diff --git a/include/srdfdom/model.h b/include/srdfdom/model.h
index f52dbb5..e86510c 100644
--- a/include/srdfdom/model.h
+++ b/include/srdfdom/model.h
@@ -41,10 +41,15 @@
 #include <string>
 #include <vector>
 #include <utility>
-#include <urdf/model.h>
 #include <memory>
 #include <tinyxml2.h>
 
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
+#include <urdf/model.h>
+#endif
+
 #include "visibility_control.h"
 
 /// Main namespace