diff --git a/Cargo.toml b/Cargo.toml
index 5e8b075..77a2d3a 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -10,8 +10,10 @@ categories = ["data-structures", "parsing"]
 repository = "https://github.com/openrr/urdf-rs"
 documentation = "http://docs.rs/urdf-rs"
 
+# Note: serde is public dependency.
 [dependencies]
-serde-xml-rs = "0.4.0"
-serde = { version = "1.0.118", features = ["derive"] }
-RustyXML = "0.3.0"
 regex = "1.4.2"
+RustyXML = "0.3.0"
+serde = { version = "1.0.118", features = ["derive"] }
+serde-xml-rs = "0.4.0"
+thiserror = "1.0.7"
diff --git a/src/errors.rs b/src/errors.rs
index 512b764..795ef9c 100644
--- a/src/errors.rs
+++ b/src/errors.rs
@@ -1,58 +1,54 @@
-use std::error::Error;
-use std::fmt;
-use std::string;
-
-#[derive(Debug)]
-pub enum UrdfError {
-    File(::std::io::Error),
-    Xml(::serde_xml_rs::Error),
-    RustyXml(::xml::BuilderError),
-    Parse(String),
+use thiserror::Error;
+
+/// Alias for a `Result` with the error type `UrdfError`.
+pub type Result<T> = std::result::Result<T, UrdfError>;
+
+#[derive(Debug, Error)]
+#[error(transparent)]
+pub struct UrdfError(#[from] ErrorKind);
+
+// Hiding error variants from a library's public error type to prevent
+// dependency updates from becoming breaking changes.
+// We can add `UrdfErrorKind` enum or `is_*` methods that indicate the kind of
+// error if needed, but don't expose dependencies' types directly in the
+// public API.
+#[derive(Debug, Error)]
+pub(crate) enum ErrorKind {
+    #[error(transparent)]
+    File(#[from] std::io::Error),
+    #[error(transparent)]
+    Xml(#[from] serde_xml_rs::Error),
+    #[error(transparent)]
+    RustyXml(#[from] xml::BuilderError),
+    #[error("command error {}", .0)]
     Command(String),
 }
 
-pub type Result<T> = ::std::result::Result<T, UrdfError>;
-
-impl fmt::Display for UrdfError {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        match *self {
-            UrdfError::File(ref err) => err.fmt(f),
-            UrdfError::Xml(ref err) => err.fmt(f),
-            UrdfError::RustyXml(ref err) => err.fmt(f),
-            UrdfError::Parse(ref msg) => write!(f, "parse error {}", msg),
-            UrdfError::Command(ref msg) => write!(f, "command error {}", msg),
-        }
+impl UrdfError {
+    pub(crate) fn new(err: impl Into<ErrorKind>) -> Self {
+        Self(err.into())
     }
 }
 
-impl Error for UrdfError {}
-
 impl From<std::io::Error> for UrdfError {
     fn from(err: std::io::Error) -> UrdfError {
-        UrdfError::File(err)
-    }
-}
-
-impl From<serde_xml_rs::Error> for UrdfError {
-    fn from(err: serde_xml_rs::Error) -> UrdfError {
-        UrdfError::Xml(err)
+        ErrorKind::File(err).into()
     }
 }
 
-impl From<xml::BuilderError> for UrdfError {
-    fn from(err: xml::BuilderError) -> UrdfError {
-        UrdfError::RustyXml(err)
+impl From<&str> for UrdfError {
+    fn from(err: &str) -> UrdfError {
+        ErrorKind::Command(err.to_owned()).into()
     }
 }
 
-impl<'a> From<&'a str> for UrdfError {
-    fn from(err: &'a str) -> UrdfError {
-        UrdfError::Command(err.to_owned())
+impl From<std::string::FromUtf8Error> for UrdfError {
+    fn from(err: std::string::FromUtf8Error) -> UrdfError {
+        ErrorKind::Command(err.to_string()).into()
     }
 }
 
-impl From<string::FromUtf8Error> for UrdfError {
-    fn from(err: string::FromUtf8Error) -> UrdfError {
-        UrdfError::Command(err.to_string())
-    }
-}
+// Note: These implementations are intentionally not-exist to prevent dependency
+// updates from becoming breaking changes.
+// impl From<serde_xml_rs::Error> for UrdfError
+// impl From<xml::BuilderError> for UrdfError
diff --git a/src/funcs.rs b/src/funcs.rs
index afa1556..ebcc725 100644
--- a/src/funcs.rs
+++ b/src/funcs.rs
@@ -5,7 +5,7 @@ use std::path::Path;
 
 /// sort <link> and <joint> to avoid the [issue](https://github.com/RReverser/serde-xml-rs/issues/5)
 fn sort_link_joint(string: &str) -> Result<String> {
-    let e: xml::Element = string.parse()?;
+    let e: xml::Element = string.parse().map_err(UrdfError::new)?;
     let mut links = Vec::new();
     let mut joints = Vec::new();
     let mut materials = Vec::new();
@@ -94,7 +94,7 @@ pub fn read_file<P: AsRef<Path>>(path: P) -> Result<Robot> {
 
 pub fn read_from_string(string: &str) -> Result<Robot> {
     let sorted_string = sort_link_joint(string)?;
-    serde_xml_rs::from_str(&sorted_string).map_err(From::from)
+    serde_xml_rs::from_str(&sorted_string).map_err(UrdfError::new)
 }
 
 #[test]
diff --git a/src/utils.rs b/src/utils.rs
index b660fec..b24023a 100644
--- a/src/utils.rs
+++ b/src/utils.rs
@@ -25,7 +25,7 @@ where
     if output.status.success() {
         Ok(String::from_utf8(output.stdout)?)
     } else {
-        Err(UrdfError::Command("faild to xacro".to_owned()))
+        Err(ErrorKind::Command("faild to xacro".to_owned()).into())
     }
 }
 
@@ -73,7 +73,7 @@ where
             read_file(&input_path)
         }
     } else {
-        return Err(UrdfError::Command("failed to get extension".to_owned()));
+        Err(ErrorKind::Command("failed to get extension".to_owned()).into())
     }
 }