diff --git a/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h b/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h
index d07d1ac..2990c4c 100644
--- a/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h
+++ b/robot_state_publisher/include/robot_state_publisher/joint_state_listener.h
@@ -63,7 +63,7 @@ public:
 private:
   void callbackJointState(const JointStateConstPtr& state);
 
-  NodeHandle n_;
+  NodeHandle n_, n_tilde_;
   Rate publish_rate_;
   robot_state_publisher::RobotStatePublisher state_publisher_;
   Subscriber joint_state_sub_;
diff --git a/robot_state_publisher/manifest.xml b/robot_state_publisher/manifest.xml
index 083d62c..2999a6a 100644
--- a/robot_state_publisher/manifest.xml
+++ b/robot_state_publisher/manifest.xml
@@ -1,11 +1,13 @@
 <package>
   <description brief="This package allows you to publish the state of a robot to the transform library topic">
 
-    This package allows you to publish the state of a robot to the transform library topic. Once the state
-    gets published, it is available to all components in the system using the transform library.
-    The package takes the joint angles of the robot as input and publishes the 3D poses 
-    of the robot links, using a kinematic tree model of the robot. The package can both be used
-    as a library and as a ROS node.
+    This package allows you to publish the state of a robot to the
+    transform library topic. Once the state gets published, it is
+    available to all components in the system using the transform
+    library.  The package takes the joint angles of the robot as input
+    and publishes the 3D poses of the robot links, using a kinematic
+    tree model of the robot. The package can both be used as a library
+    and as a ROS node.
 
   </description>
   <author>Wim Meeussen meeussen@willowgarage.com </author>
diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp
index 2505130..4bb67b4 100644
--- a/robot_state_publisher/src/joint_state_listener.cpp
+++ b/robot_state_publisher/src/joint_state_listener.cpp
@@ -46,15 +46,15 @@ using namespace robot_state_publisher;
 
 
 JointStateListener::JointStateListener(const KDL::Tree& tree)
-  : n_("~"), publish_rate_(0.0), state_publisher_(tree)
+  : n_tilde_("~"), publish_rate_(0.0), state_publisher_(tree)
 {
   // set publish frequency
   double publish_freq;
-  n_.param("publish_frequency", publish_freq, 50.0);
+  n_tilde_.param("publish_frequency", publish_freq, 50.0);
   publish_rate_ = Rate(publish_freq);
   
   // subscribe to mechanism state
-  joint_state_sub_ = n_.subscribe("/joint_states", 1, &JointStateListener::callbackJointState, this);;
+  joint_state_sub_ = n_.subscribe("joint_states", 1, &JointStateListener::callbackJointState, this);;
 };
 
 
diff --git a/robot_state_publisher/src/robot_state_publisher_node.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp
index 137cafc..ec7be7c 100644
--- a/robot_state_publisher/src/robot_state_publisher_node.cpp
+++ b/robot_state_publisher/src/robot_state_publisher_node.cpp
@@ -36,7 +36,7 @@
 
 #include <kdl/tree.hpp>
 #include <ros/ros.h>
-#include <kdl_parser/dom_parser.hpp>
+#include <kdl_parser/kdl_parser.hpp>
 #include <urdf/model.h>
 #include "robot_state_publisher/joint_state_listener.h"
 
diff --git a/robot_state_publisher/test/test_publisher.cpp b/robot_state_publisher/test/test_publisher.cpp
index 3255e3a..ae321fd 100644
--- a/robot_state_publisher/test/test_publisher.cpp
+++ b/robot_state_publisher/test/test_publisher.cpp
@@ -40,7 +40,7 @@
 #include <tf/transform_listener.h>
 #include <boost/thread/thread.hpp>
 #include <urdf/model.h>
-#include <kdl_parser/dom_parser.hpp>
+#include <kdl_parser/kdl_parser.hpp>
 #include "robot_state_publisher/joint_state_listener.h"
 
 
@@ -74,7 +74,7 @@ protected:
 
     // constructs a kdl tree from the robot model
     Tree tree;
-    if (!kdl_parser::treeFromRobotModel(robot_model, tree))
+    if (!kdl_parser::treeFromUrdfModel(robot_model, tree))
       ROS_ERROR("Failed to extract kdl tree from robot model");
 
     publisher = new JointStateListener(tree);
@@ -106,7 +106,7 @@ TEST_F(TestPublisher, test)
   ASSERT_TRUE(tf.canTransform("l_gripper_palm_link", "fl_caster_r_wheel_link", Time()));
   ASSERT_FALSE(tf.canTransform("base_link", "wim_link", Time()));
 
-  tf::Stamped<tf::Transform> t;
+  tf::StampedTransform t;
   tf.lookupTransform("base_link", "r_gripper_palm_link",Time(), t );
   EXPECT_NEAR(t.getOrigin().x(), 0.769198, EPS);
   EXPECT_NEAR(t.getOrigin().y(), -0.188800, EPS);