diff --git a/sdformat_urdf/CMakeLists.txt b/sdformat_urdf/CMakeLists.txt
index 7b96cce..977f93d 100644
--- a/sdformat_urdf/CMakeLists.txt
+++ b/sdformat_urdf/CMakeLists.txt
@@ -16,7 +16,6 @@ find_package(pluginlib REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(urdfdom_headers REQUIRED)
 find_package(urdf_parser_plugin REQUIRED)
-find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
 
 find_package(sdformat_vendor REQUIRED)
diff --git a/sdformat_urdf/package.xml b/sdformat_urdf/package.xml
index 72cf8c5..603dbc6 100644
--- a/sdformat_urdf/package.xml
+++ b/sdformat_urdf/package.xml
@@ -24,16 +24,16 @@
   <build_depend>liburdfdom-headers-dev</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>rcutils</build_depend>
-  <build_depend>tinyxml2_vendor</build_depend>
+  <build_depend>tinyxml2</build_depend>
   <build_depend>urdf_parser_plugin</build_depend>
 
   <build_export_depend>liburdfdom-headers-dev</build_export_depend>
   <build_export_depend>pluginlib</build_export_depend>
   <build_export_depend>rcutils</build_export_depend>
-  <build_export_depend>tinyxml2_vendor</build_export_depend>
+  <build_export_depend>tinyxml2</build_export_depend>
   <build_export_depend>urdf_parser_plugin</build_export_depend>
 
-  <exec_depend>tinyxml2_vendor</exec_depend>
+  <exec_depend>tinyxml2</exec_depend>
   <exec_depend>urdf_parser_plugin</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>