diff --git a/distros/humble/patch/ros2-urdf-parser-plugin.patch b/distros/humble/patch/ros2-urdf-parser-plugin.patch
new file mode 100644
index 000000000..c21c90765
--- /dev/null
+++ b/distros/humble/patch/ros2-urdf-parser-plugin.patch
@@ -0,0 +1,24 @@
+From: RoboStack <robostack@users.noreply.github.com>
+Subject: [PATCH] Use urdf_model/types.h instead of deprecated urdf_world/types.h
+
+RoboStack overrides humble's urdfdom_headers to conda-forge 3.0.x, where
+urdf_world/types.h emits a deprecation #warning. Mirror ros2/urdf#54
+(rolling).
+
+---
+ include/urdf_parser_plugin/parser.h | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/include/urdf_parser_plugin/parser.h b/include/urdf_parser_plugin/parser.h
+index 1111111..2222222 100644
+--- a/include/urdf_parser_plugin/parser.h
++++ b/include/urdf_parser_plugin/parser.h
+@@ -33,7 +33,7 @@
+ 
+ #include <string>
+ 
+-#include "urdf_world/types.h"
++#include "urdf_model/types.h"
+ 
+ namespace urdf
+ {
diff --git a/distros/humble/patch/ros2-urdf.patch b/distros/humble/patch/ros2-urdf.patch
new file mode 100644
index 000000000..00f12136b
--- /dev/null
+++ b/distros/humble/patch/ros2-urdf.patch
@@ -0,0 +1,23 @@
+From: RoboStack <robostack@users.noreply.github.com>
+Subject: [PATCH] Avoid deprecated urdf_world/types.h with urdfdom_headers 3.x
+
+RoboStack overrides humble's urdfdom_headers to conda-forge 3.0.x, where
+urdf_world/types.h emits a deprecation #warning. Mirror ros2/urdf#54
+(rolling) so consumers of <urdf/model.h> stay quiet.
+
+---
+ urdfdom_compatibility.h.in | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/urdfdom_compatibility.h.in b/urdfdom_compatibility.h.in
+index 1111111..2222222 100644
+--- a/urdfdom_compatibility.h.in
++++ b/urdfdom_compatibility.h.in
+@@ -90,7 +90,6 @@ URDF_TYPEDEF_CLASS_POINTER(Model);
+ #include <memory>
+ 
+ #include "urdf_model/types.h"
+-#include "urdf_world/types.h"
+ 
+ namespace urdf
+ {
diff --git a/distros/humble/pkg_additional_info.yaml b/distros/humble/pkg_additional_info.yaml
index 4fa48a111..8e72b125a 100644
--- a/distros/humble/pkg_additional_info.yaml
+++ b/distros/humble/pkg_additional_info.yaml
@@ -109,3 +109,7 @@ ament_cmake_gmock:  # as ament_cmake_gtest
   build_number: 23
 ament_cmake_gtest:  # uses conda-forge's gtest instead of gtest_vendor's sources
   build_number: 23
+urdf:  # drop deprecated urdf_world/types.h include (ros2/urdf#54) for headers 3.x
+  build_number: 23
+urdf_parser_plugin:  # use urdf_model/types.h (ros2/urdf#54) for headers 3.x
+  build_number: 23
diff --git a/distros/jazzy/patch/ros2-urdf-parser-plugin.patch b/distros/jazzy/patch/ros2-urdf-parser-plugin.patch
new file mode 100644
index 000000000..21a840986
--- /dev/null
+++ b/distros/jazzy/patch/ros2-urdf-parser-plugin.patch
@@ -0,0 +1,24 @@
+From: RoboStack <robostack@users.noreply.github.com>
+Subject: [PATCH] Use urdf_model/types.h instead of deprecated urdf_world/types.h
+
+RoboStack overrides jazzy's urdfdom_headers to conda-forge 3.x, where
+urdf_world/types.h emits a deprecation #warning. Mirror ros2/urdf#54
+(rolling).
+
+---
+ include/urdf_parser_plugin/parser.h | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/include/urdf_parser_plugin/parser.h b/include/urdf_parser_plugin/parser.h
+index 1111111..2222222 100644
+--- a/include/urdf_parser_plugin/parser.h
++++ b/include/urdf_parser_plugin/parser.h
+@@ -33,7 +33,7 @@
+ 
+ #include <string>
+ 
+-#include "urdf_world/types.h"
++#include "urdf_model/types.h"
+ 
+ namespace urdf
+ {
diff --git a/distros/jazzy/patch/ros2-urdf.patch b/distros/jazzy/patch/ros2-urdf.patch
new file mode 100644
index 000000000..2cf9dc209
--- /dev/null
+++ b/distros/jazzy/patch/ros2-urdf.patch
@@ -0,0 +1,23 @@
+From: RoboStack <robostack@users.noreply.github.com>
+Subject: [PATCH] Avoid deprecated urdf_world/types.h with urdfdom_headers 3.x
+
+RoboStack overrides jazzy's urdfdom_headers to conda-forge 3.x, where
+urdf_world/types.h emits a deprecation #warning. Mirror ros2/urdf#54
+(rolling) so consumers of <urdf/model.h> stay quiet.
+
+---
+ urdfdom_compatibility.h.in | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/urdfdom_compatibility.h.in b/urdfdom_compatibility.h.in
+index 1111111..2222222 100644
+--- a/urdfdom_compatibility.h.in
++++ b/urdfdom_compatibility.h.in
+@@ -90,7 +90,6 @@ URDF_TYPEDEF_CLASS_POINTER(Model);
+ #include <memory>
+ 
+ #include "urdf_model/types.h"
+-#include "urdf_world/types.h"
+ 
+ namespace urdf
+ {
diff --git a/distros/jazzy/pkg_additional_info.yaml b/distros/jazzy/pkg_additional_info.yaml
index abcf91cdb..178a5e27e 100644
--- a/distros/jazzy/pkg_additional_info.yaml
+++ b/distros/jazzy/pkg_additional_info.yaml
@@ -138,3 +138,7 @@ gz_ogre_next_vendor:
 rviz_ogre_vendor:
   additional_cmake_args: "-DRVIZ_OGRE_VENDOR_MANGLE_NAME_OF_LIBRARIES_USED_BY_RVIZ=ON"
   build_number: 28  # built without the EXR codec (ros2-rviz-ogre-vendor.patch)
+urdf:  # drop deprecated urdf_world/types.h include (ros2/urdf#54) for headers 3.x
+  build_number: 28
+urdf_parser_plugin:  # use urdf_model/types.h (ros2/urdf#54) for headers 3.x
+  build_number: 28