diff --git a/cmake/SDFUtils.cmake b/cmake/SDFUtils.cmake
index a21ffc660..16155dcce 100644
--- a/cmake/SDFUtils.cmake
+++ b/cmake/SDFUtils.cmake
@@ -156,12 +156,12 @@ macro (sdf_build_tests)
     link_directories(${IGNITION-MATH_LIBRARY_DIRS})
 
     if (USE_EXTERNAL_TINYXML)
-      target_link_libraries(${BINARY_NAME}
+      target_link_libraries(${BINARY_NAME} PRIVATE
         ${tinyxml_LIBRARIES})
     endif()
 
     if (UNIX)
-      target_link_libraries(${BINARY_NAME}
+      target_link_libraries(${BINARY_NAME} PRIVATE
         libgtest.a
         libgtest_main.a
         ${sdf_target}
@@ -169,7 +169,7 @@ macro (sdf_build_tests)
         ${IGNITION-MATH_LIBRARIES}
       )
     elseif(WIN32)
-      target_link_libraries(${BINARY_NAME}
+      target_link_libraries(${BINARY_NAME} PRIVATE
         gtest.lib
         gtest_main.lib
         ${sdf_target}
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index ea2e68e0f..fa183ffcf 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -121,7 +121,6 @@ set (gtest_sources
   Mesh_TEST.cc
   Model_TEST.cc
   Noise_TEST.cc
-  parser_urdf_TEST.cc
   Param_TEST.cc
   parser_TEST.cc
   Pbr_TEST.cc
@@ -163,6 +162,18 @@ if (NOT WIN32)
   sdf_build_tests(Converter_TEST.cc)
 endif()
 
+if (NOT WIN32)
+  set(SDF_BUILD_TESTS_EXTRA_EXE_SRCS SDFExtension.cc parser_urdf.cc)
+  sdf_build_tests(parser_urdf_TEST.cc)
+  if (NOT USE_INTERNAL_URDF)
+    target_compile_options(UNIT_parser_urdf_TEST PRIVATE ${URDF_CFLAGS})
+    if (${CMAKE_VERSION} VERSION_GREATER 3.13)
+      target_link_options(UNIT_parser_urdf_TEST PRIVATE ${URDF_LDFLAGS})
+    endif()
+    target_link_libraries(UNIT_parser_urdf_TEST PRIVATE ${URDF_LIBRARIES})
+  endif()
+endif()
+
 sdf_add_library(${sdf_target} ${sources})
 target_link_libraries(${sdf_target} PUBLIC ${IGNITION-MATH_LIBRARIES})
 
diff --git a/src/parser_urdf.hh b/src/parser_urdf.hh
index b8dffb445..ee08ebd32 100644
--- a/src/parser_urdf.hh
+++ b/src/parser_urdf.hh
@@ -37,7 +37,7 @@ namespace sdf
   /// This is now deprecated for external usage and will be removed in the next
   /// major version of libsdformat. Instead, consider using `sdf::readFile` or
   /// `sdf::readString`, which automatically convert URDF to SDF.
-  class SDFORMAT_VISIBLE URDF2SDF
+  class URDF2SDF
   {
     /// \brief constructor
     public: URDF2SDF();