diff --git a/pkgs/development/libraries/crocoddyl/default.nix b/pkgs/development/libraries/crocoddyl/default.nix
index 2a8267f9d6b..877296334fe 100644
--- a/pkgs/development/libraries/crocoddyl/default.nix
+++ b/pkgs/development/libraries/crocoddyl/default.nix
@@ -1,6 +1,7 @@
 { lib
 , stdenv
 , fetchFromGitHub
+, fetchpatch
 , cmake
 , example-robot-data
 , pinocchio
@@ -10,16 +11,24 @@
 
 stdenv.mkDerivation rec {
   pname = "crocoddyl";
-  version = "1.9.0";
+  version = "2.0.0";
 
   src = fetchFromGitHub {
     owner = "loco-3d";
     repo = pname;
     rev = "v${version}";
-    sha256 = "sha256-IQ+8ZZXVTTRFa4uGetpylRab4P9MSTU2YtytYA3z6ys=";
     fetchSubmodules = true;
+    hash = "sha256-wDHCHTJXmJjU7mhQ2huUVdEc9ap7PMeqlHPrKm//jBQ=";
   };
 
+  patches = [
+    # error: no matching function for call to 'max(double&, int)'
+    (fetchpatch {
+      url = "https://github.com/loco-3d/crocoddyl/commit/d2e4116257595317740975e745739bb76b92e5c0.patch";
+      hash = "sha256-M79jNdIxzx9PfW3TStRny76dVo/HDf/Rp08ZPx+ymBg";
+    })
+  ];
+
   strictDeps = true;
 
   nativeBuildInputs = [