diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 393604d..ebd7eb3 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -33,7 +33,8 @@ add_executable(check_kdl_parser src/check_kdl_parser.cpp )
 target_link_libraries(check_kdl_parser ${PROJECT_NAME})
 
 if(CATKIN_ENABLE_TESTING)
-  catkin_add_gtest(test_kdl_parser test/test_kdl_parser.cpp )
+  find_package(catkin REQUIRED COMPONENTS 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})
 endif()
 
diff --git a/kdl_parser/package.xml b/kdl_parser/package.xml
index 821e8aa..1eac4b1 100644
--- a/kdl_parser/package.xml
+++ b/kdl_parser/package.xml
@@ -24,6 +24,7 @@
   <build_depend>roscpp</build_depend>
   <build_depend>urdf</build_depend>
   <build_depend>cmake_modules</build_depend>
+  <build_depend>rostest</build_depend>
 
   <run_depend>orocos_kdl</run_depend>
   <run_depend>rosconsole</run_depend>
diff --git a/kdl_parser/test/test_kdl_parser.launch b/kdl_parser/test/test_kdl_parser.launch
index b97a9ba..dad91ee 100644
--- a/kdl_parser/test/test_kdl_parser.launch
+++ b/kdl_parser/test/test_kdl_parser.launch
@@ -1,6 +1,6 @@
 <launch>
-  <test test-name="test_kdl_parser" pkg="kdl_parser" type="test_parser" args="$(find kdl_parser)/test/pr2_desc_vector.xml \
-                                                                              $(find kdl_parser)/test/pr2_desc_bracket.xml \
-                                                                              $(find kdl_parser)/test/pr2_desc_bracket2.xml \
-                                                                              $(find kdl_parser)/test/pr2_desc.xml" />
+  <test test-name="test_kdl_parser" pkg="kdl_parser" type="test_kdl_parser" args="$(find kdl_parser)/test/pr2_desc_vector.xml \
+                                                                                  $(find kdl_parser)/test/pr2_desc_bracket.xml \
+                                                                                  $(find kdl_parser)/test/pr2_desc_bracket2.xml \
+                                                                                  $(find kdl_parser)/test/pr2_desc.xml" />
 </launch>