Index: calibration_estimation/src/calibration_estimation/sensors/chain_sensor.py
===================================================================
--- calibration_estimation.orig/src/calibration_estimation/sensors/chain_sensor.py
+++ calibration_estimation/src/calibration_estimation/sensors/chain_sensor.py
@@ -135,7 +135,7 @@ class ChainSensor:
         cov_angles = [x*x for x in self._full_chain.calc_block._chain._cov_dict['joint_angles']]
         cov = matrix(Jt).T * matrix(diag(cov_angles)) * matrix(Jt)
         
-        if ( self._full_chain.calc_block._chain._cov_dict.has_key('translation') ):
+        if ( 'translation' in self._full_chain.calc_block._chain._cov_dict ):
             translation_var = self._full_chain.calc_block._chain._cov_dict['translation'];
             translation_cov = numpy.diag(translation_var*(self.get_residual_length()/3))
             cov = cov + translation_cov
Index: calibration_estimation/src/calibration_estimation/sensors/tilting_laser_sensor.py
===================================================================
--- calibration_estimation.orig/src/calibration_estimation/sensors/tilting_laser_sensor.py
+++ calibration_estimation/src/calibration_estimation/sensors/tilting_laser_sensor.py
@@ -99,7 +99,7 @@ class TiltingLaserSensor:
         gamma = matrix(zeros(cov.shape))
         num_pts = self.get_residual_length()/3
 
-        for k in range(num_pts):
+        for k in range(int(num_pts)):
             first = 3*k
             last = 3*k+3
             sub_cov = matrix(cov[first:last, first:last])
Index: calibration_estimation/test/chain_sensor_unittest.py
===================================================================
--- calibration_estimation.orig/test/chain_sensor_unittest.py
+++ calibration_estimation/test/chain_sensor_unittest.py
@@ -59,7 +59,7 @@ from numpy import *
 
 def loadSystem():
     urdf = '''
-<robot>
+<robot name="test">
   <link name="base_link"/>
   <joint name="j0" type="fixed">
     <origin xyz="0 0 0" rpy="0 0 0"/>
Index: calibration_estimation/test/full_chain_unittest.py
===================================================================
--- calibration_estimation.orig/test/full_chain_unittest.py
+++ calibration_estimation/test/full_chain_unittest.py
@@ -50,7 +50,7 @@ import numpy
 
 def loadSystem1():
     urdf = '''
-<robot>
+<robot name="test">
   <link name="base_link"/>
   <joint name="j0" type="fixed">
     <origin xyz="10 0 0" rpy="0 0 0"/>
Index: calibration_estimation/test/tilting_laser_sensor_unittest.py
===================================================================
--- calibration_estimation.orig/test/tilting_laser_sensor_unittest.py
+++ calibration_estimation/test/tilting_laser_sensor_unittest.py
@@ -74,7 +74,7 @@ class TestTiltingLaserBundler(unittest.T
 
 def loadSystem():
     urdf = '''
-<robot>
+<robot name="test">
   <link name="base_link"/>
   <joint name="j0" type="fixed">
     <origin xyz="0 0 0" rpy="0 0 0"/>
Index: calibration_estimation/test/tilting_laser_unittest.py
===================================================================
--- calibration_estimation.orig/test/tilting_laser_unittest.py
+++ calibration_estimation/test/tilting_laser_unittest.py
@@ -47,7 +47,7 @@ from numpy import *
 
 def loadSystem1():
     urdf = '''
-<robot>
+<robot name="test">
   <link name="base_link"/>
   <joint name="j0" type="fixed">
     <origin xyz="0 0 10" rpy="0 0 0"/>