diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
index 3952064f..65669c6a 100644
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@@ -21,9 +21,13 @@ set_target_properties(urdfdom_model_state PROPERTIES SOVERSION ${URDF_MAJOR_MINO
 add_executable(check_urdf src/check_urdf.cpp)
 target_link_libraries(check_urdf urdfdom_model urdfdom_world)
 
-add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
+# Deprecated executable
+add_executable(urdf_to_graphiz src/urdf_to_graphviz.cpp)
 target_link_libraries(urdf_to_graphiz urdfdom_model)
 
+add_executable(urdf_to_graphviz src/urdf_to_graphviz.cpp)
+target_link_libraries(urdf_to_graphviz urdfdom_model)
+
 # urdf_mem_test is a binary for testing, not a unit test
 add_executable(urdf_mem_test test/memtest.cpp)
 target_link_libraries(urdf_mem_test urdfdom_model)
@@ -35,7 +39,7 @@ endif()
 
 INSTALL(TARGETS urdfdom_model DESTINATION ${CMAKE_INSTALL_LIBDIR})
 INSTALL(TARGETS urdfdom_world DESTINATION ${CMAKE_INSTALL_LIBDIR})
-INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test
+INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_to_graphviz urdf_mem_test
   DESTINATION ${CMAKE_INSTALL_BINDIR})
 INSTALL(TARGETS urdfdom_sensor DESTINATION ${CMAKE_INSTALL_LIBDIR})
 INSTALL(TARGETS urdfdom_model_state DESTINATION ${CMAKE_INSTALL_LIBDIR})
diff --git a/urdf_parser/src/urdf_to_graphiz.cpp b/urdf_parser/src/urdf_to_graphviz.cpp
similarity index 91%
rename from urdf_parser/src/urdf_to_graphiz.cpp
rename to urdf_parser/src/urdf_to_graphviz.cpp
index 5cd3c7f6..4628530c 100644
--- a/urdf_parser/src/urdf_to_graphiz.cpp
+++ b/urdf_parser/src/urdf_to_graphviz.cpp
@@ -85,15 +85,21 @@ void printTree(LinkConstSharedPtr link, string file)
 
 int main(int argc, char** argv)
 {
+  std::string executable_name(argv[0]);
+  std::string deprecated_name("urdf_to_graphiz");
+  if (deprecated_name == executable_name.substr(executable_name.size() - deprecated_name.size())) {
+    std::cerr << "WARNING: The executable named '" << deprecated_name
+              << "' is deprecated. Use 'urdf_to_graphviz' instead." << std::endl;
+  }
   if (argc < 2 || argc > 3) {
-    std::cerr << "Usage: urdf_to_graphiz input.xml [OUTPUT]"
+    std::cerr << "Usage: urdf_to_graphviz input.xml [OUTPUT]"
               << "  Will create either $ROBOT_NAME.gv & $ROBOT_NAME.pdf in CWD"
               << "  or OUTPUT.gv & OUTPUT.pdf." << std::endl;
     return -1;
   }
   if (argc != 3) {
     std::cerr << "WARNING: OUTPUT not given. This type of usage is deprecated!"
-              << "Usage: urdf_to_graphiz input.xml [OUTPUT]"
+              << "Usage: urdf_to_graphviz input.xml [OUTPUT]"
               << "  Will create either $ROBOT_NAME.gv & $ROBOT_NAME.pdf in CWD"
               << "  or OUTPUT.gv & OUTPUT.pdf." << std::endl;
   }