diff --git a/urdf/include/urdf/color.h b/urdf/include/urdf/color.h
index b3fb9dd..1b7f60b 100644
--- a/urdf/include/urdf/color.h
+++ b/urdf/include/urdf/color.h
@@ -1 +1,3 @@
+#pragma message("WARNING: Including urdf/color.h is deprecated. Include urdf_parser/color.h instead")
+
 #include "urdf_parser/color.h"
diff --git a/urdf/include/urdf/joint.h b/urdf/include/urdf/joint.h
index eefc258..5a2f0d8 100644
--- a/urdf/include/urdf/joint.h
+++ b/urdf/include/urdf/joint.h
@@ -1 +1,4 @@
+#pragma message("WARNING: Including urdf/joint.h is deprecated. Include urdf_parser/joint.h instead")
+
+
 #include "urdf_parser/joint.h"
diff --git a/urdf/include/urdf/link.h b/urdf/include/urdf/link.h
index aa69f0f..d68dc26 100644
--- a/urdf/include/urdf/link.h
+++ b/urdf/include/urdf/link.h
@@ -1 +1,3 @@
+#pragma message("WARNING: Including urdf/link.h is deprecated. Include urdf_parser/link.h instead")
+
 #include "urdf_parser/link.h"
diff --git a/urdf/include/urdf/pose.h b/urdf/include/urdf/pose.h
index 3ed0115..a845fd1 100644
--- a/urdf/include/urdf/pose.h
+++ b/urdf/include/urdf/pose.h
@@ -1 +1,3 @@
+#pragma message("WARNING: Including urdf/pose.h is deprecated. Include urdf_parser/pose.h instead")
+
 #include "urdf_parser/pose.h"