<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="joint_parsing_tag_mismatch_test_2">
  <link name="link1"/>
  <link name="link2"/>
  <joint name="ball_joint" type="ball">
    <parent link="link1"/>
    <child link="link2"/>
  </joint>
</robot>
