diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0ee7b0f8..09f5ee83 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,6 +6,7 @@ set (URDF_MINOR_VERSION 4)
 set (URDF_PATCH_VERSION 0)
 
 set (URDF_VERSION ${URDF_MAJOR_VERSION}.${URDF_MINOR_VERSION}.${URDF_PATCH_VERSION})
+set (URDF_MAJOR_MINOR_VERSION ${URDF_MAJOR_VERSION}.${URDF_MINOR_VERSION})
 
 message (STATUS "${PROJECT_NAME} version ${URDF_VERSION}")
 
diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
index dcccfa86..4435f5ff 100644
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@@ -2,19 +2,20 @@ include_directories(include)
 
 add_library(urdfdom_world SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp src/world.cpp)
 target_link_libraries(urdfdom_world ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
-set_target_properties(urdfdom_world PROPERTIES SOVERSION 0.3)
+set_target_properties(urdfdom_world PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
 
 add_library(urdfdom_model SHARED src/pose.cpp src/model.cpp src/link.cpp src/joint.cpp)
 target_link_libraries(urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
-set_target_properties(urdfdom_model PROPERTIES SOVERSION 0.3)
+set_target_properties(urdfdom_model PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
 
 add_library(urdfdom_sensor SHARED src/urdf_sensor.cpp)
 target_link_libraries(urdfdom_sensor urdfdom_model ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
-set_target_properties(urdfdom_sensor PROPERTIES SOVERSION 0.3)
+set_target_properties(urdfdom_sensor PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
+
 
 add_library(urdfdom_model_state SHARED src/urdf_model_state.cpp src/twist.cpp)
 target_link_libraries(urdfdom_model_state ${TinyXML_LIBRARIES} ${console_bridge_LIBRARIES} ${Boost_LIBRARIES})
-set_target_properties(urdfdom_model_state PROPERTIES SOVERSION 0.3)
+set_target_properties(urdfdom_model_state PROPERTIES SOVERSION ${URDF_MAJOR_MINOR_VERSION})
 
 # --------------------------------