diff --git a/kdl_parser/include/kdl_parser/dom_parser.hpp b/kdl_parser/include/kdl_parser/dom_parser.hpp
new file mode 100644
index 0000000..1e5808c
--- /dev/null
+++ b/kdl_parser/include/kdl_parser/dom_parser.hpp
@@ -0,0 +1,3 @@
+
+#warning INCLUDING DOM_PARSER.HPP IS DEPRECATED. INCLUDE KDL_PARSER.HPP INSTEAD
+#include <kdl_parser/kdl_parser.hpp>
diff --git a/kdl_parser/include/kdl_parser/kdl_parser.hpp b/kdl_parser/include/kdl_parser/kdl_parser.hpp
index d882e90..4ce17d7 100644
--- a/kdl_parser/include/kdl_parser/kdl_parser.hpp
+++ b/kdl_parser/include/kdl_parser/kdl_parser.hpp
@@ -72,6 +72,8 @@ bool treeFromXml(TiXmlDocument *xml_doc, KDL::Tree& tree);
  * returns true on success, false on failure
  */
 bool treeFromUrdfModel(const urdf::Model& robot_model, KDL::Tree& tree);
+
+bool treeFromRobotModel(const urdf::Model& robot_model, KDL::Tree& tree) __attribute__((deprecated));
 }
 
 #endif
diff --git a/kdl_parser/src/kdl_parser.cpp b/kdl_parser/src/kdl_parser.cpp
index 2478250..50fd620 100644
--- a/kdl_parser/src/kdl_parser.cpp
+++ b/kdl_parser/src/kdl_parser.cpp
@@ -167,5 +167,10 @@ bool treeFromUrdfModel(const urdf::Model& robot_model, Tree& tree)
   return true;
 }
 
+bool treeFromRobotModel(const urdf::Model& robot_model, KDL::Tree& tree)
+{
+  return treeFromUrdfModel(robot_model, tree);
+}
+
 }