diff --git a/kdl_parser/include/kdl_parser/kdl_parser.hpp b/kdl_parser/include/kdl_parser/kdl_parser.hpp
index ba7e2c8..68a6456 100644
--- a/kdl_parser/include/kdl_parser/kdl_parser.hpp
+++ b/kdl_parser/include/kdl_parser/kdl_parser.hpp
@@ -39,8 +39,8 @@
 
 #include <kdl/tree.hpp>
 #include <string>
-#include <urdf/model.h>
-
+#include <urdf_model/model.h>
+#include <tinyxml.h>
 
 namespace kdl_parser{
 
@@ -77,7 +77,7 @@ bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree);
  * \param tree The resulting KDL Tree
  * returns true on success, false on failure
  */
-bool treeFromUrdfModel(const urdf::Model& robot_model, KDL::Tree& tree);
+bool treeFromUrdfModel(const urdf::ModelInterface& robot_model, KDL::Tree& tree);
 }
 
 #endif
diff --git a/kdl_parser/src/check_kdl_parser.cpp b/kdl_parser/src/check_kdl_parser.cpp
index 45a4d78..4d33480 100644
--- a/kdl_parser/src/check_kdl_parser.cpp
+++ b/kdl_parser/src/check_kdl_parser.cpp
@@ -34,9 +34,10 @@
 
 /* Author: Wim Meeussen */
 
+#include "kdl_parser/kdl_parser.hpp"
 #include <kdl/chainfksolverpos_recursive.hpp>
 #include <kdl/frames_io.hpp>
-#include "kdl_parser/kdl_parser.hpp"
+#include <urdf/model.h>
 #include <iostream>
 
 using namespace KDL;
diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp
index 2c4b546..4b8c3ab 100644
--- a/kdl_parser/src/kdl_parser.cpp
+++ b/kdl_parser/src/kdl_parser.cpp
@@ -35,6 +35,7 @@
 /* Author: Wim Meeussen */
 
 #include "kdl_parser/kdl_parser.hpp"
+#include <urdf/model.h>
 #include <kdl/frames_io.hpp>
 #include <ros/console.h>
 
@@ -164,7 +165,7 @@ bool treeFromXml(TiXmlDocument *xml_doc, Tree& tree)
 }
 
 
-bool treeFromUrdfModel(const urdf::Model& robot_model, Tree& tree)
+bool treeFromUrdfModel(const urdf::ModelInterface& robot_model, Tree& tree)
 {
   tree = Tree(robot_model.getRoot()->name);
 
diff --git a/stack.xml b/stack.xml
index 4e9aa08..9a1ee21 100644
--- a/stack.xml
+++ b/stack.xml
@@ -1,6 +1,6 @@
 <stack>
   <name>robot_model</name>
-  <version>1.9.4</version>
+  <version>1.9.5</version>
   <description brief="Modeling robot information">
     <tt>robot_model</tt> contains packages for modeling various
     aspects of robot information, specified in the Xml Robot