diff --git a/recipes-ros/urdfdom-headers/urdfdom-headers_0.2.3.bb b/recipes-ros/urdfdom-headers/urdfdom-headers_0.2.3.bb
new file mode 100644
index 0000000..1d84670
--- /dev/null
+++ b/recipes-ros/urdfdom-headers/urdfdom-headers_0.2.3.bb
@@ -0,0 +1,13 @@
+DESCRIPTION = "The URDF (U-Robot Description Format) headers provides core \
+data structure headers for URDF."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=b441202ba2d6b14d62026cb18bb960ed"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "d8b7dae7e3c19b290cf7d42f50f0cca0"
+SRC_URI[sha256sum] = "6b1f27b002c6d897b43ed57988133f40aac093a2a6e84d9bf08ed36a13b401ae"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit cmake ros