 }
 
-bool exportSphere(Sphere &s, XMLElement *xml)
+bool exportSphere(Sphere &s, tinyxml2::XMLElement *xml)
 {
   // e.g. add <sphere radius="1"/>
-  XMLElement *sphere_xml = xml->InsertNewChildElement("sphere");
+  tinyxml2::XMLElement *sphere_xml = xml->InsertNewChildElement("sphere");
   sphere_xml->SetAttribute("radius", urdf_export_helpers::values2str(s.radius).c_str());
   xml->LinkEndChild(sphere_xml);
   return true;
 }
 
-bool exportBox(Box &b, XMLElement *xml)
+bool exportBox(Box &b, tinyxml2::XMLElement *xml)
 {
   // e.g. add <box size="1 1 1"/>
-  XMLElement *box_xml = xml->InsertNewChildElement("box");
+  tinyxml2::XMLElement *box_xml = xml->InsertNewChildElement("box");
   box_xml->SetAttribute("size", urdf_export_helpers::values2str(b.dim).c_str());
   xml->LinkEndChild(box_xml);
   return true;
 }
 
-bool exportCylinder(Cylinder &y, XMLElement *xml)
+bool exportCylinder(Cylinder &y, tinyxml2::XMLElement *xml)
 {
   // e.g. add <cylinder radius="1"/>
-  XMLElement *cylinder_xml = xml->InsertNewChildElement("cylinder");
+  tinyxml2::XMLElement *cylinder_xml = xml->InsertNewChildElement("cylinder");
   cylinder_xml->SetAttribute("radius", urdf_export_helpers::values2str(y.radius).c_str());
   cylinder_xml->SetAttribute("length", urdf_export_helpers::values2str(y.length).c_str());
   xml->LinkEndChild(cylinder_xml);
   return true;
 }
 
-bool exportMesh(Mesh &m, XMLElement *xml)
+bool exportMesh(Mesh &m, tinyxml2::XMLElement *xml)
 {
   // e.g. add <mesh filename="my_file" scale="1 1 1"/>
-  XMLElement *mesh_xml = xml->InsertNewChildElement("mesh");
+  tinyxml2::XMLElement *mesh_xml = xml->InsertNewChildElement("mesh");
   if (!m.filename.empty())
     mesh_xml->SetAttribute("filename", m.filename.c_str());
   mesh_xml->SetAttribute("scale", urdf_export_helpers::values2str(m.scale).c_str());
@@ -544,9 +544,9 @@ bool exportMesh(Mesh &m, XMLElement *xml)
   return true;
 }
 
-bool exportGeometry(GeometrySharedPtr &geom, XMLElement *xml)
+bool exportGeometry(GeometrySharedPtr &geom, tinyxml2::XMLElement *xml)
 {
-  XMLElement *geometry_xml = xml->InsertNewChildElement("geometry");
+  tinyxml2::XMLElement *geometry_xml = xml->InsertNewChildElement("geometry");
   if (urdf::dynamic_pointer_cast<Sphere>(geom))
   {
     exportSphere((*(urdf::dynamic_pointer_cast<Sphere>(geom).get())), geometry_xml);
@@ -576,22 +576,22 @@ bool exportGeometry(GeometrySharedPtr &geom, XMLElement *xml)
   return true;
 }
 
-bool exportInertial(Inertial &i, XMLElement *xml)
+bool exportInertial(Inertial &i, tinyxml2::XMLElement *xml)
 {
   // adds <inertial>
   //        <mass value="1"/>
   //        <pose xyz="0 0 0" rpy="0 0 0"/>
   //        <inertia ixx="1" ixy="0" />
   //      </inertial>
-  XMLElement *inertial_xml = xml->InsertNewChildElement("inertial");
+  tinyxml2::XMLElement *inertial_xml = xml->InsertNewChildElement("inertial");
 
-  XMLElement *mass_xml = inertial_xml->InsertNewChildElement("mass");
+  tinyxml2::XMLElement *mass_xml = inertial_xml->InsertNewChildElement("mass");
   mass_xml->SetAttribute("value", urdf_export_helpers::values2str(i.mass).c_str());
   inertial_xml->LinkEndChild(mass_xml);
 
   exportPose(i.origin, inertial_xml);
 
-  XMLElement *inertia_xml = inertial_xml->InsertNewChildElement("inertia");
+  tinyxml2::XMLElement *inertia_xml = inertial_xml->InsertNewChildElement("inertia");
   inertia_xml->SetAttribute("ixx", urdf_export_helpers::values2str(i.ixx).c_str());
   inertia_xml->SetAttribute("ixy", urdf_export_helpers::values2str(i.ixy).c_str());
   inertia_xml->SetAttribute("ixz", urdf_export_helpers::values2str(i.ixz).c_str());
@@ -601,11 +601,11 @@ bool exportInertial(Inertial &i, XMLElement *xml)
   inertial_xml->LinkEndChild(inertia_xml);
 
   xml->LinkEndChild(inertial_xml);
-  
+
   return true;
 }
 
-bool exportVisual(Visual &vis, XMLElement *xml)
+bool exportVisual(Visual &vis, tinyxml2::XMLElement *xml)
 {
   // <visual group="default">
   //   <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -614,7 +614,7 @@ bool exportVisual(Visual &vis, XMLElement *xml)
   //   </geometry>
   //   <material name="Grey"/>
   // </visual>
-  XMLElement * visual_xml = xml->InsertNewChildElement("visual");
+  tinyxml2::XMLElement * visual_xml = xml->InsertNewChildElement("visual");
 
   exportPose(vis.origin, visual_xml);
 
@@ -628,8 +628,8 @@ bool exportVisual(Visual &vis, XMLElement *xml)
   return true;
 }
 
-bool exportCollision(Collision &col, XMLElement* xml)
-{  
+bool exportCollision(Collision &col, tinyxml2::XMLElement* xml)
+{
   // <collision group="default">
   //   <origin rpy="0 0 0" xyz="0 0 0"/>
   //   <geometry>
@@ -637,7 +637,7 @@ bool exportCollision(Collision &col, XMLElement* xml)
   //   </geometry>
   //   <material name="Grey"/>
   // </collision>
-  XMLElement * collision_xml = xml->InsertNewChildElement("collision");
+  tinyxml2::XMLElement * collision_xml = xml->InsertNewChildElement("collision");
 
   exportPose(col.origin, collision_xml);
 
@@ -648,9 +648,9 @@ bool exportCollision(Collision &col, XMLElement* xml)
   return true;
 }
 
-bool exportLink(Link &link, XMLElement* xml)
+bool exportLink(Link &link, tinyxml2::XMLElement* xml)
 {
-  XMLElement * link_xml = xml->InsertNewChildElement("link");
+  tinyxml2::XMLElement * link_xml = xml->InsertNewChildElement("link");
   link_xml->SetAttribute("name", link.name.c_str());
 
   if (link.inertial)
diff --git a/urdf_parser/src/model.cpp b/urdf_parser/src/model.cpp
index fea8511f..e3592939 100644
--- a/urdf_parser/src/model.cpp
+++ b/urdf_parser/src/model.cpp
@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -43,9 +43,9 @@
 
 namespace urdf{
 
-bool parseMaterial(Material &material, XMLElement *config, bool only_name_is_ok);
-bool parseLink(Link &link, XMLElement *config);
-bool parseJoint(Joint &joint, XMLElement *config);
+bool parseMaterial(Material &material, tinyxml2::XMLElement *config, bool only_name_is_ok);
+bool parseLink(Link &link, tinyxml2::XMLElement *config);
+bool parseJoint(Joint &joint, tinyxml2::XMLElement *config);
 
 ModelInterfaceSharedPtr  parseURDFFile(const std::string &path)
 {
@@ -93,7 +93,7 @@ ModelInterfaceSharedPtr  parseURDF(const std::string &xml_string)
   ModelInterfaceSharedPtr model(new ModelInterface);
   model->clear();
 
-  XMLDocument xml_doc;
+  tinyxml2::XMLDocument xml_doc;
   xml_doc.Parse(xml_string.c_str());
   if (xml_doc.Error())
   {
@@ -103,7 +103,7 @@ ModelInterfaceSharedPtr  parseURDF(const std::string &xml_string)
     return model;
   }
 
-  XMLElement *robot_xml = xml_doc.FirstChildElement("robot");
+  tinyxml2::XMLElement *robot_xml = xml_doc.FirstChildElement("robot");
   if (!robot_xml)
   {
     CONSOLE_BRIDGE_logError("Could not find the 'robot' element in the xml file");
@@ -137,7 +137,7 @@ ModelInterfaceSharedPtr  parseURDF(const std::string &xml_string)
   }
 
   // Get all Material elements
-  for (XMLElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
+  for (tinyxml2::XMLElement* material_xml = robot_xml->FirstChildElement("material"); material_xml; material_xml = material_xml->NextSiblingElement("material"))
   {
     MaterialSharedPtr material;
     material.reset(new Material);
@@ -166,7 +166,7 @@ ModelInterfaceSharedPtr  parseURDF(const std::string &xml_string)
   }
 
   // Get all Link elements
-  for (XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
+  for (tinyxml2::XMLElement* link_xml = robot_xml->FirstChildElement("link"); link_xml; link_xml = link_xml->NextSiblingElement("link"))
   {
     LinkSharedPtr link;
     link.reset(new Link);
@@ -209,7 +209,7 @@ ModelInterfaceSharedPtr  parseURDF(const std::string &xml_string)
   }
 
   // Get all Joint elements
-  for (XMLElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
+  for (tinyxml2::XMLElement* joint_xml = robot_xml->FirstChildElement("joint"); joint_xml; joint_xml = joint_xml->NextSiblingElement("joint"))
   {
     JointSharedPtr joint;
     joint.reset(new Joint);
@@ -243,7 +243,7 @@ ModelInterfaceSharedPtr  parseURDF(const std::string &xml_string)
   parent_link_tree.clear();
 
   // building tree: name mapping
-  try 
+  try
   {
     model->initTree(parent_link_tree);
   }
@@ -265,18 +265,18 @@ ModelInterfaceSharedPtr  parseURDF(const std::string &xml_string)
     model.reset();
     return model;
   }
-  
+
   return model;
 }
 
-bool exportMaterial(Material &material, XMLElement *config);
-bool exportLink(Link &link, XMLElement *config);
-bool exportJoint(Joint &joint, XMLElement *config);
-XMLDocument*  exportURDF(const ModelInterface &model)
+bool exportMaterial(Material &material, tinyxml2::XMLElement *config);
+bool exportLink(Link &link, tinyxml2::XMLElement *config);
+bool exportJoint(Joint &joint, tinyxml2::XMLElement *config);
+tinyxml2::XMLDocument*  exportURDF(const ModelInterface &model)
 {
-  XMLDocument *doc = new XMLDocument();
+  tinyxml2::XMLDocument *doc = new tinyxml2::XMLDocument();
 
-  XMLElement* robot = doc->NewElement("robot");
+  tinyxml2::XMLElement* robot = doc->NewElement("robot");
   robot->SetAttribute("name", model.name_.c_str());
   doc->LinkEndChild(robot);
 
@@ -287,13 +287,13 @@ XMLDocument*  exportURDF(const ModelInterface &model)
     exportMaterial(*(m->second), robot);
   }
 
-  for (std::map<std::string, LinkSharedPtr>::const_iterator l=model.links_.begin(); l!=model.links_.end(); ++l)  
+  for (std::map<std::string, LinkSharedPtr>::const_iterator l=model.links_.begin(); l!=model.links_.end(); ++l)
   {
     CONSOLE_BRIDGE_logDebug("urdfdom: exporting link [%s]\n",l->second->name.c_str());
     exportLink(*(l->second), robot);
   }
-  	
-  for (std::map<std::string, JointSharedPtr>::const_iterator j=model.joints_.begin(); j!=model.joints_.end(); ++j)  
+
+  for (std::map<std::string, JointSharedPtr>::const_iterator j=model.joints_.begin(); j!=model.joints_.end(); ++j)
   {
     CONSOLE_BRIDGE_logDebug("urdfdom: exporting joint [%s]\n",j->second->name.c_str());
     exportJoint(*(j->second), robot);
@@ -301,12 +301,11 @@ XMLDocument*  exportURDF(const ModelInterface &model)
 
   return doc;
 }
-    
-XMLDocument*  exportURDF(ModelInterfaceSharedPtr &model)
+
+tinyxml2::XMLDocument*  exportURDF(ModelInterfaceSharedPtr &model)
 {
   return exportURDF(*model);
 }
 
 
 }
-
diff --git a/urdf_parser/src/pose.cpp b/urdf_parser/src/pose.cpp
index 70f06462..9a39adc5 100644
--- a/urdf_parser/src/pose.cpp
+++ b/urdf_parser/src/pose.cpp
@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -87,7 +87,7 @@ std::string values2str(double d)
 
 namespace urdf{
 
-bool parsePose(Pose &pose, XMLElement* xml)
+bool parsePose(Pose &pose, tinyxml2::XMLElement* xml)
 {
   pose.clear();
   if (xml)
@@ -119,9 +119,9 @@ bool parsePose(Pose &pose, XMLElement* xml)
   return true;
 }
 
-bool exportPose(Pose &pose, XMLElement* xml)
+bool exportPose(Pose &pose, tinyxml2::XMLElement* xml)
 {
-  XMLElement* origin = xml->InsertNewChildElement("origin");
+  tinyxml2::XMLElement* origin = xml->InsertNewChildElement("origin");
   std::string pose_xyz_str = urdf_export_helpers::values2str(pose.position);
   std::string pose_rpy_str = urdf_export_helpers::values2str(pose.rotation);
   origin->SetAttribute("xyz", pose_xyz_str.c_str());
@@ -131,5 +131,3 @@ bool exportPose(Pose &pose, XMLElement* xml)
 }
 
 }
-
-
diff --git a/urdf_parser/src/urdf_model_state.cpp b/urdf_parser/src/urdf_model_state.cpp
index 62473d62..7f117ad1 100644
--- a/urdf_parser/src/urdf_model_state.cpp
+++ b/urdf_parser/src/urdf_model_state.cpp
@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -49,7 +49,7 @@
 #include <urdf_parser/urdf_parser.h>
 namespace urdf{
 
-bool parseModelState(ModelState &ms, XMLElement* config)
+bool parseModelState(ModelState &ms, tinyxml2::XMLElement* config)
 {
   ms.clear();
 
@@ -72,7 +72,7 @@ bool parseModelState(ModelState &ms, XMLElement* config)
     }
   }
 
-  XMLElement *joint_state_elem = config->FirstChildElement("joint_state");
+  tinyxml2::XMLElement *joint_state_elem = config->FirstChildElement("joint_state");
   if (joint_state_elem)
   {
     JointStateSharedPtr joint_state;
@@ -86,7 +86,7 @@ bool parseModelState(ModelState &ms, XMLElement* config)
       CONSOLE_BRIDGE_logError("No joint name given for the model_state.");
       return false;
     }
-    
+
     // parse position
     const char *position_char = joint_state_elem->Attribute("position");
     if (position_char)
@@ -150,5 +150,3 @@ bool parseModelState(ModelState &ms, XMLElement* config)
 
 
 }
-
-
diff --git a/urdf_parser/src/urdf_sensor.cpp b/urdf_parser/src/urdf_sensor.cpp
index 8d2c6735..8332920c 100644
--- a/urdf_parser/src/urdf_sensor.cpp
+++ b/urdf_parser/src/urdf_sensor.cpp
@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -49,14 +49,14 @@
 
 namespace urdf{
 
-bool parsePose(Pose &pose, XMLElement* xml);
+bool parsePose(Pose &pose, tinyxml2::XMLElement* xml);
 
-bool parseCamera(Camera &camera, XMLElement* config)
+bool parseCamera(Camera &camera, tinyxml2::XMLElement* config)
 {
   camera.clear();
   camera.type = VisualSensor::CAMERA;
 
-  XMLElement *image = config->FirstChildElement("image");
+  tinyxml2::XMLElement *image = config->FirstChildElement("image");
   if (image)
   {
     const char* width_char = image->Attribute("width");
@@ -114,7 +114,7 @@ bool parseCamera(Camera &camera, XMLElement* config)
     {
       CONSOLE_BRIDGE_logError("Camera sensor needs an image format attribute");
       return false;
-    }    
+    }
 
     const char* hfov_char = image->Attribute("hfov");
     if (hfov_char)
@@ -163,7 +163,7 @@ bool parseCamera(Camera &camera, XMLElement* config)
       CONSOLE_BRIDGE_logError("Camera sensor needs an image far attribute");
       return false;
     }
-    
+
   }
   else
   {
@@ -173,12 +173,12 @@ bool parseCamera(Camera &camera, XMLElement* config)
   return true;
 }
 
-bool parseRay(Ray &ray, XMLElement* config)
+bool parseRay(Ray &ray, tinyxml2::XMLElement* config)
 {
   ray.clear();
   ray.type = VisualSensor::RAY;
 
-  XMLElement *horizontal = config->FirstChildElement("horizontal");
+  tinyxml2::XMLElement *horizontal = config->FirstChildElement("horizontal");
   if (horizontal)
   {
     const char* samples_char = horizontal->Attribute("samples");
@@ -233,8 +233,8 @@ bool parseRay(Ray &ray, XMLElement* config)
       }
     }
   }
-  
-  XMLElement *vertical = config->FirstChildElement("vertical");
+
+  tinyxml2::XMLElement *vertical = config->FirstChildElement("vertical");
   if (vertical)
   {
     const char* samples_char = vertical->Attribute("samples");
@@ -292,12 +292,12 @@ bool parseRay(Ray &ray, XMLElement* config)
   return false;
 }
 
-VisualSensorSharedPtr parseVisualSensor(XMLElement *g)
+VisualSensorSharedPtr parseVisualSensor(tinyxml2::XMLElement *g)
 {
   VisualSensorSharedPtr visual_sensor;
 
   // get sensor type
-  XMLElement *sensor_xml;
+  tinyxml2::XMLElement *sensor_xml;
   if (g->FirstChildElement("camera"))
   {
     Camera *camera = new Camera();
@@ -322,7 +322,7 @@ VisualSensorSharedPtr parseVisualSensor(XMLElement *g)
 }
 
 
-bool parseSensor(Sensor &sensor, XMLElement* config)
+bool parseSensor(Sensor &sensor, tinyxml2::XMLElement* config)
 {
   sensor.clear();
 
@@ -344,7 +344,7 @@ bool parseSensor(Sensor &sensor, XMLElement* config)
   sensor.parent_link_name = std::string(parent_link_name_char);
 
   // parse origin
-  XMLElement *o = config->FirstChildElement("origin");
+  tinyxml2::XMLElement *o = config->FirstChildElement("origin");
   if (o)
   {
     if (!parsePose(sensor.origin, o))
@@ -358,5 +358,3 @@ bool parseSensor(Sensor &sensor, XMLElement* config)
 
 
 }
-
-
diff --git a/urdf_parser/src/world.cpp b/urdf_parser/src/world.cpp
index d22021a7..2d930e63 100644
--- a/urdf_parser/src/world.cpp
+++ b/urdf_parser/src/world.cpp
@@ -1,13 +1,13 @@
 /*********************************************************************
 * Software License Agreement (BSD License)
-* 
+*
 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
-* 
+*
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
-* 
+*
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
@@ -17,7 +17,7 @@
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
-* 
+*
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
@@ -46,7 +46,7 @@
 
 namespace urdf{
 
-bool parseWorld(World &/*world*/, XMLElement* /*config*/)
+bool parseWorld(World &/*world*/, tinyxml2::XMLElement* /*config*/)
 {
 
   // to be implemented
@@ -54,9 +54,9 @@ bool parseWorld(World &/*world*/, XMLElement* /*config*/)
   return true;
 }
 
-bool exportWorld(World &world, XMLElement* xml)
+bool exportWorld(World &world, tinyxml2::XMLElement* xml)
 {
-  XMLElement * world_xml = xml->InsertNewChildElement("world");
+  tinyxml2::XMLElement * world_xml = xml->InsertNewChildElement("world");
   world_xml->SetAttribute("name", world.name.c_str());
 
   // to be implemented