diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..585b087
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+build/
+*Presets.json
\ No newline at end of file
diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index bef842b..90799d6 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -3,100 +3,139 @@ cmake_minimum_required(VERSION 3.7.2)
 project(kdl_parser)
 
 set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-find_package(catkin QUIET
-  COMPONENTS rosconsole cmake_modules
-)
-
-if(NOT catkin_FOUND)
-  # use local copies of FindTinyXML.cmake and FindTinyXML2.cmake from
-  # 'cmake_modules' (https://github.com/ros/cmake_modules)
-  list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake)
-endif()
-
-find_package(urdfdom REQUIRED)
-include_directories(${urdfdom_INCLUDE_DIRS})
-
-find_package(orocos_kdl REQUIRED)
-find_package(TinyXML REQUIRED)
-find_package(TinyXML2 REQUIRED)
-
-# check for rosconsole
-# We check additionally for catkin to distinguish between an "official" ROS distribution
-# and the one provided in the distribution's repository.
-find_package(rosconsole QUIET)
-if(rosconsole_FOUND AND catkin_FOUND)
-  add_definitions(-DHAS_ROS)
-endif()
-
-find_package(urdf QUIET)
-if(urdf_FOUND)
-  add_definitions(-DHAS_URDF)
-  include_directories(${urdf_INCLUDE_DIRS})
-endif()
-
-include_directories(include ${orocos_kdl_INCLUDE_DIRS} ${TinyXML_INCLUDE_DIRS} ${TinyXML2_INCLUDE_DIRS})
 
+find_package(catkin QUIET COMPONENTS rosconsole cmake_modules)
 if(catkin_FOUND)
+
+  find_package(urdfdom REQUIRED)
+  include_directories(${urdfdom_INCLUDE_DIRS})
+
+  find_package(orocos_kdl REQUIRED)
+  find_package(TinyXML REQUIRED)
+  find_package(TinyXML2 REQUIRED)
+
+  # check for rosconsole We check additionally for catkin to distinguish between
+  # an "official" ROS distribution and the one provided in the distribution's
+  # repository.
+  find_package(rosconsole QUIET)
+
+  if(rosconsole_FOUND)
+    add_definitions(-DHAS_ROS)
+  endif()
+
+  find_package(urdf QUIET)
+  if(urdf_FOUND)
+    add_definitions(-DHAS_URDF)
+    include_directories(${urdf_INCLUDE_DIRS})
+  endif()
+
+  include_directories(include ${orocos_kdl_INCLUDE_DIRS}
+                      ${TinyXML_INCLUDE_DIRS} ${TinyXML2_INCLUDE_DIRS})
+
   link_directories(${catkin_LIBRARY_DIRS})
   include_directories(${catkin_INCLUDE_DIRS})
 
   catkin_package(
-    LIBRARIES ${PROJECT_NAME} ${orocos_kdl_LIBRARIES}
-    INCLUDE_DIRS include
-    CATKIN_DEPENDS rosconsole urdf
-    DEPENDS orocos_kdl TinyXML TinyXML2
-  )
-endif()
+    LIBRARIES
+    ${PROJECT_NAME}
+    ${orocos_kdl_LIBRARIES}
+    INCLUDE_DIRS
+    include
+    CATKIN_DEPENDS
+    rosconsole
+    urdf
+    DEPENDS
+    orocos_kdl
+    TinyXML
+    TinyXML2)
 
-add_library(${PROJECT_NAME} SHARED src/kdl_parser.cpp)
-target_link_libraries(${PROJECT_NAME}
-  ${TinyXML_LIBRARIES} ${TinyXML2_LIBRARIES} ${orocos_kdl_LIBRARIES}
-)
+  add_library(${PROJECT_NAME} SHARED src/kdl_parser.cpp)
+  target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES}
+                        ${TinyXML2_LIBRARIES} ${orocos_kdl_LIBRARIES})
 
-target_link_libraries(${PROJECT_NAME} ${urdfdom_LIBRARIES})
+  target_link_libraries(${PROJECT_NAME} ${urdfdom_LIBRARIES})
 
-if(catkin_FOUND)
   target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-endif()
 
-if(urdf_FOUND)
-  target_link_libraries(${PROJECT_NAME} ${urdf_LIBRARIES})
-endif()
+  if(urdf_FOUND)
+    target_link_libraries(${PROJECT_NAME} ${urdf_LIBRARIES})
+  endif()
 
-if(WIN32)
-  target_compile_definitions(${PROJECT_NAME} PRIVATE "KDL_PARSER_BUILDING_DLL")
-endif()
+  if(WIN32)
+    target_compile_definitions(${PROJECT_NAME}
+                               PRIVATE "KDL_PARSER_BUILDING_DLL")
+  endif()
 
-add_executable(check_kdl_parser src/check_kdl_parser.cpp )
-target_link_libraries(check_kdl_parser ${PROJECT_NAME})
+  add_executable(check_kdl_parser src/check_kdl_parser.cpp)
+  target_link_libraries(check_kdl_parser ${PROJECT_NAME})
 
-if(catkin_FOUND AND CATKIN_ENABLE_TESTING)
-  find_package(catkin REQUIRED COMPONENTS roscpp rostest)
-  add_rostest_gtest(test_kdl_parser test/test_kdl_parser.launch test/test_kdl_parser.cpp )
-  target_link_libraries(test_kdl_parser ${PROJECT_NAME})
+  if(CATKIN_ENABLE_TESTING)
+    find_package(catkin REQUIRED COMPONENTS roscpp rostest)
+    add_rostest_gtest(test_kdl_parser test/test_kdl_parser.launch
+                      test/test_kdl_parser.cpp)
+    target_link_libraries(test_kdl_parser ${PROJECT_NAME})
 
-  add_rostest_gtest(test_inertia_rpy test/test_inertia_rpy.launch test/test_inertia_rpy.cpp )
-  target_link_libraries(test_inertia_rpy ${PROJECT_NAME})
-endif()
+    add_rostest_gtest(test_inertia_rpy test/test_inertia_rpy.launch
+                      test/test_inertia_rpy.cpp)
+    target_link_libraries(test_inertia_rpy ${PROJECT_NAME})
+  endif()
 
-if(catkin_FOUND)
   # How does CATKIN do this?
-  #rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_kdl_parser.launch)
-  
+  # rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_kdl_parser.launch)
+
   # Install library
-  install(TARGETS ${PROJECT_NAME}
+  install(
+    TARGETS ${PROJECT_NAME}
     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
     RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
 
   install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+          DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 else()
-  install(TARGETS ${PROJECT_NAME}
-          LIBRARY DESTINATION lib
-          ARCHIVE DESTINATION lib)
-  install(DIRECTORY include/${PROJECT_NAME}/
-          DESTINATION include)
+
+  find_package(urdfdom CONFIG REQUIRED)
+  find_package(orocos-kdl CONFIG REQUIRED)
+  find_package(tinyxml REQUIRED CONFIG)
+  find_package(tinyxml2 REQUIRED CONFIG)
+  add_library(${PROJECT_NAME} src/kdl_parser.cpp)
+  if(WIN32)
+    set(BUILD_SHARED_LIBS ON)
+    target_compile_definitions(${PROJECT_NAME} PUBLIC "KDL_PARSER_BUILDING_DLL")
+  endif()
+
+  target_include_directories(
+    ${PROJECT_NAME}
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+           $<INSTALL_INTERFACE:include>)
+  target_link_libraries(
+    ${PROJECT_NAME} PUBLIC urdfdom::urdfdom orocos-kdl::orocos-kdl
+                           tinyxml::tinyxml tinyxml2::tinyxml2)
+
+  if(NOT BUILD_TESTING STREQUAL OFF)
+    enable_testing()
+
+    find_package(GTest REQUIRED)
+    include_directories(${GTEST_INCLUDE_DIRS})
+    include(GoogleTest)
+
+    add_executable(test_kdl_parser test/test_kdl_parser.launch
+                                   test/test_kdl_parser.cpp)
+    target_compile_definitions(
+      test_kdl_parser
+      PRIVATE ROBOT_URDF="${CMAKE_CURRENT_SOURCE_DIR}/test/test_robot.urdf")
+    target_link_libraries(test_kdl_parser ${PROJECT_NAME} GTest::gtest_main)
+    gtest_add_tests(TARGET test_kdl_parser)
+
+    add_executable(test_inertia_rpy test/test_inertia_rpy.launch
+                                    test/test_inertia_rpy.cpp)
+    target_compile_definitions(
+      test_inertia_rpy
+      PRIVATE
+        RPY_URDF1="${CMAKE_CURRENT_SOURCE_DIR}/test/testInertiaRPYmodel1.urdf"
+        RPY_URDF2="${CMAKE_CURRENT_SOURCE_DIR}/test/testInertiaRPYmodel2.urdf")
+    target_link_libraries(test_inertia_rpy ${PROJECT_NAME} GTest::gtest_main)
+    gtest_add_tests(TARGET test_inertia_rpy)
+  endif()
+
 endif()
diff --git a/kdl_parser/conanfile.py b/kdl_parser/conanfile.py
new file mode 100644
index 0000000..3fb5b6d
--- /dev/null
+++ b/kdl_parser/conanfile.py
@@ -0,0 +1,75 @@
+from conan import ConanFile
+from conan.tools.cmake import CMakeToolchain, CMake, cmake_layout, CMakeDeps
+from conan.tools.build import check_min_cppstd, can_run
+from conan.errors import ConanInvalidConfiguration
+
+
+class kdl_parserRecipe(ConanFile):
+    name = "kdl_parser"
+    version = "2.12.1"
+    package_type = "library"
+
+    license = ""
+    author = "orocos ()"
+    url = ""
+    description = " kdl_parser and kdl_parser_py provide tools to construct a KDL tree from an XML robot representation in URDF."
+    topics = ("KDL", "URDF", "parser")
+
+    settings = "os", "compiler", "build_type", "arch"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+    }
+    default_options = {"shared": False, "fPIC": True}
+
+    exports_sources = (
+        "CMakeLists.txt",
+        "src/*",
+        "tests/*",
+        "include/*",
+    )
+
+    def requirements(self):
+        self.requires("orocos-kdl/[>=1.5.1 <2]")
+        self.requires("tinyxml/[>=2.6.0 <3]")
+        self.requires("tinyxml2/[>=11.0.0 <13.0.0]")
+        self.requires("urdfdom/[>=3.1.1 <5.0.0]")
+        self.requires("urdfdom_headers/[>=1.1.1 <2]")
+        self.tool_requires("cmake/[>=3.12 <5]")
+        self.test_requires("gtest/[>=1.11]")
+
+    def validate(self):
+        check_min_cppstd(self, "14")
+
+    def config_options(self):
+        if self.settings.os == "Windows":
+            self.options.rm_safe("fPIC")
+
+    def configure(self):
+        if self.settings.os == "Windows" and not self.options.shared:
+            raise ConanInvalidConfiguration(
+                "Static libraries are not supported on Windows. Please set option 'shared=True'."
+            )
+        if self.options.shared:
+            self.options.rm_safe("fPIC")
+
+    def layout(self):
+        cmake_layout(self)
+
+    def generate(self):
+        deps = CMakeDeps(self)
+        deps.generate()
+        tc = CMakeToolchain(self)
+        tc.generate()
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def package(self):
+        cmake = CMake(self)
+        cmake.install()
+
+    def package_info(self):
+        self.cpp_info.libs = ["kdl_parser"]
diff --git a/kdl_parser/test/test_inertia_rpy.cpp b/kdl_parser/test/test_inertia_rpy.cpp
index bc32126..5ba5c76 100644
--- a/kdl_parser/test/test_inertia_rpy.cpp
+++ b/kdl_parser/test/test_inertia_rpy.cpp
@@ -1,36 +1,36 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2015 Open Source Robotics Foundation, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the copyright holder nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2015 Open Source Robotics Foundation, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Jackie Kay */
 
@@ -41,12 +41,19 @@
 #include <kdl/jntarray.hpp>
 #include <kdl/chainidsolver_recursive_newton_euler.hpp>
 
-#include <ros/ros.h>
-#include <ros/console.h>
 #include "kdl_parser/kdl_parser.hpp"
 
+#ifdef HAS_ROS
+#include <ros/ros.h>
+#else
+// forward ROS warnings and errors to stderr
+#define ROS_DEBUG(...) fprintf(stdout, __VA_ARGS__);
+#define ROS_ERROR(...) fprintf(stderr, __VA_ARGS__);
+#define ROS_WARN(...) fprintf(stderr, __VA_ARGS__);
+#endif
+
 int g_argc;
-char ** g_argv;
+char **g_argv;
 
 class TestInertiaRPY : public testing::Test
 {
@@ -63,11 +70,11 @@ protected:
   }
 };
 
-
-TEST_F(TestInertiaRPY, test_torques) {
+TEST_F(TestInertiaRPY, test_torques)
+{
   // workaround for segfault issue with parsing 2 trees instantiated on the stack
-  KDL::Tree * tree_1 = new KDL::Tree;
-  KDL::Tree * tree_2 = new KDL::Tree;
+  KDL::Tree *tree_1 = new KDL::Tree;
+  KDL::Tree *tree_2 = new KDL::Tree;
   KDL::JntArray torques_1;
   KDL::JntArray torques_2;
 
@@ -112,13 +119,24 @@ TEST_F(TestInertiaRPY, test_torques) {
   SUCCEED();
 }
 
-int main(int argc, char ** argv)
+int main(int argc, char **argv)
 {
   testing::InitGoogleTest(&argc, argv);
-  ros::init(argc, argv, "test_kdl_parser");
-  for (size_t i = 0; i < argc; ++i) {
+#ifdef HAS_ROS
+  ros::init(argc, argv, "test_inertia_rpy");
+#endif
+  for (size_t i = 0; i < argc; ++i)
+  {
     std::cout << argv[i] << std::endl;
   }
+
+  if (argc < 3)
+  {
+    static const char *default_argv[] = {argv[0], RPY_URDF1, RPY_URDF2};
+    argc = 3;
+    argv = const_cast<char **>(default_argv);
+  }
+
   g_argc = argc;
   g_argv = argv;
   return RUN_ALL_TESTS();
diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp
index bb90321..0785cc3 100644
--- a/kdl_parser/test/test_kdl_parser.cpp
+++ b/kdl_parser/test/test_kdl_parser.cpp
@@ -1,45 +1,53 @@
 /*********************************************************************
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
 
 /* Author: Wim Meeussen */
 
 #include <gtest/gtest.h>
-#include <ros/ros.h>
 #include "kdl_parser/kdl_parser.hpp"
 
+#ifdef HAS_ROS
+#include <ros/ros.h>
+#else
+// forward ROS warnings and errors to stderr
+#define ROS_DEBUG(...) fprintf(stdout, __VA_ARGS__);
+#define ROS_ERROR(...) fprintf(stderr, __VA_ARGS__);
+#define ROS_WARN(...) fprintf(stderr, __VA_ARGS__);
+#endif
+
 int g_argc;
-char ** g_argv;
+char **g_argv;
 
 class TestParser : public testing::Test
 {
@@ -58,9 +66,10 @@ protected:
   }
 };
 
-
-TEST_F(TestParser, test) {
-  for (int i = 1; i < g_argc - 2; i++) {
+TEST_F(TestParser, test)
+{
+  for (int i = 1; i < g_argc - 2; i++)
+  {
     ROS_ERROR("Testing file %s", g_argv[i]);
     ASSERT_FALSE(kdl_parser::treeFromFile(g_argv[i], my_tree));
   }
@@ -72,15 +81,24 @@ TEST_F(TestParser, test) {
   ASSERT_EQ((unsigned int)1, my_tree.getRootSegment()->second.children.size());
   ASSERT_TRUE(my_tree.getSegment("base_link")->second.parent == my_tree.getRootSegment());
   ASSERT_EQ(10.0, my_tree.getSegment("base_link")->second.segment.getInertia().getMass());
-  ASSERT_NEAR(1.000, my_tree.getSegment(
-      "base_link")->second.segment.getInertia().getRotationalInertia().data[0], 0.001);
+  ASSERT_NEAR(1.000, my_tree.getSegment("base_link")->second.segment.getInertia().getRotationalInertia().data[0], 0.001);
   SUCCEED();
 }
 
-int main(int argc, char ** argv)
+int main(int argc, char **argv)
 {
   testing::InitGoogleTest(&argc, argv);
+#ifdef HAS_ROS
   ros::init(argc, argv, "test_kdl_parser");
+#endif
+
+  if (argc < 2)
+  {
+    static const char *default_argv[] = {argv[0], ROBOT_URDF};
+    argc = 2;
+    argv = const_cast<char **>(default_argv);
+  }
+
   g_argc = argc;
   g_argv = argv;
   return RUN_ALL_TESTS();