diff --git a/package.xml b/package.xml
index 1c39bab..921bc74 100644
--- a/package.xml
+++ b/package.xml
@@ -26,10 +26,10 @@ in a manner suitable for robotic applications
   <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
   <build_depend>tinyxml2</build_depend>
-  <build_depend>liburdfdom-dev</build_depend>
+  <build_depend>urdfdom</build_depend>
   <build_depend>pybind11-dev</build_depend>
   <exec_depend>tinyxml2</exec_depend>
-  <exec_depend>liburdfdom-dev</exec_depend>
+  <exec_depend>urdfdom</exec_depend>
   <exec_depend>pybind11-dev</exec_depend>
   <test_depend>libxml2-utils</test_depend>
   <test_depend>python3-psutil</test_depend>