diff --git a/nav2_constrained_smoother/CMakeLists.txt b/nav2_constrained_smoother/CMakeLists.txt
index 0d0cb497ae..6bc4e7dc6e 100644
--- a/nav2_constrained_smoother/CMakeLists.txt
+++ b/nav2_constrained_smoother/CMakeLists.txt
@@ -17,6 +17,10 @@ find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
 
 set(CMAKE_CXX_STANDARD 17)
 
+if(${CERES_VERSION} VERSION_LESS_EQUAL 2.0.0)
+  add_definitions(-DUSE_OLD_CERES_API)
+endif()
+
 nav2_package()
 
 set(library_name nav2_constrained_smoother)
diff --git a/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother_cost_function.hpp b/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother_cost_function.hpp
index c0c3919ccc..7253119721 100644
--- a/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother_cost_function.hpp
+++ b/nav2_constrained_smoother/include/nav2_constrained_smoother/smoother_cost_function.hpp
@@ -159,7 +159,7 @@ class SmootherCostFunction
     Eigen::Matrix<T, 2, 1> center = arcCenter(
       pt_prev, pt, pt_next,
       next_to_last_length_ratio_ < 0);
-    if (ceres::isinf(center[0])) {
+    if (CERES_ISINF(center[0])) {
       return;
     }
     T turning_rad = (pt - center).norm();
diff --git a/nav2_constrained_smoother/include/nav2_constrained_smoother/utils.hpp b/nav2_constrained_smoother/include/nav2_constrained_smoother/utils.hpp
index 682ed1c16b..fb4e2aa130 100644
--- a/nav2_constrained_smoother/include/nav2_constrained_smoother/utils.hpp
+++ b/nav2_constrained_smoother/include/nav2_constrained_smoother/utils.hpp
@@ -20,6 +20,16 @@
 
 #define EPSILON 0.0001
 
+/**
+ * Compatibility with different ceres::isinf() and ceres::IsInfinite() API
+ * used in Ceres Solver 2.1.0+ and 2.0.0- versions respectively
+ */
+#if defined(USE_OLD_CERES_API)
+  #define CERES_ISINF(x) ceres::IsInfinite(x)
+#else
+  #define CERES_ISINF(x) ceres::isinf(x)
+#endif
+
 namespace nav2_constrained_smoother
 {
 
@@ -86,7 +96,7 @@ inline Eigen::Matrix<T, 2, 1> tangentDir(
   bool is_cusp)
 {
   Eigen::Matrix<T, 2, 1> center = arcCenter(pt_prev, pt, pt_next, is_cusp);
-  if (ceres::isinf(center[0])) {  // straight line
+  if (CERES_ISINF(center[0])) {  // straight line
     Eigen::Matrix<T, 2, 1> d1 = pt - pt_prev;
     Eigen::Matrix<T, 2, 1> d2 = pt_next - pt;