diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index 95e1d4a34..97696a839 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -241,7 +241,11 @@ struct BulletMJCFImporterInternalData
 		return buf;
 #else
 		char row[1024];
+#ifdef G3_TINYXML2
+		sprintf(row,"unknown line, upgrade tinyxml2 version!");
+#else
 		sprintf(row,"%d",e->GetLineNum());
+#endif
 		std::string str = m_sourceFileName.c_str() + std::string(":") + std::string(row);
 		return str;
 #endif
@@ -1491,8 +1495,12 @@ bool BulletMJCFImporter::parseMJCFString(const char* xmlText, MJCFErrorLogger* l
 	xml_doc.Parse(xmlText);
 	if (xml_doc.Error())
 	{
+#ifdef G3_TINYXML2
+		logger->reportError("xml reading error (upgrade tinyxml2 version!");
+#else
 		logger->reportError(xml_doc.ErrorStr());
 		xml_doc.ClearError();
+#endif
 		return false;
 	}
 
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 1be8285c1..b39eff2d8 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -1,5 +1,4 @@
 #include "UrdfParser.h"
-
 #include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
 #include "urdfStringSplit.h"
 #include "urdfLexicalCast.h"
@@ -1504,8 +1503,12 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
 	xml_doc.Parse(urdfText);
 	if (xml_doc.Error())
 	{
+#ifdef G3_TINYXML2
+		logger->reportError("xml reading error");
+#else
 		logger->reportError(xml_doc.ErrorStr());
 		xml_doc.ClearError();
+#endif
 		return false;
 	}
 
@@ -1664,9 +1667,13 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
     xml_doc.Parse(sdfText);
     if (xml_doc.Error())
     {
+#ifdef G3_TINYXML2
+		logger->reportError("xml reading error");
+#else
 		logger->reportError(xml_doc.ErrorStr());
         xml_doc.ClearError();
-        return false;
+#endif
+	return false;
     }
 
     XMLElement *sdf_xml = xml_doc.FirstChildElement("sdf");
@@ -1847,8 +1854,12 @@ std::string UrdfParser::sourceFileLocation(XMLElement* e)
 	return buf;
 #else
 	char row[1024];
+#ifdef G3_TINYXML2
+	sprintf(row,"unknown line");
+#else
 	sprintf(row,"%d",e->GetLineNum());
-        std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row);
+#endif
+     	std::string str = m_urdf2Model.m_sourceFile.c_str() + std::string(":") + std::string(row);
         return str;
 #endif