diff --git a/.azure-pipelines/azure-pipelines-osx.yml b/.azure-pipelines/azure-pipelines-osx.yml
index ca72508..e208fbe 100755
--- a/.azure-pipelines/azure-pipelines-osx.yml
+++ b/.azure-pipelines/azure-pipelines-osx.yml
@@ -73,4 +73,4 @@ jobs:
     displayName: Upload package
     env:
       BINSTAR_TOKEN: $(BINSTAR_TOKEN)
-    condition: not(eq(variables['UPLOAD_PACKAGES'], 'False'))
\ No newline at end of file
+    condition: and(succeeded(), not(eq(variables['UPLOAD_PACKAGES'], 'False')))
\ No newline at end of file
diff --git a/.azure-pipelines/azure-pipelines-win.yml b/.azure-pipelines/azure-pipelines-win.yml
index fbfb9c8..8f47df7 100755
--- a/.azure-pipelines/azure-pipelines-win.yml
+++ b/.azure-pipelines/azure-pipelines-win.yml
@@ -100,4 +100,4 @@ jobs:
       displayName: Upload package
       env:
         BINSTAR_TOKEN: $(BINSTAR_TOKEN)
-      condition: not(eq(variables['UPLOAD_PACKAGES'], 'False'))
+      condition: and(succeeded(), not(eq(variables['UPLOAD_PACKAGES'], 'False')))
\ No newline at end of file
diff --git a/README.md b/README.md
index 77dcaaa..8d15aae 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
 About urdfdom
 =============
 
-Home: http://github.com/ros/urdfdom
+Home: http://github.com/ros2/urdfdom
 
 Package license: BSD-3-Clause
 
diff --git a/recipe/bld.bat b/recipe/bld.bat
index 68ff20c..e7d9da3 100644
--- a/recipe/bld.bat
+++ b/recipe/bld.bat
@@ -1,12 +1,16 @@
+:: MSVC is preferred.
+set CC=cl.exe
+set CXX=cl.exe
+
 mkdir build
 cd build
 cmake ^
     -G "NMake Makefiles" ^
     -D CMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
     -D CMAKE_BUILD_TYPE=Release ^
-    -D CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON ^
     -D BUILD_TESTING=FALSE ^
     %SRC_DIR%
 if errorlevel 1 exit 1
-nmake install
+
+cmake --build . --config Release --target install
 if errorlevel 1 exit 1
diff --git a/recipe/cmake.patch b/recipe/cmake.patch
deleted file mode 100644
index f6ba091..0000000
--- a/recipe/cmake.patch
+++ /dev/null
@@ -1,22 +0,0 @@
-diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
-index fb81b47..e41a72c 100644
---- a/cmake/urdfdom-config.cmake.in
-+++ b/cmake/urdfdom-config.cmake.in
-@@ -3,13 +3,14 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
- endif()
- set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
- 
--set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include" "@TinyXML_INCLUDE_DIRS@")
-+find_path(TinyXML_INCLUDE_DIR NAMES tinyxml.h PATH_SUFFIXES "tinyxml")
-+
-+set(@PKG_NAME@_INCLUDE_DIRS "include" "${TinyXML_INCLUDE_DIR}")
- 
- foreach(lib @PKG_LIBRARIES@)
-   set(onelib "${lib}-NOTFOUND")
-   find_library(onelib ${lib}
--      PATHS "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
--    NO_DEFAULT_PATH
-+      PATHS "@CMAKE_INSTALL_LIBDIR@"
-     )
-   if(NOT onelib)
-     message(FATAL_ERROR "Library '${lib}' in package @PKG_NAME@ is not installed properly")
\ No newline at end of file
diff --git a/recipe/meta.yaml b/recipe/meta.yaml
index 473599c..213d551 100644
--- a/recipe/meta.yaml
+++ b/recipe/meta.yaml
@@ -1,22 +1,21 @@
 {% set name = "urdfdom" %}
-{% set version = "1.0.4" %}
+{% set version = "2.2.0" %}
 
 package:
   name: {{ name|lower }}
   version: {{ version }}
 
 source:
-  url: https://github.com/ros/{{ name }}/archive/{{ version }}.tar.gz
-  sha256: 8f3d56b0cbc4b84436d8baf4c8346cd2ee7ffb257bba5ddd9892c41bf516edc4
+  url: https://github.com/ros2/{{ name }}/archive/{{ version }}.tar.gz
+  sha256: 692b69311d6d18ebd54fea76d4d5320b6ea929ff1c676bc98caaf0be91bdc46e
   patches:
-    - cmake.patch
-    - windows-install.patch
+    - remove_vendor.patch
 
 build:
   number: 0
   skip: true  # [win and vc<14]
   run_exports:
-    - urdfdom
+    - {{ pin_subpackage('urdfdom', max_pin='x.x') }}
 
 requirements:
   build:
@@ -41,15 +40,16 @@ test:
     - if exist %PREFIX%\\Library\\CMake\\urdfdom-config.cmake (exit 0) else (exit 1)  # [win]
 
 about:
-  home: http://github.com/ros/urdfdom
+  home: http://github.com/ros2/urdfdom
   license: BSD-3-Clause
   license_family: BSD
   license_file: LICENSE
   summary: 'URDF parser'
-  dev_url: https://github.com/ros/urdfdom
+  dev_url: https://github.com/ros2/urdfdom
 
 extra:
   recipe-maintainers:
     - jcarpent
     - wolfv
     - lesteve
+    - seanyen
diff --git a/recipe/remove_vendor.patch b/recipe/remove_vendor.patch
new file mode 100644
index 0000000..9c84e12
--- /dev/null
+++ b/recipe/remove_vendor.patch
@@ -0,0 +1,18 @@
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -32,7 +32,6 @@
+ 
+ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+ 
+-find_package(tinyxml_vendor REQUIRED)
+ find_package(TinyXML REQUIRED)
+ include_directories(SYSTEM ${TinyXML_INCLUDE_DIRS})
+ 
+@@ -44,7 +43,6 @@
+   set(CMAKE_CXX_STANDARD 14)
+ endif()
+ 
+-find_package(console_bridge_vendor REQUIRED) # Provides console_bridge 0.4.0 on platforms without it.
+ find_package(console_bridge REQUIRED)
+ include_directories(SYSTEM ${console_bridge_INCLUDE_DIRS})
+ link_directories(${console_bridge_LIBRARY_DIRS})
diff --git a/recipe/windows-install.patch b/recipe/windows-install.patch
deleted file mode 100644
index 1f3e2d6..0000000
--- a/recipe/windows-install.patch
+++ /dev/null
@@ -1,19 +0,0 @@
-diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
-index 3952064..e2e3425 100644
---- a/urdf_parser/CMakeLists.txt
-+++ b/urdf_parser/CMakeLists.txt
-@@ -33,10 +33,10 @@ if(BUILD_TESTING)
-   add_subdirectory(test)
- endif()
- 
--INSTALL(TARGETS urdfdom_model DESTINATION ${CMAKE_INSTALL_LIBDIR})
--INSTALL(TARGETS urdfdom_world DESTINATION ${CMAKE_INSTALL_LIBDIR})
-+INSTALL(TARGETS urdfdom_model urdfdom_world urdfdom_sensor urdfdom_model_state
-+    ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
-+    LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-+    RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
- INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test
-   DESTINATION ${CMAKE_INSTALL_BINDIR})
--INSTALL(TARGETS urdfdom_sensor DESTINATION ${CMAKE_INSTALL_LIBDIR})
--INSTALL(TARGETS urdfdom_model_state DESTINATION ${CMAKE_INSTALL_LIBDIR})
- INSTALL(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})