diff --git a/robot_state_publisher/src/robot_state_publisher_node.cpp b/robot_state_publisher/src/robot_state_publisher_node.cpp
index ad51100..ae54ba9 100644
--- a/robot_state_publisher/src/robot_state_publisher_node.cpp
+++ b/robot_state_publisher/src/robot_state_publisher_node.cpp
@@ -71,10 +71,12 @@ int main(int argc, char** argv)
 
   if (tree.getNrOfSegments() == 0){
     ROS_WARN("Robot state publisher got an empty tree and cannot publish any state to tf");
+    ros::spin();
   }
   else{
     JointStateListener state_publisher(tree);
+    ros::spin();
   }
-  ros::spin();
+
   return 0;
 }
diff --git a/robot_state_publisher/test/test_publisher.cpp b/robot_state_publisher/test/test_publisher.cpp
index 34c06c2..41c96a7 100644
--- a/robot_state_publisher/test/test_publisher.cpp
+++ b/robot_state_publisher/test/test_publisher.cpp
@@ -63,6 +63,7 @@ protected:
   /// constructor
   TestPublisher()
   {
+  /*
     // constructs a robot model from the xml file
     urdf::Model robot_model;
     if (g_argc == 2){
@@ -78,12 +79,13 @@ protected:
       ROS_ERROR("Failed to extract kdl tree from robot model");
 
     publisher = new JointStateListener(tree);
+  */
   }
 
   /// Destructor
   ~TestPublisher()
   {
-    delete publisher;
+    //    delete publisher;
   }
 };
 
diff --git a/robot_state_publisher/test/test_publisher.launch b/robot_state_publisher/test/test_publisher.launch
index 43d8fae..79b6a9c 100644
--- a/robot_state_publisher/test/test_publisher.launch
+++ b/robot_state_publisher/test/test_publisher.launch
@@ -1,5 +1,7 @@
 <launch>
   <node pkg="rosrecord" name="rosplay" type="rosplay" args="$(find robot_state_publisher)/test/joint_states.bag" />
+  <node pkg="robot_state_publisher" name="robot_state_publisher" type="state_publisher" />
+  <param name="robot_description" textfile="$(find robot_state_publisher)/test/pr2.urdf" />
 
-  <test test-name="test_publisher" pkg="robot_state_publisher" type="test_publisher" args="$(find robot_state_publisher)/test/pr2.urdf" />
+  <test test-name="test_publisher" pkg="robot_state_publisher" type="test_publisher" />
 </launch>