diff --git a/.github/workflows/ci-bionic.yml b/.github/workflows/ci-bionic.yml
index c708c1325e..50b9c56611 100644
--- a/.github/workflows/ci-bionic.yml
+++ b/.github/workflows/ci-bionic.yml
@@ -1,6 +1,6 @@
 name: Ubuntu CI
 
-on: [push]
+on: [push, pull_request]
 
 jobs:
   bionic-ci:
diff --git a/src/Conversions.cc b/src/Conversions.cc
index 778fd94d19..b5cc4b1ca5 100644
--- a/src/Conversions.cc
+++ b/src/Conversions.cc
@@ -570,14 +570,6 @@ msgs::Axis ignition::gazebo::convert(const sdf::JointAxis &_in)
 {
   msgs::Axis out;
   msgs::Set(out.mutable_xyz(), _in.Xyz());
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
-  out.set_use_parent_model_frame(_in.UseParentModelFrame());
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
   out.set_xyz_expressed_in(_in.XyzExpressedIn());
   out.set_damping(_in.Damping());
   out.set_friction(_in.Friction());
@@ -606,15 +598,10 @@ template<>
 sdf::JointAxis ignition::gazebo::convert(const msgs::Axis &_in)
 {
   sdf::JointAxis out;
-  out.SetXyz(msgs::Convert(_in.xyz()));
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#endif
-  out.SetUseParentModelFrame(_in.use_parent_model_frame());
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#endif
+  sdf::Errors errors = out.SetXyz(msgs::Convert(_in.xyz()));
+  for (const auto &err : errors) {
+    ignerr << err.Message() << std::endl;
+  }
   out.SetXyzExpressedIn(_in.xyz_expressed_in());
   out.SetDamping(_in.damping());
   out.SetFriction(_in.friction());
diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc
index 2227692e6d..b25232fed2 100644
--- a/src/Conversions_TEST.cc
+++ b/src/Conversions_TEST.cc
@@ -434,7 +434,7 @@ TEST(Conversions, Inertial)
 TEST(Conversions, JointAxis)
 {
   sdf::JointAxis jointAxis;
-  jointAxis.SetXyz(math::Vector3d(1, 2, 3));
+  EXPECT_TRUE(jointAxis.SetXyz(math::Vector3d(1, 2, 3)).empty());
   jointAxis.SetXyzExpressedIn("__model__");
   jointAxis.SetDamping(0.1);
   jointAxis.SetFriction(0.2);
@@ -444,7 +444,7 @@ TEST(Conversions, JointAxis)
   jointAxis.SetMaxVelocity(0.6);
 
   auto axisMsg = convert<msgs::Axis>(jointAxis);
-  EXPECT_EQ(math::Vector3d(1, 2, 3), msgs::Convert(axisMsg.xyz()));
+  EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), msgs::Convert(axisMsg.xyz()));
   EXPECT_DOUBLE_EQ(0.1, axisMsg.damping());
   EXPECT_DOUBLE_EQ(0.2, axisMsg.friction());
   EXPECT_DOUBLE_EQ(0.3, axisMsg.limit_lower());
@@ -454,7 +454,7 @@ TEST(Conversions, JointAxis)
   EXPECT_EQ(axisMsg.xyz_expressed_in(), "__model__");
 
   auto newJointAxis = convert<sdf::JointAxis>(axisMsg);
-  EXPECT_EQ(math::Vector3d(1, 2, 3), newJointAxis.Xyz());
+  EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), newJointAxis.Xyz());
   EXPECT_DOUBLE_EQ(0.1, newJointAxis.Damping());
   EXPECT_DOUBLE_EQ(0.2, newJointAxis.Friction());
   EXPECT_DOUBLE_EQ(0.3, newJointAxis.Lower());
diff --git a/test/integration/components.cc b/test/integration/components.cc
index 2f99c6d4ef..2b593e7c54 100644
--- a/test/integration/components.cc
+++ b/test/integration/components.cc
@@ -525,7 +525,7 @@ TEST_F(ComponentsTest, Joint)
 TEST_F(ComponentsTest, JointAxis)
 {
   auto data1 = sdf::JointAxis();
-  data1.SetXyz(math::Vector3d(1, 2, 3));
+  EXPECT_TRUE(data1.SetXyz(math::Vector3d(1, 2, 3)).empty());
   data1.SetXyzExpressedIn("__model__");
   data1.SetDamping(0.1);
   data1.SetFriction(0.2);
@@ -551,7 +551,7 @@ TEST_F(ComponentsTest, JointAxis)
   components::JointAxis comp3;
   comp3.Deserialize(istr);
 
-  EXPECT_EQ(math::Vector3d(1, 2, 3), comp3.Data().Xyz());
+  EXPECT_EQ(math::Vector3d(1, 2, 3).Normalized(), comp3.Data().Xyz());
   EXPECT_DOUBLE_EQ(0.1, comp3.Data().Damping());
   EXPECT_DOUBLE_EQ(0.2, comp3.Data().Friction());
   EXPECT_DOUBLE_EQ(0.3, comp3.Data().Lower());