diff --git a/pkgs/by-name/ur/urdfdom/cmake-install-absolute.patch b/pkgs/by-name/ur/urdfdom/cmake-install-absolute.patch
new file mode 100644
index 000000000000..f29f8693aa4f
--- /dev/null
+++ b/pkgs/by-name/ur/urdfdom/cmake-install-absolute.patch
@@ -0,0 +1,84 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -19,6 +19,7 @@ option(APPEND_PROJECT_NAME_TO_INCLUDEDIR
+ 
+ if(APPEND_PROJECT_NAME_TO_INCLUDEDIR)
+   set(CMAKE_INSTALL_INCLUDEDIR "${CMAKE_INSTALL_INCLUDEDIR}/${PROJECT_NAME}")
++  set(CMAKE_INSTALL_FULL_INCLUDEDIR "${CMAKE_INSTALL_FULL_INCLUDEDIR}/${PROJECT_NAME}")
+ endif()
+ 
+ # set the default build type
+@@ -59,9 +60,9 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}"
+ 
+ enable_testing()
+ 
+-set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/cmake)
+-string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_CMAKE_DIR_TO_PREFIX "${CMAKE_CONFIG_INSTALL_DIR}")
+-string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_LIBDIR_TO_PREFIX "${CMAKE_INSTALL_LIBDIR}")
++set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/${PROJECT_NAME}/cmake)
++file(RELATIVE_PATH RELATIVE_PATH_CMAKE_DIR_TO_PREFIX "${CMAKE_CONFIG_INSTALL_DIR}" "${CMAKE_INSTALL_PREFIX}")
++file(RELATIVE_PATH RELATIVE_PATH_LIBDIR_TO_PREFIX "${CMAKE_INSTALL_FULL_LIBDIR}" "${CMAKE_INSTALL_PREFIX}")
+ 
+ add_subdirectory(urdf_parser)
+ 
+@@ -69,6 +70,12 @@ set(PKG_NAME ${PROJECT_NAME})
+ set(PKG_LIBRARIES urdfdom_sensor urdfdom_model urdfdom_world)
+ set(PKG_DEPENDS urdfdom_headers)
+ set(PKG_EXPORTS urdfdom)
++string(REPLACE
++  "${CMAKE_INSTALL_PREFIX}" "\${${PROJECT_NAME}_DIR}/${RELATIVE_PATH_CMAKE_DIR_TO_PREFIX}"
++  CMAKE_CONF_LIBDIR "${CMAKE_INSTALL_FULL_LIBDIR}")
++string(REPLACE
++  "${CMAKE_INSTALL_PREFIX}" "\${${PROJECT_NAME}_DIR}/${RELATIVE_PATH_CMAKE_DIR_TO_PREFIX}"
++  CMAKE_CONF_INCLUDEDIR "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
+ set(cmake_conf_file "cmake/urdfdom-config")
+ include(CMakePackageConfigHelpers)
+ write_basic_package_version_file(
+@@ -92,6 +99,8 @@ install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+ set(PKG_DESC "Unified Robot Description Format")
+ set(PKG_DEPENDS "urdfdom_headers") # make the list separated by spaces instead of ;
+ set(PKG_URDF_LIBS "-lurdfdom_sensor -lurdfdom_model -lurdfdom_world")
++string(REPLACE "${CMAKE_INSTALL_PREFIX}" "\${prefix}" PKG_CONF_LIBDIR "${CMAKE_INSTALL_FULL_LIBDIR}")
++string(REPLACE "${CMAKE_INSTALL_PREFIX}" "\${prefix}" PKG_CONF_INCLUDEDIR "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
+ set(pkg_conf_file "cmake/pkgconfig/urdfdom.pc")
+ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
+ install(FILES ${CMAKE_BINARY_DIR}/${pkg_conf_file}
+diff --git a/cmake/pkgconfig/urdfdom.pc.in b/cmake/pkgconfig/urdfdom.pc.in
+index 77d1d9f..01ccb89 100644
+--- a/cmake/pkgconfig/urdfdom.pc.in
++++ b/cmake/pkgconfig/urdfdom.pc.in
+@@ -1,8 +1,8 @@
+ # This file was generated by CMake for @PROJECT_NAME@
+ prefix=${pcfiledir}/../@RELATIVE_PATH_LIBDIR_TO_PREFIX@
+ exec_prefix=${prefix}
+-libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
+-includedir=${prefix}/@CMAKE_INSTALL_INCLUDEDIR@
++libdir=@PKG_CONF_LIBDIR@
++includedir=@PKG_CONF_INCLUDEDIR@
+ 
+ Name: @PKG_NAME@
+ Description: @PKG_DESC@
+diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
+index ee84f41..9a77019 100644
+--- a/cmake/urdfdom-config.cmake.in
++++ b/cmake/urdfdom-config.cmake.in
+@@ -8,16 +8,16 @@ set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
+ set(CMAKE_MODULE_PATH_BACKUP_URDFDOM ${CMAKE_MODULE_PATH})
+ list(APPEND CMAKE_MODULE_PATH "${@PROJECT_NAME@_DIR}")
+ 
+-set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@")
++set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_CONF_INCLUDEDIR@")
+ 
+ foreach(lib @PKG_LIBRARIES@)
+   set(onelib "${lib}-NOTFOUND")
+   set(onelibd "${lib}-NOTFOUND")
+   find_library(onelib ${lib}
+-    PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
++    PATHS "@CMAKE_CONF_LIBDIR@"
+     NO_DEFAULT_PATH)
+   find_library(onelibd ${lib}d
+-    PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
++    PATHS "@CMAKE_CONF_LIBDIR@"
+     NO_DEFAULT_PATH)
+   if(onelib-NOTFOUND AND onelibd-NOTFOUND)
+     message(FATAL_ERROR "Library '${lib}' in package @PKG_NAME@ is not installed properly")
diff --git a/pkgs/by-name/ur/urdfdom/package.nix b/pkgs/by-name/ur/urdfdom/package.nix
index ec65438b542e..642800118c50 100644
--- a/pkgs/by-name/ur/urdfdom/package.nix
+++ b/pkgs/by-name/ur/urdfdom/package.nix
@@ -2,7 +2,6 @@
   lib,
   stdenv,
   fetchFromGitHub,
-  fetchpatch,
   cmake,
   pkg-config,
   validatePkgConfig,
@@ -13,21 +12,18 @@
 
 stdenv.mkDerivation rec {
   pname = "urdfdom";
-  version = "4.0.0";
+  version = "5.0.2";
 
   src = fetchFromGitHub {
     owner = "ros";
     repo = "urdfdom";
     rev = version;
-    hash = "sha256-t1ff5aRHE7LuQdCXuooWPDUgPWjyYyQmQUB1RJmte1w=";
+    hash = "sha256-Df7njCd1W373R2XU6Jh15HlfFHhHM+ErivGiK/95Aak=";
   };
 
   patches = [
     # Fix CMake relative install dir assumptions (https://github.com/ros/urdfdom/pull/142)
-    (fetchpatch {
-      url = "https://github.com/ros/urdfdom/commit/61a7e35cd5abece97259e76aed8504052b2f5b53.patch";
-      hash = "sha256-b3bEbbaSUDkwTEHJ8gVPEb+AR/zuWwLqiAW5g1T1dPU=";
-    })
+    ./cmake-install-absolute.patch
   ];
 
   nativeBuildInputs = [