diff --git a/recipes-ros/urdfdom/urdfdom/0001-CMakelists-urdf_parser-fix.patch b/recipes-ros/urdfdom/urdfdom/0001-CMakelists-urdf_parser-fix.patch
new file mode 100644
index 0000000..9b2205f
--- /dev/null
+++ b/recipes-ros/urdfdom/urdfdom/0001-CMakelists-urdf_parser-fix.patch
@@ -0,0 +1,43 @@
+From 902fa53f0c9800ea42d91ba1f9c319418fbbf988 Mon Sep 17 00:00:00 2001
+From: vmayoral <v.mayoralv@gmail.com>
+Date: Thu, 22 Aug 2013 15:41:06 +0200
+Subject: [PATCH] CMakelists urdf_parser fix
+
+---
+ urdf_parser/CMakeLists.txt |   14 +++++++-------
+ 1 file changed, 7 insertions(+), 7 deletions(-)
+
+diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
+index 85a5778..907ee9d 100644
+--- a/urdf_parser/CMakeLists.txt
++++ b/urdf_parser/CMakeLists.txt
+@@ -14,19 +14,19 @@ target_link_libraries(urdfdom_model_state ${tinyxml_libraries} ${console_bridge_
+ 
+ # --------------------------------
+ 
+-add_executable(check_urdf src/check_urdf.cpp)
+-target_link_libraries(check_urdf urdfdom_model urdfdom_world)
++#add_executable(check_urdf src/check_urdf.cpp)
++#target_link_libraries(check_urdf urdfdom_model urdfdom_world)
+ 
+-add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
+-target_link_libraries(urdf_to_graphiz urdfdom_model)
++#add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
++#target_link_libraries(urdf_to_graphiz urdfdom_model)
+ 
+-add_executable(urdf_mem_test test/memtest.cpp)
+-target_link_libraries(urdf_mem_test urdfdom_model)
++#add_executable(urdf_mem_test test/memtest.cpp)
++#target_link_libraries(urdf_mem_test urdfdom_model)
+ 
+ 
+ INSTALL(TARGETS urdfdom_model DESTINATION lib/)
+ INSTALL(TARGETS urdfdom_world DESTINATION lib/)
+-INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test DESTINATION share/${PROJECT_NAME})
++#INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test DESTINATION share/${PROJECT_NAME})
+ INSTALL(TARGETS urdfdom_sensor DESTINATION lib/)
+ INSTALL(TARGETS urdfdom_model_state DESTINATION lib/)
+ INSTALL(DIRECTORY include/urdf_parser DESTINATION include)
+-- 
+1.7.9.5
+
diff --git a/recipes-ros/urdfdom/urdfdom_0.2.8.bb b/recipes-ros/urdfdom/urdfdom_0.2.8.bb
new file mode 100755
index 0000000..123071d
--- /dev/null
+++ b/recipes-ros/urdfdom/urdfdom_0.2.8.bb
@@ -0,0 +1,20 @@
+DESCRIPTION = "The URDF (U-Robot Description Format) library provides core \
+data structures and a simple XML parsers for populating the class data \
+structures from an URDF file."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=b441202ba2d6b14d62026cb18bb960ed"
+
+DEPENDS = "urdfdom-headers console-bridge libtinyxml"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "c2332953b8ee7f4dd23684e700fae14e"
+SRC_URI[sha256sum] = "a918d3ae4366504a93d6af780ac1e706cdffad4b621a363a9bd53c5fbf32fe21"
+
+SRC_URI += "file://0001-CMakelists-urdf_parser-fix.patch;striplevel=1;name=patch"
+SRC_URI[patch.md5sum] = "3f4af4f833044c287e17ba136f5c84c8"
+SRC_URI[patch.sha256sum] = "2cace49c2d02dffb4648d8333db2716b21691c69a30fc68a4d10f317ee0d6e4a" 
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit ros cmake