diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d761172b9..e301d84a2 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -57,8 +57,8 @@ if (BUILD_TESTING)
     target_sources(UNIT_Converter_TEST PRIVATE
       Converter.cc
       EmbeddedSdf.cc
-      XmlUtils.cc
-      Utils.cc)
+      Utils.cc
+      XmlUtils.cc)
   endif()
 
   if (TARGET UNIT_FrameSemantics_TEST)
diff --git a/src/Converter.cc b/src/Converter.cc
index 79ce1f1d3..ea134210e 100644
--- a/src/Converter.cc
+++ b/src/Converter.cc
@@ -84,9 +84,9 @@ void UpdatePose(tinyxml2::XMLElement *_elem,
 }
 
 /////////////////////////////////////////////////
-bool Converter::Convert(tinyxml2::XMLDocument *_doc,
+bool Converter::Convert(sdf::Errors &_errors,
+                        tinyxml2::XMLDocument *_doc,
                         const std::string &_toVersion,
-                        sdf::Errors &_errors,
                         const ParserConfig &_config,
                         bool _quiet)
 {
@@ -168,7 +168,7 @@ bool Converter::Convert(tinyxml2::XMLDocument *_doc,
       _errors.push_back({ErrorCode::CONVERSION_ERROR, ss.str()});
       return false;
     }
-    ConvertImpl(elem, xmlDoc.FirstChildElement("convert"), _errors, _config);
+    ConvertImpl(elem, xmlDoc.FirstChildElement("convert"), _config, _errors);
   }
 
   // Check that we actually converted to the desired final version.
@@ -187,9 +187,9 @@ bool Converter::Convert(tinyxml2::XMLDocument *_doc,
 }
 
 /////////////////////////////////////////////////
-void Converter::Convert(tinyxml2::XMLDocument *_doc,
+void Converter::Convert(sdf::Errors &_errors,
+                        tinyxml2::XMLDocument *_doc,
                         tinyxml2::XMLDocument *_convertDoc,
-                        sdf::Errors &_errors,
                         const ParserConfig &_config)
 {
   if (_doc == NULL)
@@ -204,14 +204,14 @@ void Converter::Convert(tinyxml2::XMLDocument *_doc,
   }
 
   ConvertImpl(_doc->FirstChildElement(), _convertDoc->FirstChildElement(),
-              _errors, _config);
+              _config, _errors);
 }
 
 /////////////////////////////////////////////////
 void Converter::ConvertDescendantsImpl(tinyxml2::XMLElement *_e,
                                        tinyxml2::XMLElement *_c,
-                                       sdf::Errors &_errors,
-                                       const ParserConfig &_config)
+                                       const ParserConfig &_config,
+                                       sdf::Errors &_errors)
 {
   if (!_c->Attribute("descendant_name"))
   {
@@ -233,9 +233,9 @@ void Converter::ConvertDescendantsImpl(tinyxml2::XMLElement *_e,
   {
     if (strcmp(e->Name(), _c->Attribute("descendant_name")) == 0)
     {
-      ConvertImpl(e, _c, _errors, _config);
+      ConvertImpl(e, _c, _config, _errors);
     }
-    ConvertDescendantsImpl(e, _c, _errors, _config);
+    ConvertDescendantsImpl(e, _c, _config, _errors);
     e = e->NextSiblingElement();
   }
 }
@@ -243,8 +243,8 @@ void Converter::ConvertDescendantsImpl(tinyxml2::XMLElement *_e,
 /////////////////////////////////////////////////
 void Converter::ConvertImpl(tinyxml2::XMLElement *_elem,
                             tinyxml2::XMLElement *_convert,
-                            sdf::Errors &_errors,
-                            const ParserConfig &_config)
+                            const ParserConfig &_config,
+                            sdf::Errors &_errors)
 {
   if (_elem == NULL)
   {
@@ -257,7 +257,7 @@ void Converter::ConvertImpl(tinyxml2::XMLElement *_elem,
     return;
   }
 
-  CheckDeprecation(_elem, _convert, _errors, _config);
+  CheckDeprecation(_elem, _convert, _config, _errors);
 
   for (auto *convertElem = _convert->FirstChildElement("convert");
        convertElem; convertElem = convertElem->NextSiblingElement("convert"))
@@ -268,13 +268,13 @@ void Converter::ConvertImpl(tinyxml2::XMLElement *_elem,
           convertElem->Attribute("name"));
       while (elem)
       {
-        ConvertImpl(elem, convertElem, _errors, _config);
+        ConvertImpl(elem, convertElem, _config, _errors);
         elem = elem->NextSiblingElement(convertElem->Attribute("name"));
       }
     }
     if (convertElem->Attribute("descendant_name"))
     {
-      ConvertDescendantsImpl(_elem, convertElem, _errors, _config);
+      ConvertDescendantsImpl(_elem, convertElem, _config, _errors);
     }
   }
 
@@ -305,11 +305,11 @@ void Converter::ConvertImpl(tinyxml2::XMLElement *_elem,
     }
     else if (name == "remove")
     {
-      Remove(_elem, childElem, _errors);
+      Remove(_errors, _elem, childElem);
     }
     else if (name == "remove_empty")
     {
-      Remove(_elem, childElem, _errors, true);
+      Remove(_errors, _elem, childElem, true);
     }
     else if (name == "unflatten")
     {
@@ -747,9 +747,9 @@ void Converter::Add(tinyxml2::XMLElement *_elem,
 }
 
 /////////////////////////////////////////////////
-void Converter::Remove(tinyxml2::XMLElement *_elem,
+void Converter::Remove(sdf::Errors &_errors,
+                       tinyxml2::XMLElement *_elem,
                        tinyxml2::XMLElement *_removeElem,
-                       sdf::Errors &_errors,
                        bool _removeOnlyEmpty)
 {
   if (_elem == NULL)
@@ -1207,8 +1207,8 @@ const char *Converter::GetValue(const char *_valueElem, const char *_valueAttr,
 /////////////////////////////////////////////////
 void Converter::CheckDeprecation(tinyxml2::XMLElement *_elem,
                                  tinyxml2::XMLElement *_convert,
-                                 sdf::Errors &_errors,
-                                 const ParserConfig &_config)
+                                 const ParserConfig &_config,
+                                 sdf::Errors &_errors)
 {
   // Process deprecated elements
   for (auto *deprecatedElem = _convert->FirstChildElement("deprecated");
diff --git a/src/Converter.hh b/src/Converter.hh
index 0a09f1976..cfba5413f 100644
--- a/src/Converter.hh
+++ b/src/Converter.hh
@@ -36,14 +36,14 @@ namespace sdf
   class Converter
   {
     /// \brief Convert SDF to the specified version.
+    /// \param[out] _errors Vector of errors.
     /// \param[in] _doc SDF xml doc
     /// \param[in] _toVersion Version number in string format.
-    /// \param[out] _errors Vector of errors.
     /// \param[in] _config Parser configuration.
     /// \param[in] _quiet False to be more verbose.
-    public: static bool Convert(tinyxml2::XMLDocument *_doc,
+    public: static bool Convert(sdf::Errors &_errors,
+                                tinyxml2::XMLDocument *_doc,
                                 const std::string &_toVersion,
-                                sdf::Errors &_errors,
                                 const ParserConfig &_config,
                                 bool _quiet = false);
 
@@ -51,36 +51,36 @@ namespace sdf
     /// This is an internal function.
     /// \brief Generic convert function that converts the SDF based on the
     /// given Convert file.
+    /// \param[out] _errors Vector of errors.
     /// \param[in] _doc SDF xml doc
     /// \param[in] _convertDoc Convert xml doc
-    /// \param[out] _errors Vector of errors.
     /// \param[in] _config Parser configuration.
-    public: static void Convert(tinyxml2::XMLDocument *_doc,
+    public: static void Convert(sdf::Errors &_errors,
+                                tinyxml2::XMLDocument *_doc,
                                 tinyxml2::XMLDocument *_convertDoc,
-                                sdf::Errors &_errors,
                                 const ParserConfig &_config);
     /// \endcond
 
     /// \brief Implementation of Convert functionality.
     /// \param[in] _elem SDF xml element tree to convert.
     /// \param[in] _convert Convert xml element tree.
-    /// \param[out] _errors Vector of errors.
     /// \param[in] _config Parser configuration.
+    /// \param[out] _errors Vector of errors.
     private: static void ConvertImpl(tinyxml2::XMLElement *_elem,
                                      tinyxml2::XMLElement *_convert,
-                                     sdf::Errors &_errors,
-                                     const ParserConfig &_config);
+                                     const ParserConfig &_config,
+                                     sdf::Errors &_errors);
 
     /// \brief Recursive helper function for ConvertImpl that converts
     /// elements named by the descendant_name attribute.
     /// \param[in] _e SDF xml element tree to convert.
     /// \param[in] _c Convert xml element tree.
-    /// \param[out] _errors Vector of errors.
     /// \param[in] _config Parser configuration.
+    /// \param[out] _errors Vector of errors.
     private: static void ConvertDescendantsImpl(tinyxml2::XMLElement *_e,
                                                 tinyxml2::XMLElement *_c,
-                                                sdf::Errors &_errors,
-                                                const ParserConfig &_config);
+                                                const ParserConfig &_config,
+                                                sdf::Errors &_errors);
 
     /// \brief Rename an element or attribute.
     /// \param[in] _elem The element to be renamed, or the element which
@@ -107,8 +107,8 @@ namespace sdf
     /// be moved.
     /// \param[in] _moveElem A 'convert' element that describes the move
     /// operation.
-    /// \param[out] _errors Vector of errors.
     /// \param[in] _copy True to copy the element
+    /// \param[out] _errors Vector of errors.
     private: static void Move(tinyxml2::XMLElement *_elem,
                               tinyxml2::XMLElement *_moveElem,
                               const bool _copy,
@@ -124,15 +124,15 @@ namespace sdf
                              sdf::Errors &_errors);
 
     /// \brief Remove an attribute or elements.
+    /// \param[out] _errors Vector of Errors.
     /// \param[in] _elem The element from which data may be removed.
     /// \param[in] _removeElem The metadata about what to remove.
-    /// \param[out] _errors Vector of Errors.
     /// \param[in] _removeOnlyEmpty If true, only remove an attribute
     /// containing an empty string or elements that contain neither value nor
     /// child elements nor attributes.
-    private: static void Remove(tinyxml2::XMLElement *_elem,
+    private: static void Remove(sdf::Errors &_errors,
+                                tinyxml2::XMLElement *_elem,
                                 tinyxml2::XMLElement *_removeElem,
-                                sdf::Errors &_errors,
                                 bool _removeOnlyEmpty = false);
 
     /// \brief Unflatten an element (conversion from SDFormat <= 1.7 to 1.8)
@@ -159,8 +159,8 @@ namespace sdf
 
     private: static void CheckDeprecation(tinyxml2::XMLElement *_elem,
                                           tinyxml2::XMLElement *_convert,
-                                          sdf::Errors &_errors,
-                                          const ParserConfig &_config);
+                                          const ParserConfig &_config,
+                                          sdf::Errors &_errors);
   };
   }
 }
diff --git a/src/Converter_TEST.cc b/src/Converter_TEST.cc
index 11e871943..521c63b49 100644
--- a/src/Converter_TEST.cc
+++ b/src/Converter_TEST.cc
@@ -108,7 +108,7 @@ TEST(Converter, MoveElemElem)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -157,7 +157,7 @@ TEST(Converter, MoveElemAttr)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc2, &convertXmlDoc2, errors, parserConfig);
+  sdf::Converter::Convert(errors,  &xmlDoc2, &convertXmlDoc2, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -206,7 +206,7 @@ TEST(Converter, MoveAttrAttr)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc3, &convertXmlDoc3, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc3, &convertXmlDoc3, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -258,7 +258,7 @@ TEST(Converter, MoveAttrElem)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc4, &convertXmlDoc4, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc4, &convertXmlDoc4, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -308,7 +308,7 @@ TEST(Converter, MoveElemElemMultipleLevels)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc5, &convertXmlDoc5, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc5, &convertXmlDoc5, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -354,7 +354,7 @@ TEST(Converter, MoveAttrAttrMultipleLevels)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc6, &convertXmlDoc6, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc6, &convertXmlDoc6, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -403,7 +403,7 @@ TEST(Converter, MoveElemAttrMultipleLevels)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc7, &convertXmlDoc7, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc7, &convertXmlDoc7, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -449,7 +449,7 @@ TEST(Converter, MoveAttrElemMultipleLevels)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc8, &convertXmlDoc8, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc8, &convertXmlDoc8, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -518,7 +518,7 @@ TEST(Converter, Add)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -572,7 +572,7 @@ TEST(Converter, AddNoElem)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   ASSERT_EQ(errors.size(), 1u);
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::CONVERSION_ERROR);
   EXPECT_NE(std::string::npos, errors[0].Message().find(
@@ -628,7 +628,7 @@ TEST(Converter, AddNoValue)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   ASSERT_EQ(errors.size(), 1u);
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::CONVERSION_ERROR);
   EXPECT_NE(std::string::npos,
@@ -694,7 +694,7 @@ TEST(Converter, RemoveElement)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -754,7 +754,7 @@ TEST(Converter, RemoveDescendantElement)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -817,7 +817,7 @@ TEST(Converter, RemoveEmptyElement)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -892,7 +892,7 @@ TEST(Converter, RemoveEmptyDescendantElement)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -969,7 +969,7 @@ TEST(Converter, RemoveDescendantNestedElement)
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
 
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -1039,7 +1039,7 @@ TEST(Converter, DescendantIgnorePluginOrNamespacedElements)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -1113,7 +1113,7 @@ TEST(Converter, RemoveElementSubElement)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -1170,7 +1170,7 @@ TEST(Converter, RemoveAttr)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -1233,7 +1233,7 @@ TEST(Converter, RemoveEmptyAttr)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -1282,7 +1282,7 @@ TEST(Converter, RemoveNoElement)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   ASSERT_EQ(errors.size(), 1u);
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::CONVERSION_ERROR);
   EXPECT_NE(std::string::npos, errors[0].Message().find(
@@ -1348,7 +1348,7 @@ TEST(Converter, MoveInvalid)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -1415,7 +1415,7 @@ TEST(Converter, MoveInvalidPrefix)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -1483,7 +1483,7 @@ TEST(Converter, CopyElemElem)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -1668,7 +1668,7 @@ TEST(Converter, MapInvalid)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   ASSERT_EQ(errors.size(), 16u);
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::CONVERSION_ERROR);
   EXPECT_NE(std::string::npos,
@@ -1838,7 +1838,7 @@ TEST(Converter, MapElemElem)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -1900,7 +1900,7 @@ TEST(Converter, MapElemAttr)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc2, &convertXmlDoc2, errors, parserConfig);
+  sdf::Converter::Convert(errors,  &xmlDoc2, &convertXmlDoc2, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -1954,7 +1954,7 @@ TEST(Converter, MapAttrAttr)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc3, &convertXmlDoc3, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc3, &convertXmlDoc3, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2015,7 +2015,7 @@ TEST(Converter, MapAttrElem)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc4, &convertXmlDoc4, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc4, &convertXmlDoc4, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2073,7 +2073,7 @@ TEST(Converter, MapElemElemMultipleLevels)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc5, &convertXmlDoc5, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc5, &convertXmlDoc5, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2128,7 +2128,7 @@ TEST(Converter, MapAttrAttrMultipleLevels)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc6, &convertXmlDoc6, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc6, &convertXmlDoc6, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2186,7 +2186,7 @@ TEST(Converter, MapElemAttrMultipleLevels)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc7, &convertXmlDoc7, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc7, &convertXmlDoc7, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2241,7 +2241,7 @@ TEST(Converter, MapAttrElemMultipleLevels)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc8, &convertXmlDoc8, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc8, &convertXmlDoc8, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2313,7 +2313,7 @@ TEST(Converter, RenameElemElem)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2362,7 +2362,7 @@ TEST(Converter, RenameAttrAttr)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc3, &convertXmlDoc3, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc3, &convertXmlDoc3, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2410,7 +2410,7 @@ TEST(Converter, RenameNoFrom)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc3, &convertXmlDoc3, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc3, &convertXmlDoc3, parserConfig);
   EXPECT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2458,7 +2458,7 @@ TEST(Converter, RenameNoTo)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc3, &convertXmlDoc3, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc3, &convertXmlDoc3, parserConfig);
   ASSERT_EQ(errors.size(), 1u);
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::CONVERSION_ERROR);
   EXPECT_NE(std::string::npos,
@@ -2497,7 +2497,7 @@ TEST(Converter, GazeboToSDF)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  EXPECT_FALSE(sdf::Converter::Convert(&xmlDoc, "1.3", errors, parserConfig));
+  EXPECT_FALSE(sdf::Converter::Convert(errors, &xmlDoc, "1.3", parserConfig));
   ASSERT_EQ(errors.size(), 1u);
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::CONVERSION_ERROR);
   EXPECT_NE(std::string::npos,
@@ -2518,21 +2518,21 @@ TEST(Converter, NullDoc)
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
 
   sdf::Errors errors;
-  sdf::Converter::Convert(nullptr, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, nullptr, &convertXmlDoc, parserConfig);
   ASSERT_EQ(errors.size(), 1u);
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::FATAL_ERROR);
   EXPECT_NE(std::string::npos,
             errors[0].Message().find("SDF XML doc is NULL"));
   errors.clear();
 
-  sdf::Converter::Convert(&xmlDoc, nullptr, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, nullptr, parserConfig);
   ASSERT_EQ(errors.size(), 1u);
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::FATAL_ERROR);
   EXPECT_NE(std::string::npos,
             errors[0].Message().find("Convert XML doc is NULL"));
   errors.clear();
 
-  sdf::Converter::Convert(nullptr, "1.4", errors, parserConfig);
+  sdf::Converter::Convert(errors, nullptr, "1.4", parserConfig);
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::FATAL_ERROR);
   EXPECT_NE(std::string::npos,
             errors[0].Message().find("SDF XML doc is NULL"));
@@ -2557,7 +2557,7 @@ TEST(Converter, NoVersion)
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
 
   sdf::Errors errors;
-  ASSERT_FALSE(sdf::Converter::Convert(&xmlDoc, "1.3", errors, parserConfig));
+  ASSERT_FALSE(sdf::Converter::Convert(errors, &xmlDoc, "1.3", parserConfig));
   ASSERT_EQ(errors.size(), 1u);
   EXPECT_EQ(errors[0].Code(), sdf::ErrorCode::CONVERSION_ERROR);
   EXPECT_NE(std::string::npos, errors[0].Message().find(
@@ -2585,7 +2585,7 @@ TEST(Converter, SameVersion)
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
 
   sdf::Errors errors;
-  ASSERT_TRUE(sdf::Converter::Convert(&xmlDoc, "1.3", errors, parserConfig));
+  ASSERT_TRUE(sdf::Converter::Convert(errors, &xmlDoc, "1.3", parserConfig));
   ASSERT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2613,7 +2613,7 @@ TEST(Converter, NewerVersion)
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
 
   sdf::Errors errors;
-  ASSERT_TRUE(sdf::Converter::Convert(&xmlDoc, "1.6", errors, parserConfig));
+  ASSERT_TRUE(sdf::Converter::Convert(errors, &xmlDoc, "1.6", parserConfig));
   ASSERT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2635,7 +2635,7 @@ TEST(Converter, MuchNewerVersion)
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
 
   sdf::Errors errors;
-  ASSERT_TRUE(sdf::Converter::Convert(&xmlDoc, "1.6", errors, parserConfig));
+  ASSERT_TRUE(sdf::Converter::Convert(errors, &xmlDoc, "1.6", parserConfig));
   ASSERT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2699,7 +2699,7 @@ TEST(Converter, IMU_15_to_16)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   ASSERT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2804,7 +2804,7 @@ TEST(Converter, World_15_to_16)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   ASSERT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2871,7 +2871,7 @@ TEST(Converter, Pose_16_to_17)
   sdf::ParserConfig parserConfig;
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   ASSERT_TRUE(errors.empty());
   // Check nothing has been printed
   EXPECT_TRUE(buffer.str().empty()) << buffer.str();
@@ -2968,7 +2968,7 @@ TEST(Converter, World_17_to_18)
   parserConfig.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
 
   sdf::Errors errors;
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   ASSERT_TRUE(errors.empty());
 
   // Compare converted xml with expected
@@ -3107,7 +3107,7 @@ TEST(Converter, World_17_to_18)
   xmlDoc.Clear();
   xmlDoc.Parse(xmlString.c_str());
 
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   ASSERT_TRUE(errors.empty());
 
   // Compare converted xml with expected
@@ -3211,7 +3211,7 @@ TEST(Converter, World_17_to_18)
   xmlDoc.Parse(xmlString.c_str());
 
 
-  sdf::Converter::Convert(&xmlDoc, &convertXmlDoc, errors, parserConfig);
+  sdf::Converter::Convert(errors, &xmlDoc, &convertXmlDoc, parserConfig);
   ASSERT_TRUE(errors.empty());
 
   // Check nothing has been printed during Convert calls
diff --git a/src/parser.cc b/src/parser.cc
index d0b022049..91b64478c 100644
--- a/src/parser.cc
+++ b/src/parser.cc
@@ -952,7 +952,7 @@ bool readDoc(tinyxml2::XMLDocument *_xmlDoc, SDFPtr _sdf,
         && strcmp(sdfNode->Attribute("version"), SDF::Version().c_str()) != 0)
     {
       sdfdbg << "Converting a deprecated source[" << _source << "].\n";
-      Converter::Convert(_xmlDoc, SDF::Version(), _errors, _config);
+      Converter::Convert(_errors, _xmlDoc, SDF::Version(), _config);
     }
 
     auto *elemXml = _xmlDoc->FirstChildElement(_sdf->Root()->GetName().c_str());
@@ -1042,7 +1042,7 @@ bool readDoc(tinyxml2::XMLDocument *_xmlDoc, ElementPtr _sdf,
     {
       sdfdbg << "Converting a deprecated SDF source[" << _source << "].\n";
 
-      Converter::Convert(_xmlDoc, SDF::Version(), _errors, _config);
+      Converter::Convert(_errors, _xmlDoc, SDF::Version(), _config);
     }
 
     tinyxml2::XMLElement *elemXml = sdfNode;
@@ -1989,7 +1989,7 @@ bool convertFile(const std::string &_filename, const std::string &_version,
 
     _sdf->SetOriginalVersion(originalVersion);
 
-    if (sdf::Converter::Convert(&xmlDoc, _version, _errors, _config, true))
+    if (sdf::Converter::Convert(_errors, &xmlDoc, _version, _config, true))
     {
       bool result =
           sdf::readDoc(&xmlDoc, _sdf, filename, false, _config, _errors);
@@ -2051,7 +2051,7 @@ bool convertString(const std::string &_sdfString, const std::string &_version,
 
     _sdf->SetOriginalVersion(originalVersion);
 
-    if (sdf::Converter::Convert(&xmlDoc, _version, _errors, _config, true))
+    if (sdf::Converter::Convert(_errors, &xmlDoc, _version, _config, true))
     {
       bool result = sdf::readDoc(&xmlDoc, _sdf, std::string(kSdfStringSource),
                                  false, _config, _errors);