diff --git a/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py b/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py
index 9c64e7a87..3e5bab7e6 100644
--- a/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py
+++ b/webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py
@@ -69,6 +69,8 @@ def __init__(self):
         self.create_subscription(String, 'remove_node', self.__remove_imported_node_callback, qos_profile_services_default)
 
     def __spawn_urdf_robot_callback(self, request, response):
+        # Deprecated, remove in 2024.0.0
+        self.get_logger().warn('\033[33mThe URDF Spawner is deprecated. Please use the PROTO Spawner instead.\033[0m')
         robot = request.robot
 
         robot_name = robot.name if robot.name else ''
diff --git a/webots_ros2_driver/webots_ros2_driver/urdf_spawner.py b/webots_ros2_driver/webots_ros2_driver/urdf_spawner.py
index 47dbb23cb..1ef09e008 100644
--- a/webots_ros2_driver/webots_ros2_driver/urdf_spawner.py
+++ b/webots_ros2_driver/webots_ros2_driver/urdf_spawner.py
@@ -28,7 +28,7 @@ def get_webots_driver_node(event, driver_node):
     return
 
 
-class URDFSpawner(ExecuteProcess):
+class URDFSpawner(ExecuteProcess):  # Deprecated, remove in 2024.0.0
     def __init__(self, output='log', name=None, urdf_path=None, robot_description=None, relative_path_prefix=None,
                  translation='0 0 0', rotation='0 0 1 0', normal=False, box_collision=False, init_pos=None, **kwargs):
         message = '{robot: {'