diff --git a/dev-libs/urdfdom/Manifest b/dev-libs/urdfdom/Manifest
index b598cdddc4ca7..75496c8128dc8 100644
--- a/dev-libs/urdfdom/Manifest
+++ b/dev-libs/urdfdom/Manifest
@@ -1 +1,2 @@
 DIST urdfdom-0.3.0.tar.gz 58477 SHA256 2e3f14bdb47e237f2ba75fc9e26008a133210c15b52f73c9112adeb0b0d1da6c SHA512 ce49dca7963d7301cd1aae58fff9fb4341144ecba9b7ce2efa74ee98424bd7fde6e891331944b7cd008bb974cb19df3eee0f88a77dad09fb72feb63b45bbc6d3 WHIRLPOOL 5c847cbb0bf28ed39f8fa0cfbe27246d863085b761a032764e570dac012ebc27ee2d175a1e599e5fc7495d14768b42a3dd82aeab7f513b1ff62d23e5f50509ef
+DIST urdfdom-0.4.1.tar.gz 62609 SHA256 6552e2b6de63b0ff7300909fa69d9bab18381b6184a05dc2fe744b2334a9fde5 SHA512 4718f93b6a17d52c377757deda34cdac2cd462fc820e188c1d649e7397a17f1df424e2ef40134f3f313066d7b005681e44f6ec7142c7c56f08660d622209e255 WHIRLPOOL b3d498ae7b24e9411d287163f7d08d8c94785682ee317844130d0624a673d887b00a9b467e68a464b60d3c161ea8434ad7e729ac676de7b3cb28a8f34fa47555
diff --git a/dev-libs/urdfdom/urdfdom-0.4.1.ebuild b/dev-libs/urdfdom/urdfdom-0.4.1.ebuild
new file mode 100644
index 0000000000000..763b5ca63bf73
--- /dev/null
+++ b/dev-libs/urdfdom/urdfdom-0.4.1.ebuild
@@ -0,0 +1,69 @@
+# Copyright 1999-2015 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+# $Id$
+
+EAPI=5
+
+SCM=""
+if [ "${PV#9999}" != "${PV}" ] ; then
+	SCM="git-r3"
+	EGIT_REPO_URI="https://github.com/ros/urdfdom"
+fi
+
+PYTHON_COMPAT=( python2_7 )
+
+inherit ${SCM} distutils-r1 cmake-utils
+
+if [ "${PV#9999}" != "${PV}" ] ; then
+	KEYWORDS=""
+	SRC_URI=""
+else
+	KEYWORDS="~amd64 ~arm"
+	SRC_URI="https://github.com/ros/urdfdom/archive/${PV}.tar.gz -> ${P}.tar.gz"
+fi
+
+DESCRIPTION="URDF (U-Robot Description Format) library"
+HOMEPAGE="http://ros.org/wiki/urdf"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="dev-libs/urdfdom_headers
+	dev-libs/console_bridge
+	dev-libs/tinyxml
+	dev-libs/boost:=[threads]"
+DEPEND="${RDEPEND}"
+
+PY_S="${S}/urdf_parser_py"
+
+src_prepare() {
+	sed -i -e 's/set(CMAKE_INSTALL_LIBDIR/#/' CMakeLists.txt || die
+	cmake-utils_src_prepare
+	cd "${PY_S}"
+	S="${PY_S}" distutils-r1_src_prepare
+}
+
+src_configure() {
+	local mycmakeargs=( "-DPYTHON=FALSE" )
+	cmake-utils_src_configure
+	cd "${PY_S}"
+	S="${PY_S}" distutils-r1_src_configure
+}
+
+src_compile() {
+	cmake-utils_src_compile
+	cd "${PY_S}"
+	S="${PY_S}" distutils-r1_src_compile
+}
+
+src_test() {
+	cmake-utils_src_test
+	cd "${PY_S}"
+	S="${PY_S}" distutils-r1_src_test
+}
+
+src_install() {
+	cmake-utils_src_install
+	cd "${PY_S}"
+	S="${PY_S}" distutils-r1_src_install
+}