diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp
index 9bbb862925..068559d5a3 100644
--- a/joint_state_broadcaster/src/joint_state_broadcaster.cpp
+++ b/joint_state_broadcaster/src/joint_state_broadcaster.cpp
@@ -25,7 +25,13 @@
 #include "rclcpp/qos.hpp"
 #include "rclcpp/time.hpp"
 #include "std_msgs/msg/header.hpp"
+
+#include "rclcpp/version.h"
+#if RCLCPP_VERSION_GTE(29, 0, 0)
+#include "urdf/model.hpp"
+#else
 #include "urdf/model.h"
+#endif
 
 namespace rclcpp_lifecycle
 {
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 763d2acd07..b1c97175cb 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -33,7 +33,13 @@
 #include "rclcpp_action/create_server.hpp"
 #include "rclcpp_action/server_goal_handle.hpp"
 #include "rclcpp_lifecycle/state.hpp"
+
+#include "rclcpp/version.h"
+#if RCLCPP_VERSION_GTE(29, 0, 0)
+#include "urdf/model.hpp"
+#else
 #include "urdf/model.h"
+#endif
 
 namespace joint_trajectory_controller
 {