diff --git a/kdl_parser/CMakeLists.txt b/kdl_parser/CMakeLists.txt
index 15ea318..1f81968 100644
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@@ -25,8 +25,8 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 rosbuild_add_library(${PROJECT_NAME} src/kdl_parser.cpp)
 
-rosbuild_add_executable(example test/example.cpp )
-target_link_libraries(example ${PROJECT_NAME})
+rosbuild_add_executable(check_kdl_parser src/check_kdl_parser.cpp )
+target_link_libraries(check_kdl_parser ${PROJECT_NAME})
 
 rosbuild_add_executable(test_parser test/test_kdl_parser.cpp )
 target_link_libraries(test_parser ${PROJECT_NAME})
diff --git a/kdl_parser/test/example.cpp b/kdl_parser/src/check_kdl_parser.cpp
similarity index 96%
rename from kdl_parser/test/example.cpp
rename to kdl_parser/src/check_kdl_parser.cpp
index edb3a76..904d6bd 100644
--- a/kdl_parser/test/example.cpp
+++ b/kdl_parser/src/check_kdl_parser.cpp
@@ -43,10 +43,14 @@ using namespace KDL;
 using namespace std;
 using namespace urdf;
 
-int main()
+int main(int argc, char** argv)
 {
+  if (argc < 2){
+    std::cerr << "Expect xml file to parse" << std::endl;
+    return -1;
+  }
   Model robot_model;
-  if (!robot_model.initFile("pr2.urdf"))
+  if (!robot_model.initFile(argv[1]))
   {cerr << "Could not generate robot model" << endl; return false;}
 
   Tree my_tree;