diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6a16d87349..df1e4b3ca0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -23,6 +23,10 @@
 
   * Added WorldInteractiveMarkerViewer: [#242](https://github.com/personalrobotics/aikido/pull/242)
 
+* IO
+
+  * Added support for new ErrorStr API in tinyxml2 6.0.0: [#290](https://github.com/personalrobotics/aikido/pull/290)
+
 * Build & Testing & ETC
 
   * Changed to use size_t over std::size_t: [#230](https://github.com/personalrobotics/aikido/pull/230)
diff --git a/cmake/FindTinyXML2.cmake b/cmake/FindTinyXML2.cmake
index 7999a18ded..4d6b5b80e7 100644
--- a/cmake/FindTinyXML2.cmake
+++ b/cmake/FindTinyXML2.cmake
@@ -1,15 +1,45 @@
-# Copyright (c) 2014 Andrew Kelley
-# This file is MIT licensed.
-# See http://opensource.org/licenses/MIT
+# Copyright (c) 2011-2017, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
 
+# Find TinyXML2
+#
+# This sets the following variables:
 # TinyXML2_FOUND
 # TinyXML2_INCLUDE_DIRS
 # TinyXML2_LIBRARIES
+# TinyXML2_VERSION
 
-find_path(TinyXML2_INCLUDE_DIRS NAMES tinyxml2.h)
-find_library(TinyXML2_LIBRARIES NAMES tinyxml2)
+find_package(PkgConfig QUIET)
 
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(TinyXML2 DEFAULT_MSG TinyXML2_LIBRARIES TinyXML2_INCLUDE_DIRS)
+# Check if the pkgconfig file is installed
+pkg_check_modules(PC_TINYXML2 tinyxml2 QUIET)
+
+# Include directories
+find_path(TinyXML2_INCLUDE_DIRS
+    NAMES tinyxml2.h
+    HINTS ${PC_TinyXML2_INCLUDEDIR}
+    PATHS "${CMAKE_INSTALL_PREFIX}/include")
+
+# Libraries
+if(MSVC)
+  set(TinyXML2_LIBRARIES optimized tinyxml2 debug tinyxml2d)
+else()
+  find_library(TinyXML2_LIBRARIES
+      NAMES tinyxml2
+      HINTS ${PC_TinyXML2_LIBDIR})
+endif()
 
-mark_as_advanced(TinyXML2_INCLUDE_DIRS TinyXML2_LIBRARIES)
+# Version
+set(TinyXML2_VERSION ${PC_TINYXML2_VERSION})
+
+# Set (NAME)_FOUND if all the variables and the version are satisfied.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(TinyXML2
+    FAIL_MESSAGE  DEFAULT_MSG
+    REQUIRED_VARS TinyXML2_INCLUDE_DIRS TinyXML2_LIBRARIES
+    VERSION_VAR   TinyXML2_VERSION)
diff --git a/src/io/CMakeLists.txt b/src/io/CMakeLists.txt
index 6ee3c398f9..75d64f0fcb 100644
--- a/src/io/CMakeLists.txt
+++ b/src/io/CMakeLists.txt
@@ -56,6 +56,13 @@ if(YAMLCPP_NODE_HAS_MARK)
     PUBLIC YAMLCPP_NODE_HAS_MARK)
 endif()
 
+# Define TINYXML2_MAJOR_VERSION_GE_6 to support API breaking changes of
+# tinyxml2 6
+if (NOT TINYXML2_VERSION VERSION_LESS "6.0.0")
+  target_compile_definitions("${PROJECT_NAME}_io"
+    PRIVATE "TINYXML2_MAJOR_VERSION_GE_6")
+endif()
+
 add_component(${PROJECT_NAME} io)
 add_component_targets(${PROJECT_NAME} io "${PROJECT_NAME}_io")
 add_component_dependencies(${PROJECT_NAME} io common)
diff --git a/src/io/CatkinResourceRetriever.cpp b/src/io/CatkinResourceRetriever.cpp
index 8cbc23e37b..5f8d990cd3 100644
--- a/src/io/CatkinResourceRetriever.cpp
+++ b/src/io/CatkinResourceRetriever.cpp
@@ -1,4 +1,4 @@
-#include <aikido/io/CatkinResourceRetriever.hpp>
+#include "aikido/io/CatkinResourceRetriever.hpp"
 
 #include <fstream>
 #include <iostream>
@@ -27,7 +27,11 @@ std::string getPackageNameFromXML(const std::string& _path)
   if (document.LoadFile(_path.c_str()))
   {
     dtwarn << "[CatkinResourceRetriever] Failed loading package.xml file '"
+#ifdef TINYXML2_MAJOR_VERSION_GE_6
+           << _path << "': " << document.ErrorStr() << "\n";
+#else
            << _path << "': " << document.GetErrorStr1() << "\n";
+#endif
     return "";
   }