diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
index 05217be..fc93e4c 100644
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@@ -24,9 +24,11 @@ if ( NOT ASSIMP_FOUND )
   endif()
 endif()
 if( ASSIMP_FOUND )
-  if( ${ASSIMP_VERSION} STRGREATER "2.0.0" )
-    set(IS_ASSIMP3 1)
-    add_definitions(-DIS_ASSIMP3)
+  if( NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150" )
+    add_definitions(-DASSIMP_UNIFIED_HEADER_NAMES)
+  endif()
+  if( NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.885" )
+    add_definitions(-DASSIMP_EXPORT_API)
   endif()
   include_directories(${ASSIMP_INCLUDE_DIRS})
   link_directories(${ASSIMP_LIBRARY_DIRS})
@@ -38,7 +40,6 @@ else()
   set(ASSIMP_CFLAGS_OTHER)
   set(ASSIMP_LINK_FLAGS)
   set(ASSIMP_INCLUDE_DIRS)
-  set(IS_ASSIMP3 0) # most likely not
 endif()
 
 find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
diff --git a/collada_urdf/src/collada_to_urdf.cpp b/collada_urdf/src/collada_to_urdf.cpp
index 02798c9..3a4d6e6 100644
--- a/collada_urdf/src/collada_to_urdf.cpp
+++ b/collada_urdf/src/collada_to_urdf.cpp
@@ -5,8 +5,7 @@
 #include <collada_parser/collada_parser.h>
 #include <urdf_parser/urdf_parser.h>
 
-#if IS_ASSIMP3
-// assimp 3 (assimp_devel)
+#if defined(ASSIMP_UNIFIED_HEADER_NAMES)
 #include <assimp/IOSystem.hpp>
 #include <assimp/IOStream.hpp>
 #include <assimp/Importer.hpp>
@@ -14,9 +13,10 @@
 #include <assimp/postprocess.h>
 #include <assimp/scene.h>
 #else
-// assimp 2
 #include <assimp.hpp>
-//#include <assimp/export.hpp>
+#if defined(ASSIMP_EXPORT_API)
+#include <assimp/export.hpp>
+#endif
 #include <aiScene.h>
 #include <aiPostProcess.h>
 #endif
@@ -69,7 +69,7 @@ os << "xyz: " << origin.position.x << " " << origin.position.y << " " << origin.
 
 void assimp_file_export(std::string fname, std::string ofname,
                         std::string mesh_type = "collada") {
-#if IS_ASSIMP3
+#if defined(ASSIMP_EXPORT_API)
   if (fname.find("file://") == 0) {
     fname.erase(0, strlen("file://"));
   }
@@ -597,7 +597,7 @@ int main(int argc, char** argv)
     cerr << ";; Adding gazebo description" << endl;
   }
   if (vm.count("use_assimp_export")) {
-#if IS_ASSIMP3
+#if defined(ASSIMP_EXPORT_API)
     use_assimp_export = true;
 #endif
     cerr << ";; Use assimp export" << endl;
diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp
index 7301049..aae003d 100644
--- a/collada_urdf/src/collada_urdf.cpp
+++ b/collada_urdf/src/collada_urdf.cpp
@@ -62,7 +62,7 @@
 #include <boost/shared_ptr.hpp>
 #include <boost/scoped_ptr.hpp>
 
-#if defined(IS_ASSIMP3)
+#if defined(ASSIMP_UNIFIED_HEADER_NAMES)
 #include <assimp/scene.h>
 #include <assimp/LogStream.hpp>
 #include <assimp/DefaultLogger.hpp>