diff --git a/ports/urdfdom/0001_use_math_defines.patch b/ports/urdfdom/0001_use_math_defines.patch
new file mode 100644
index 00000000000000..b791533aa7dd0b
--- /dev/null
+++ b/ports/urdfdom/0001_use_math_defines.patch
@@ -0,0 +1,26 @@
+From a374a5b04db27fde58a11cc2ba5ea10a0d0a7dad Mon Sep 17 00:00:00 2001
+From: Mikhail Paulyshka <me@mixaill.tk>
+Date: Sun, 3 Sep 2017 23:24:55 +0300
+Subject: [PATCH] define _USE_MATH_DEFINES
+
+---
+ urdf_parser/CMakeLists.txt | 4 ++++
+ 1 file changed, 4 insertions(+)
+
+diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
+index 333226e..2158965 100644
+--- a/urdf_parser/CMakeLists.txt
++++ b/urdf_parser/CMakeLists.txt
+@@ -1,5 +1,9 @@
+ include_directories(include)
+ 
++if(MSVC)
++add_definitions(-D_USE_MATH_DEFINES)
++endif()
++
+ add_library(urdfdom_world SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp src/world.cpp)
+ target_link_libraries(urdfdom_world ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
+ set_target_properties(urdfdom_world PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
+-- 
+2.12.2.windows.2
+
diff --git a/ports/urdfdom/0002_fix_exports.patch b/ports/urdfdom/0002_fix_exports.patch
new file mode 100644
index 00000000000000..727883f8ddb99f
--- /dev/null
+++ b/ports/urdfdom/0002_fix_exports.patch
@@ -0,0 +1,29 @@
+From 06aa5a06ee543102bf1a4057601adba3490dad60 Mon Sep 17 00:00:00 2001
+From: Mikhail Paulyshka <me@mixaill.tk>
+Date: Sun, 3 Sep 2017 23:55:11 +0300
+Subject: [PATCH] fix exports
+
+---
+ urdf_parser/CMakeLists.txt | 2 ++
+ 1 file changed, 2 insertions(+)
+
+diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
+index 2158965..c209228 100644
+--- a/urdf_parser/CMakeLists.txt
++++ b/urdf_parser/CMakeLists.txt
+@@ -15,10 +15,12 @@ set_target_properties(urdfdom_model PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERS
+ add_library(urdfdom_sensor SHARED src/urdf_sensor.cpp)
+ target_link_libraries(urdfdom_sensor urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
+ set_target_properties(urdfdom_sensor PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
++set_target_properties(urdfdom_sensor PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
+ 
+ add_library(urdfdom_model_state SHARED src/urdf_model_state.cpp src/twist.cpp)
+ target_link_libraries(urdfdom_model_state ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES})
+ set_target_properties(urdfdom_model_state PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
++set_target_properties(urdfdom_model_state PROPERTIES WINDOWS_EXPORT_ALL_SYMBOLS ON)
+ 
+ # --------------------------------
+ 
+-- 
+2.12.2.windows.2
+
diff --git a/ports/urdfdom/CONTROL b/ports/urdfdom/CONTROL
new file mode 100644
index 00000000000000..76e8b86a55c029
--- /dev/null
+++ b/ports/urdfdom/CONTROL
@@ -0,0 +1,4 @@
+Source: urdfdom
+Version: 1.0.0-1
+Description: Provides core data structures and a simple XML parsers for populating the class data structures from an URDF file.
+Build-Depends: console_bridge, tinyxml, urdfdom_headers
\ No newline at end of file
diff --git a/ports/urdfdom/portfile.cmake b/ports/urdfdom/portfile.cmake
new file mode 100644
index 00000000000000..bf0568f8c18401
--- /dev/null
+++ b/ports/urdfdom/portfile.cmake
@@ -0,0 +1,51 @@
+include(vcpkg_common_functions)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+  message(STATUS "urdfdom does not support static linkage. Building dynamically.")
+  set(VCPKG_LIBRARY_LINKAGE dynamic)
+endif()
+
+vcpkg_from_github(
+  OUT_SOURCE_PATH SOURCE_PATH
+  REPO ros/urdfdom
+  REF 1.0.0
+  SHA512 50a218e596bcc0cecff904db2fa626bebc3902c4fe1f5ff8e08195e462b4d9a8c416a41f4773cabbcc71490060d3feff7e8528a76b824569dc7fdb0bda01ec3f
+  HEAD_REF master
+)
+
+vcpkg_apply_patches(
+  SOURCE_PATH ${SOURCE_PATH}
+  PATCHES
+    ${CMAKE_CURRENT_LIST_DIR}/0001_use_math_defines.patch
+    ${CMAKE_CURRENT_LIST_DIR}/0002_fix_exports.patch
+)
+
+vcpkg_configure_cmake(
+  SOURCE_PATH ${SOURCE_PATH}
+  PREFER_NINJA
+)
+
+vcpkg_install_cmake()
+vcpkg_copy_pdbs()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH "CMake")
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/bin)
+
+file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/tools/)
+file(RENAME ${CURRENT_PACKAGES_DIR}/bin/ ${CURRENT_PACKAGES_DIR}/tools/urdfdom/)
+
+file(GLOB URDFDOM_DLLS_DEBUG ${CURRENT_PACKAGES_DIR}/debug/lib/*.dll)
+foreach(URDFDOM_DLL_DEBUG ${URDFDOM_DLLS_DEBUG})
+  file(COPY ${URDFDOM_DLL_DEBUG} DESTINATION ${CURRENT_PACKAGES_DIR}/debug/bin)
+  file(REMOVE ${URDFDOM_DLL_DEBUG})
+endforeach()
+
+file(GLOB URDFDOM_DLLS_RELEASE ${CURRENT_PACKAGES_DIR}/lib/*.dll)
+foreach(URDFDOM_DLL_RELEASE ${URDFDOM_DLLS_RELEASE})
+  file(COPY ${URDFDOM_DLL_RELEASE} DESTINATION ${CURRENT_PACKAGES_DIR}/bin)
+  file(REMOVE ${URDFDOM_DLL_RELEASE})
+endforeach()
+
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/urdfdom RENAME copyright)