diff --git a/pkgs/development/libraries/urdfdom-headers/default.nix b/pkgs/development/libraries/urdfdom-headers/default.nix
new file mode 100644
index 000000000000..91fc747b84a6
--- /dev/null
+++ b/pkgs/development/libraries/urdfdom-headers/default.nix
@@ -0,0 +1,31 @@
+{ lib, stdenv, fetchFromGitHub, fetchpatch, cmake, validatePkgConfig }:
+
+stdenv.mkDerivation rec {
+  pname = "urdfdom-headers";
+  version = "1.0.5";
+
+  src = fetchFromGitHub {
+    owner = "ros";
+    repo = "urdfdom_headers";
+    rev = version;
+    sha256 = "1abzhcyv2vad8l36vy0fcz9kpgns834la7hf9zal962bwycqnkmg";
+  };
+
+  patches = [
+    # Fix CMake relative install dir assumptions (https://github.com/ros/urdfdom_headers/pull/66)
+    (fetchpatch {
+      url = "https://github.com/ros/urdfdom_headers/commit/990fd233b1a3ff68872a3552f3ea5ccbe105848c.patch";
+      sha256 = "1hxf2kw3mkll3fzvsby104b2m854bdpiy9gr3r9ysmw2r537gqdy";
+    })
+  ];
+
+  nativeBuildInputs = [ cmake validatePkgConfig ];
+
+  meta = with lib; {
+    description = "URDF (U-Robot Description Format) headers provides core data structure headers for URDF";
+    homepage = "https://github.com/ros/urdfdom_headers";
+    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 4cc97fce128d..62cf9d7c04a7 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-headers = callPackage ../development/libraries/urdfdom-headers {};
+
   uriparser = callPackage ../development/libraries/uriparser {};
 
   urlscan = callPackage ../applications/misc/urlscan { };