diff --git a/packages/c/console-bridge/xmake.lua b/packages/c/console-bridge/xmake.lua
index e2975d309..f94611481 100644
--- a/packages/c/console-bridge/xmake.lua
+++ b/packages/c/console-bridge/xmake.lua
@@ -7,10 +7,11 @@ package("console-bridge")
     add_urls("https://github.com/ros/console_bridge/archive/refs/tags/$(version).tar.gz",
              "https://github.com/ros/console_bridge.git")
     add_versions("1.0.1", "2ff175a9bb2b1849f12a6bf972ce7e4313d543a2bbc83b60fdae7db6e0ba353f")
+    add_versions("1.0.2", "303a619c01a9e14a3c82eb9762b8a428ef5311a6d46353872ab9a904358be4a4")
 
     add_deps("cmake")
     on_install("windows", "macosx", "linux", function (package)
-        local configs = {"-DCMAKE_INSTALL_LIBDIR=lib", "-DBUILD_TESTING=OFF"}
+        local configs = {"-DBUILD_TESTING=OFF"}
         table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:debug() and "Debug" or "Release"))
         table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF"))
         import("package.tools.cmake").install(package, configs)
diff --git a/packages/t/tinyxml/xmake.lua b/packages/t/tinyxml/xmake.lua
index a6c0897e4..1cd6940a3 100644
--- a/packages/t/tinyxml/xmake.lua
+++ b/packages/t/tinyxml/xmake.lua
@@ -7,6 +7,9 @@ package("tinyxml")
     add_urls("https://sourceforge.net/projects/tinyxml/files/tinyxml/$(version).zip", {version = function (version) return version .. "/tinyxml_" .. version:gsub("%.", "_") end})
     add_versions("2.6.2", "ac6bb9501c6f50cc922d22f26b02fab168db47521be5e845b83d3451a3e1d512")
 
+    if is_plat("windows") then
+        add_configs("shared", {description = "Build shared library.", default = false, type = "boolean", readonly = true})
+    end
     add_configs("stl", {description = "Enable STL support.", default = true, type = "boolean"})
 
     on_install(function (package)
@@ -20,13 +23,7 @@ package("tinyxml")
                 add_files("tinyxml.cpp", "tinystr.cpp", "tinyxmlerror.cpp", "tinyxmlparser.cpp")
                 add_headerfiles("tinyxml.h", "tinystr.h")
         ]])
-        local configs = {}
-        if not package:is_plat("windows") and package:config("shared") then
-            configs.kind = "shared"
-        elseif package:is_plat("linux") and package:config("pic") ~= false then
-            configs.cxflags = "-fPIC"
-        end
-        import("package.tools.xmake").install(package, configs)
+        import("package.tools.xmake").install(package)
     end)
 
     on_test(function (package)
diff --git a/packages/t/tinyxml2/xmake.lua b/packages/t/tinyxml2/xmake.lua
index b4bfdedda..471bddc6c 100644
--- a/packages/t/tinyxml2/xmake.lua
+++ b/packages/t/tinyxml2/xmake.lua
@@ -2,18 +2,20 @@ package("tinyxml2")
 
     set_homepage("http://www.grinninglizard.com/tinyxml2/")
     set_description("simple, small, efficient, C++ XML parser that can be easily integrating into other programs.")
+    set_license("zlib")
 
     add_urls("https://github.com/leethomason/tinyxml2/archive/$(version).tar.gz")
     add_urls("https://github.com/leethomason/tinyxml2.git")
     add_versions("8.0.0", "6ce574fbb46751842d23089485ae73d3db12c1b6639cda7721bf3a7ee862012c")
     add_versions("9.0.0", "cc2f1417c308b1f6acc54f88eb70771a0bf65f76282ce5c40e54cfe52952702c")
+    add_versions("10.0.0", "3bdf15128ba16686e69bce256cc468e76c7b94ff2c7f391cc5ec09e40bff3839")
 
     if is_plat("linux", "macosx", "windows") then
         add_deps("cmake")
     end
 
     on_install("linux", "macosx", "windows", function (package)
-        local configs = {"-DBUILD_TESTS=OFF"}
+        local configs = {"-DBUILD_TESTING=OFF"}
         table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:debug() and "Debug" or "Release"))
         table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF"))
         import("package.tools.cmake").install(package, configs)
@@ -28,7 +30,7 @@ package("tinyxml2")
                 add_headerfiles("tinyxml2.h")
                 add_files("tinyxml2.cpp")
         ]])
-        import("package.tools.xmake").install(package, {kind = package:config("shared")  and "shared" or "static"})
+        import("package.tools.xmake").install(package)
     end)
 
     on_test(function (package)
diff --git a/packages/u/urdfdom-headers/xmake.lua b/packages/u/urdfdom-headers/xmake.lua
index 933c5fd3a..6857973c9 100644
--- a/packages/u/urdfdom-headers/xmake.lua
+++ b/packages/u/urdfdom-headers/xmake.lua
@@ -8,12 +8,13 @@ package("urdfdom-headers")
     add_urls("https://github.com/ros/urdfdom_headers/archive/refs/tags/$(version).tar.gz",
              "https://github.com/ros/urdfdom_headers.git")
     add_versions("1.0.5", "76a68657c38e54bb45bddc4bd7d823a3b04edcd08064a56d8e7d46b9912035ac")
+    add_versions("1.1.1", "b2ee5bffa51eea4958f64479b4fa273881d82a3bfa1d98686a16f8d8ca6c2350")
 
     add_patches("1.0.5", path.join(os.scriptdir(), "patches", "1.0.5", "export.patch"), "c7c15c0fba7b618c4ff9207a561caae70374e642a779fb346f2c084d5da6ed8b")
 
     add_deps("cmake")
     on_install(function (package)
-        import("package.tools.cmake").install(package)
+        import("package.tools.cmake").install(package, {"-DAPPEND_PROJECT_NAME_TO_INCLUDEDIR=OFF"})
     end)
 
     on_test(function (package)
diff --git a/packages/u/urdfdom/xmake.lua b/packages/u/urdfdom/xmake.lua
index 8f0aaf0ec..2ed8825ac 100644
--- a/packages/u/urdfdom/xmake.lua
+++ b/packages/u/urdfdom/xmake.lua
@@ -7,13 +7,22 @@ package("urdfdom")
     add_urls("https://github.com/ros/urdfdom/archive/refs/tags/$(version).tar.gz",
              "https://github.com/ros/urdfdom.git")
     add_versions("1.0.4", "8f3d56b0cbc4b84436d8baf4c8346cd2ee7ffb257bba5ddd9892c41bf516edc4")
+    add_versions("4.0.0", "9848d106dc88dc0b907d5667c09da3ca53241fbcf17e982d8c234fe3e0d6ddcc")
 
     add_patches("1.0.4", path.join(os.scriptdir(), "patches", "1.0.4", "build.patch"), "1f51148afccef7b9bf079ef4137c12d578fb7a76f7aed6e282ca2ceaf4a188ba")
 
     add_deps("cmake")
-    add_deps("urdfdom-headers", "console-bridge", "tinyxml")
+    add_deps("urdfdom-headers", "console-bridge")
+    on_load("windows", "linux", "macosx", function (package)
+        if package:version():ge("4.0.0") then
+            package:add("deps", "tinyxml2")
+        else
+            package:add("deps", "tinyxml")
+        end
+    end)
+
     on_install("windows", "linux", "macosx", function (package)
-        local configs = {"-DCMAKE_INSTALL_LIBDIR=lib"} 
+        local configs = {}
         table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:debug() and "Debug" or "Release"))
         table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF"))
         import("package.tools.cmake").install(package, configs)