diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 93435c5069..23d837195c 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -34,7 +34,7 @@ jobs:
       # TODO(andyz): When this clang-tidy issue is fixed, remove -Wno-unknown-warning-option
       # https://stackoverflow.com/a/41673702
       CXXFLAGS: >-
-        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unknown-warning-option
+        -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unknown-warning-option -Wno-cpp
       CLANG_TIDY_ARGS: --fix --fix-errors --format-style=file
       DOCKER_IMAGE: moveit/moveit2:${{ matrix.env.IMAGE }}
       UPSTREAM_WORKSPACE: >
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_ik.h b/moveit_core/constraint_samplers/test/pr2_arm_ik.h
index a7633c6ef4..3fb50afe8f 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_ik.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_ik.h
@@ -37,7 +37,11 @@
 #pragma once
 
 #include <urdf_model/model.h>
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 #include <Eigen/Geometry>
 #include <Eigen/LU>  // provides LU decomposition
 #include <kdl/chainiksolver.hpp>
diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
index 45c73fe87b..6db3c908d4 100644
--- a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
+++ b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
@@ -50,7 +50,11 @@
 
 #include <kdl/chainfksolverpos_recursive.hpp>
 
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 
 #include <moveit/kinematics_base/kinematics_base.h>
 
diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
index 802fb89759..f8fe1b052c 100644
--- a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
+++ b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -38,7 +38,11 @@
 #pragma once
 
 #include <srdfdom/srdf_writer.h>
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 #include <moveit/robot_model/robot_model.h>
 #include <geometry_msgs/msg/pose.hpp>
 
diff --git a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
index cd89eda6a6..6445876478 100644
--- a/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
+++ b/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.h
@@ -38,7 +38,11 @@
 
 #include <moveit/macros/class_forward.h>
 #include <moveit/rdf_loader/synchronized_string_parameter.h>
+#if __has_include(<urdf/model.hpp>)
+#include <urdf/model.hpp>
+#else
 #include <urdf/model.h>
+#endif
 #include <srdfdom/model.h>
 #include <rclcpp/rclcpp.hpp>
 
diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp
index 3402cf59a4..e13810be1d 100644
--- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp
+++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/data/urdf_config.hpp
@@ -35,7 +35,11 @@
 #pragma once
 
 #include <moveit_setup_framework/config.hpp>
-#include <urdf/model.h>  // for testing a valid urdf is loaded
+#if __has_include(<urdf/model.hpp>)  // for testing a valid urdf is loaded
+#include <urdf/model.hpp>
+#else
+#include <urdf/model.h>
+#endif
 
 namespace moveit_setup
 {