diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 393604d..ebd7eb3 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -33,7 +33,8 @@ add_executable(check_kdl_parser src/check_kdl_parser.cpp )
 target_link_libraries(check_kdl_parser ${PROJECT_NAME})
 
 if(CATKIN_ENABLE_TESTING)
-  catkin_add_gtest(test_kdl_parser test/test_kdl_parser.cpp )
+  find_package(catkin REQUIRED COMPONENTS rostest)
+  add_rostest_gtest(test_kdl_parser test/test_kdl_parser.launch test/test_kdl_parser.cpp )
   target_link_libraries(test_kdl_parser ${PROJECT_NAME})
 endif()
 
diff --git a/kdl_parser/package.xml b/kdl_parser/package.xml
index 821e8aa..1eac4b1 100644
--- a/kdl_parser/package.xml
+++ b/kdl_parser/package.xml
@@ -24,6 +24,7 @@
   <build_depend>roscpp</build_depend>
   <build_depend>urdf</build_depend>
   <build_depend>cmake_modules</build_depend>
+  <build_depend>rostest</build_depend>
 
   <run_depend>orocos_kdl</run_depend>
   <run_depend>rosconsole</run_depend>
diff --git a/kdl_parser/test/test_kdl_parser.launch b/kdl_parser/test/test_kdl_parser.launch
index b97a9ba..dad91ee 100644
--- a/kdl_parser/test/test_kdl_parser.launch
+++ b/kdl_parser/test/test_kdl_parser.launch
@@ -1,6 +1,6 @@
 <launch>
-  <test test-name="test_kdl_parser" pkg="kdl_parser" type="test_parser" args="$(find kdl_parser)/test/pr2_desc_vector.xml \
-                                                                              $(find kdl_parser)/test/pr2_desc_bracket.xml \
-                                                                              $(find kdl_parser)/test/pr2_desc_bracket2.xml \
-                                                                              $(find kdl_parser)/test/pr2_desc.xml" />
+  <test test-name="test_kdl_parser" pkg="kdl_parser" type="test_kdl_parser" args="$(find kdl_parser)/test/pr2_desc_vector.xml \
+                                                                                  $(find kdl_parser)/test/pr2_desc_bracket.xml \
+                                                                                  $(find kdl_parser)/test/pr2_desc_bracket2.xml \
+                                                                                  $(find kdl_parser)/test/pr2_desc.xml" />
 </launch>
diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
index 7b07226..c720fcb 100644
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@@ -34,8 +34,9 @@ if(APPLE)
 endif(APPLE)
 
 if(CATKIN_ENABLE_TESTING)
-  catkin_add_gtest(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp)
-  target_link_libraries(test_parser ${PROJECT_NAME})
+  find_package(catkin REQUIRED COMPONENTS rostest)
+  add_rostest_gtest(test_urdf_parser test/test_robot_model_parser.launch test/test_robot_model_parser.cpp)
+  target_link_libraries(test_urdf_parser ${PROJECT_NAME})
 endif()
 
 # no idea how CATKIN does this
diff --git a/urdf/package.xml b/urdf/package.xml
index 622c1ca..9e012a2 100644
--- a/urdf/package.xml
+++ b/urdf/package.xml
@@ -26,6 +26,7 @@
   <build_depend>urdf_parser_plugin</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>cmake_modules</build_depend>
+  <build_depend>rostest</build_depend>
 
   <run_depend>rosconsole_bridge</run_depend>
   <run_depend>roscpp</run_depend>
diff --git a/urdf/test/singularity.urdf b/urdf/test/singularity.urdf
index f86fa92..ed91f44 100644
--- a/urdf/test/singularity.urdf
+++ b/urdf/test/singularity.urdf
@@ -16,7 +16,7 @@
     <parent link="link1"/>
     <child link="link2"/>
     <origin xyz="0 0 0" rpy="1.0 1.5707963267948966 0.5707963267948966"/>
-  </link>
+  </joint>
   <link name="link3">
     <inertial>
       <mass value="1"/>
@@ -27,5 +27,5 @@
     <parent link="link2"/>
     <child link="link3"/>
     <origin xyz="0 0 0" rpy="1.5707963267948966 1.5707963267948966 1.5707963267948966"/>
-  </link>
+  </joint>
 </robot>
diff --git a/urdf/test/test_robot_model_parser.launch b/urdf/test/test_robot_model_parser.launch
index 8e262c2..25c1844 100644
--- a/urdf/test/test_robot_model_parser.launch
+++ b/urdf/test/test_robot_model_parser.launch
@@ -1,5 +1,5 @@
 <launch>
   <param name="robot_description" textfile="$(find urdf)/test/pr2_desc.urdf" />
 
-  <test test-name="robot_model_parser_test" pkg="urdf" type="test_parser" args="$(find urdf) fail_pr2_desc_bracket.urdf fail_pr2_desc_double_joint.urdf fail_pr2_desc_double.urdf fail_pr2_desc_loop.urdf fail_pr2_desc_no_filename_in_mesh.urdf fail_pr2_desc_no_joint2.urdf fail_pr2_desc_parent_itself.urdf fail_pr2_desc_two_trees.urdf fail_three_links_one_joint.urdf no_visual.urdf one_link.urdf pr2_desc_no_joint.urdf pr2_desc.urdf two_links_one_joint.urdf singularity.urdf" />
+  <test test-name="robot_model_parser_test" pkg="urdf" type="test_urdf_parser" args="$(find urdf) fail_pr2_desc_bracket.urdf fail_pr2_desc_double_joint.urdf fail_pr2_desc_double.urdf fail_pr2_desc_loop.urdf fail_pr2_desc_no_filename_in_mesh.urdf fail_pr2_desc_no_joint2.urdf fail_pr2_desc_parent_itself.urdf fail_pr2_desc_two_trees.urdf fail_three_links_one_joint.urdf no_visual.urdf one_link.urdf pr2_desc_no_joint.urdf pr2_desc.urdf two_links_one_joint.urdf singularity.urdf" />
 </launch>
diff --git a/urdf/test/two_links_one_joint.urdf b/urdf/test/two_links_one_joint.urdf
index e1e0062..85e94a3 100644
--- a/urdf/test/two_links_one_joint.urdf
+++ b/urdf/test/two_links_one_joint.urdf
@@ -15,5 +15,5 @@
   <joint name="joint12" type="fixed">
     <parent link="link1"/>
     <child link="link2"/>
-  </link>
+  </joint>
 </robot>