diff --git a/find-external/TinyXML/FindTinyXML2.cmake b/find-external/TinyXML/FindTinyXML2.cmake
new file mode 100644
index 000000000..341b118ec
--- /dev/null
+++ b/find-external/TinyXML/FindTinyXML2.cmake
@@ -0,0 +1,94 @@
+# Imported from
+# https://github.com/ros/urdfdom/blob/master/cmake/FindTinyXML2.cmake,
+# BSD-3-Clause
+
+# TinyXML2_FOUND TinyXML2_INCLUDE_DIRS TinyXML2_LIBRARIES
+
+# try to find the CMake config file for TinyXML2 first
+if(NOT TinyXML2_FOUND)
+  find_package(TinyXML2 CONFIG QUIET)
+endif()
+if(TinyXML2_FOUND)
+  message(STATUS "Found TinyXML2 via Config file: ${TinyXML2_DIR}")
+  if(NOT TINYXML2_LIBRARY)
+    # in this case, we're probably using TinyXML2 version 5.0.0 or greater in
+    # which case tinyxml2 is an exported target and we should use that
+    if(TARGET tinyxml2)
+      set(TINYXML2_LIBRARY tinyxml2)
+    elseif(TARGET tinyxml2::tinyxml2)
+      set(TINYXML2_LIBRARY tinyxml2::tinyxml2)
+    elseif(TinyXML2_FIND_REQUIRED)
+      message(FATAL_ERROR "Unable to determine target for TinyXML2")
+    endif()
+    list(APPEND TinyXML2_TARGETS ${TINYXML2_LIBRARY})
+  else()
+    # Only perform that logic once
+    if(NOT TARGET tinyxml2::tinyxml2)
+      # TINYXML2_LIBRARY is composed of
+      # debug;<path\to\debug.lib>;optimized;<path\to\release.lib> we have to
+      # extract the appropriate component based on the current configuration.
+      list(LENGTH TINYXML2_LIBRARY TINYXML_LIBRARY_LIST_LENGTH)
+      if(NOT ${TINYXML_LIBRARY_LIST_LENGTH} EQUAL 4)
+        message(
+          FATAL_ERROR
+            "Unable to extract the library file path from ${TINYXML2_LIBRARY}")
+      endif()
+      if(CMAKE_BUILD_TYPE MATCHES DEBUG)
+        list(GET TINYXML2_LIBRARY 0 ASSERT_DEBUG)
+        if(NOT ${ASSERT_DEBUG} STREQUAL "debug")
+          message(
+            FATAL_ERROR
+              "could not parse debug library path from ${TINYXML2_LIBRARY}")
+        endif()
+        list(GET TINYXML2_LIBRARY 1 TINYXML2_LIBRARY_PATH)
+      else()
+        list(GET TINYXML2_LIBRARY 2 ASSERT_OPTIMIZED)
+        if(NOT ${ASSERT_OPTIMIZED} STREQUAL "optimized")
+          message(
+            FATAL_ERROR "could not parse library path from ${TINYXML2_LIBRARY}")
+        endif()
+        list(GET TINYXML2_LIBRARY 3 TINYXML2_LIBRARY_PATH)
+      endif()
+      if(NOT EXISTS ${TINYXML2_LIBRARY_PATH})
+        message(
+          FATAL_ERROR
+            "library file path ${TINYXML2_LIBRARY_PATH} does not exist")
+      endif()
+
+      add_library(tinyxml2::tinyxml2 UNKNOWN IMPORTED)
+      set_property(TARGET tinyxml2::tinyxml2 PROPERTY IMPORTED_LOCATION
+                                                      ${TINYXML2_LIBRARY_PATH})
+      set_property(
+        TARGET tinyxml2::tinyxml2 PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+                                           ${TINYXML2_INCLUDE_DIR})
+      list(APPEND TinyXML2_TARGETS tinyxml2::tinyxml2)
+    endif()
+  endif()
+else()
+  find_path(TINYXML2_INCLUDE_DIR NAMES tinyxml2.h)
+
+  find_library(TINYXML2_LIBRARY tinyxml2)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(TinyXML2 DEFAULT_MSG TINYXML2_LIBRARY
+                                    TINYXML2_INCLUDE_DIR)
+
+  mark_as_advanced(TINYXML2_INCLUDE_DIR TINYXML2_LIBRARY)
+
+  if(NOT TARGET tinyxml2::tinyxml2)
+    add_library(tinyxml2::tinyxml2 UNKNOWN IMPORTED)
+    set_property(TARGET tinyxml2::tinyxml2 PROPERTY IMPORTED_LOCATION
+                                                    ${TINYXML2_LIBRARY})
+    set_property(TARGET tinyxml2::tinyxml2
+                 PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${TINYXML2_INCLUDE_DIR})
+    list(APPEND TinyXML2_TARGETS tinyxml2::tinyxml2)
+  endif()
+endif()
+
+# Set mixed case INCLUDE_DIRS and LIBRARY variables from upper case ones.
+if(NOT TinyXML2_INCLUDE_DIRS)
+  set(TinyXML2_INCLUDE_DIRS ${TINYXML2_INCLUDE_DIR})
+endif()
+if(NOT TinyXML2_LIBRARIES)
+  set(TinyXML2_LIBRARIES ${TINYXML2_LIBRARY})
+endif()