diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
index fa9ab91..1576919 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@@ -27,8 +27,8 @@ rosbuild_add_library(${PROJECT_NAME} src/link.cpp src/joint.cpp src/model.cpp)
 rosbuild_add_boost_directories()
 #rosbuild_link_boost(${PROJECT_NAME} thread)
 
-rosbuild_add_executable(parse_test test/parse_test.cpp)
-target_link_libraries(parse_test ${PROJECT_NAME})
+rosbuild_add_executable(urdf_check src/urdf_check.cpp)
+target_link_libraries(urdf_check ${PROJECT_NAME})
 
 rosbuild_add_executable(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp)
 rosbuild_add_gtest_build_flags(test_parser)
diff --git a/urdf/manifest.xml b/urdf/manifest.xml
index 7a41c5a..f8188dc 100644
--- a/urdf/manifest.xml
+++ b/urdf/manifest.xml
@@ -1,11 +1,16 @@
 <package>
-  <description brief="urdf">
-    This package containt a parser for the Xml Robot Description Format (URDF). 
+  <description brief="URDF Xml robot description parser.">
+    This package contains a C++ parser for the Xml Robot Description
+    Format (URDF). It replaces the previous
+    wg_description_parser. This package is relatively new (July 2009)
+    so it might still have some minor issues. The code API of the
+    parser has been through our review process and will remain
+    backwards compatible in the coming releases.
   </description>
   <author>Wim Meeussen, John Hsu</author>
   <license>BSD</license>
   <review status="API reviewed" notes=""/>
-  <url>http://pr.willowgarage.com/wiki/urdf</url>
+  <url>http://ros.org/wiki/urdf</url>
 
   <depend package="tinyxml" />
   <depend package="roscpp" />
diff --git a/urdf/test/parse_test.cpp b/urdf/src/urdf_check.cpp
similarity index 100%
rename from urdf/test/parse_test.cpp
rename to urdf/src/urdf_check.cpp