diff --git a/urdf/src/model.cpp b/urdf/src/model.cpp
index 106e3d5..9b301a4 100644
--- a/urdf/src/model.cpp
+++ b/urdf/src/model.cpp
@@ -283,7 +283,7 @@ bool Model::initTree(std::map<std::string, std::string> &parent_link_tree)
 
       if (!parent_link)
       {
-        ROS_ERROR("    parent link '%s' is not found", parent_link_name.c_str());
+        ROS_ERROR("    parent link '%s' of joint '%s' not found", parent_link_name.c_str(), joint->first.c_str() );
         return false;
       }
       else
@@ -294,7 +294,7 @@ bool Model::initTree(std::map<std::string, std::string> &parent_link_tree)
 
         if (!child_link)
         {
-          ROS_ERROR("    for joint: %s child link '%s' is not found",joint->first.c_str(),child_link_name.c_str());
+          ROS_ERROR("    child link '%s' of joint: %s not found",child_link_name.c_str(),joint->first.c_str());
           return false;
         }
         else