Semantic role labeling (SRL) is an important module of spoken language understanding systems. This work extends the standard evaluation metrics for joint dependency parsing and SRL of text in order to be able to handle speech recognition output with word errors and sentence segmentation errors. We propose metrics based on word alignments and bags of relations, and compare their results on the output of several SRL systems on broadcast news and conversations of the OntoNotes corpus. We evaluate and analyze the relation between the performance of the subtasks that lead to SRL, including ASR, part-of-speech tagging or sentence segmentation. The tools are made available to the community.