diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 34566f95b3..fd59c89ea8 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -255,7 +255,8 @@ ControllerManager::ControllerManager(
   chainable_loader_(
     std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
       kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
-  cm_node_options_(options)
+  cm_node_options_(options),
+  robot_description_(urdf)
 {
   initialize_parameters();
   resource_manager_ = std::make_unique<hardware_interface::ResourceManager>(
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index a3e9efaa3a..e1ff42ee14 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -20,7 +20,12 @@
 #include <unordered_map>
 #include <vector>
 
+#include "rclcpp/version.h"
+#if RCLCPP_VERSION_GTE(29, 0, 0)
+#include "urdf/model.hpp"
+#else
 #include "urdf/model.h"
+#endif
 
 #include "hardware_interface/component_parser.hpp"
 #include "hardware_interface/hardware_info.hpp"