diff --git a/pkgs/development/libraries/urdfdom/default.nix b/pkgs/development/libraries/urdfdom/default.nix
new file mode 100644
index 000000000000..1b75851c93d0
--- /dev/null
+++ b/pkgs/development/libraries/urdfdom/default.nix
@@ -0,0 +1,39 @@
+{ lib, stdenv, fetchFromGitHub, fetchpatch, cmake, pkg-config, validatePkgConfig
+, tinyxml, boost, urdfdom-headers, console-bridge }:
+
+stdenv.mkDerivation rec {
+  pname = "urdfdom";
+  version = "1.0.4";
+
+  src = fetchFromGitHub {
+    owner = "ros";
+    repo = pname;
+    rev = version;
+    sha256 = "0wambq06d7dvja25zcv4agc055q9rmf3xkrnxy8lsf4nic7ra2rr";
+  };
+
+  patches = [
+    # Fix CMake saying console-bridge 1.0 is incompatible
+    (fetchpatch {
+      url = "https://github.com/ros/urdfdom/commit/6faba176d41cf39114785a3e029013f941ed5a0e.patch";
+      sha256 = "1pn9hcg5wkkc7y28sbkxvffqxgvazzsp3g1xmz6h055v4f9ikjbs";
+    })
+    # Fix CMake relative install dir assumptions (https://github.com/ros/urdfdom/pull/142)
+    (fetchpatch {
+      url = "https://github.com/ros/urdfdom/commit/707c97c3d1f739ba0ab6e93e1bf7cd01d68a8c07.patch";
+      sha256 = "10bv7sv7gfy6lj8z5bkw7v291y12fbrrxsiqxqjxg4i65rfg92ng";
+    })
+  ];
+
+  nativeBuildInputs = [ cmake pkg-config validatePkgConfig ];
+  buildInputs = [ tinyxml boost ];
+  propagatedBuildInputs = [ urdfdom-headers console-bridge ];
+
+  meta = with lib; {
+    description = "Provides core data structures and a simple XML parser for populating the class data structures from an URDF file";
+    homepage = "https://github.com/ros/urdfdom";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ lopsided98 ];
+    platforms = platforms.all;
+  };
+}
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index 62cf9d7c04a7..bbab9b47f8b6 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -7292,6 +7292,8 @@ in
 
   uqmi = callPackage ../tools/networking/uqmi { };
 
+  urdfdom = callPackage ../development/libraries/urdfdom {};
+
   urdfdom-headers = callPackage ../development/libraries/urdfdom-headers {};
 
   uriparser = callPackage ../development/libraries/uriparser {};