diff --git a/hardware_interface/test/test_component_parser.cpp b/hardware_interface/test/test_component_parser.cpp
index 5c880b9571f..f67f91308d3 100644
--- a/hardware_interface/test/test_component_parser.cpp
+++ b/hardware_interface/test/test_component_parser.cpp
@@ -775,15 +775,22 @@ TEST_F(TestComponentParser, gripper_mimic_false_valid_config)
   ASSERT_THAT(hw_info[0].mimic_joints, SizeIs(0));
 }
 
-TEST_F(TestComponentParser, urdf_two_base_links_throws_error)
+/**
+ * @brief Test that the parser throws an error if the URDF contains a link with no parent.
+ */
+TEST_F(TestComponentParser, urdf_two_root_links_throws_error)
 {
   const auto urdf_to_test =
-    std::string(ros2_control_test_assets::gripper_urdf_head_two_base_links) +
+    std::string(ros2_control_test_assets::gripper_urdf_head_invalid_two_root_links) +
     std::string(ros2_control_test_assets::gripper_hardware_resources_mimic_true_no_command_if) +
     std::string(ros2_control_test_assets::urdf_tail);
   ASSERT_THROW(parse_control_resources_from_urdf(urdf_to_test), std::runtime_error);
 }
 
+/**
+ * @brief Test that the parser throws an error if a joint defined in the ros2_control tag is missing
+ * in the URDF
+ */
 TEST_F(TestComponentParser, urdf_incomplete_throws_error)
 {
   const auto urdf_to_test =
diff --git a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
index d1860e56898..7c66aed94cb 100644
--- a/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
+++ b/ros2_control_test_assets/include/ros2_control_test_assets/descriptions.hpp
@@ -839,7 +839,7 @@ const auto gripper_urdf_head_incomplete =
   </joint>
 )";
 
-const auto gripper_urdf_head_two_base_links =
+const auto gripper_urdf_head_invalid_two_root_links =
   R"(<?xml version="1.0" ?>
 <robot name="gripper">
   <link name="world"/>