diff --git a/pkgs/development/libraries/console-bridge/default.nix b/pkgs/development/libraries/console-bridge/default.nix
new file mode 100644
index 000000000000..e02f43fd148c
--- /dev/null
+++ b/pkgs/development/libraries/console-bridge/default.nix
@@ -0,0 +1,23 @@
+{ lib, stdenv, fetchFromGitHub, cmake, validatePkgConfig }:
+
+stdenv.mkDerivation rec {
+  pname = "console-bridge";
+  version = "1.0.0";
+
+  src = fetchFromGitHub {
+    owner = "ros";
+    repo = "console_bridge";
+    rev = version;
+    sha256 = "14f5i2qgp5clwkm8jjlvv7kxvwx52a607mnbc63x61kx9h6ymxlk";
+  };
+
+  nativeBuildInputs = [ cmake validatePkgConfig ];
+
+  meta = with lib; {
+    description = "A ROS-independent package for logging that seamlessly pipes into rosconsole/rosout for ROS-dependent packages";
+    homepage = "https://github.com/ros/console_bridge";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ lopsided98 ];
+    platforms = platforms.all;
+  };
+}
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/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 fd47b359681f..a704f2f76404 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -2786,6 +2786,8 @@ in
 
   conda = callPackage ../tools/package-management/conda { };
 
+  console-bridge = callPackage ../development/libraries/console-bridge { };
+
   convmv = callPackage ../tools/misc/convmv { };
 
   convoy = callPackage ../tools/filesystems/convoy { };
@@ -7356,6 +7358,10 @@ in
 
   uqmi = callPackage ../tools/networking/uqmi { };
 
+  urdfdom = callPackage ../development/libraries/urdfdom {};
+
+  urdfdom-headers = callPackage ../development/libraries/urdfdom-headers {};
+
   uriparser = callPackage ../development/libraries/uriparser {};
 
   urlscan = callPackage ../applications/misc/urlscan { };