Would you guys be amenable to providing library versioning and ABI versioning (SONAME) to urdfdom? It's pretty simple to do in CMake, and it helps for things like parallel installation of multiple library versions, enforcing ABI changes through ld, etc. There's an example of how to do so in the urdfdom Fedora review request at https://bugzilla.redhat.com/show_bug.cgi?id=871205#c3, I can also code it up and submit a pull request if it's easier.