diff --git a/kdl_parser/test/pr2_desc_bracket.xml b/kdl_parser/test/pr2_desc_bracket.xml
index f512410..990f441 100644
--- a/kdl_parser/test/pr2_desc_bracket.xml
+++ b/kdl_parser/test/pr2_desc_bracket.xml
@@ -2,7 +2,7 @@
 
 <robot name="pr2">
     <joint name="fl_caster_rotation_joint" type="revolute">
-      <axis xyz="0 0 1"/>
+      <axis xyz="0 0 1 /"/>
       <anchor xyz="0 0 0"/>
       <limit effort="100" k_velocity="10" velocity="100"/>
       <calibration reference_position="0.0" values="1.5 -1"/>
@@ -11,7 +11,6 @@
   
     <link name="fl_caster_rotation_link">
       <parent name="base_link"/>
-      <origin rpy="0 0 1 }" xyz="0.2225 0.2225 0.0282"/>
       <joint name="fl_caster_rotation_joint"/>
 
       <inertial>
diff --git a/kdl_parser/test/pr2_desc_bracket2.xml b/kdl_parser/test/pr2_desc_bracket2.xml
index f3f2e00..70e513a 100644
--- a/kdl_parser/test/pr2_desc_bracket2.xml
+++ b/kdl_parser/test/pr2_desc_bracket2.xml
@@ -11,11 +11,10 @@
   
     <link name="fl_caster_rotation_link">
       <parent name="base_link"/>
-      <origin rpy="0 0 1}" xyz="0.2225 0.2225 0.0282"/>
       <joint name="fl_caster_rotation_joint"/>
 
       <inertial>
-        <mass value="3.473082"/>
+        <mass value="3.473082}"/>
         <com xyz="0 0 0.07"/>
         <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
       </inertial>
diff --git a/kdl_parser/test/pr2_desc_vector.xml b/kdl_parser/test/pr2_desc_vector.xml
index a6a37f3..1dcc98f 100644
--- a/kdl_parser/test/pr2_desc_vector.xml
+++ b/kdl_parser/test/pr2_desc_vector.xml
@@ -2,7 +2,7 @@
 
 <robot name="pr2">
     <joint name="fl_caster_rotation_joint" type="revolute">
-      <axis xyz="0 0 1"/>
+      <axis xyz="0 0"/>
       <anchor xyz="0 0 0"/>
       <limit effort="100" k_velocity="10" velocity="100"/>
       <calibration reference_position="0.0" values="1.5 -1"/>
diff --git a/kdl_parser/test/test_kdl_parser.cpp b/kdl_parser/test/test_kdl_parser.cpp
index 52ea5ff..c229cd2 100644
--- a/kdl_parser/test/test_kdl_parser.cpp
+++ b/kdl_parser/test/test_kdl_parser.cpp
@@ -68,6 +68,7 @@ protected:
 TEST_F(TestParser, test)
 {
   for (int i=1; i<g_argc-2; i++){
+    ROS_ERROR("Testing file %s", g_argv[i]);
     ASSERT_FALSE(treeFromFile(g_argv[i], my_tree));
   }