diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index dad9792..12f4f38 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -31,14 +31,14 @@
       <child link="${prefix}base_link" />
     </joint> -->
 
-    <!-- needed for replacement to find mesh dir: package://bot_mini_description/mesh/ -->
+    <!-- needed for replacement to find mesh dir: package://cps_loki_description/mesh/ -->
 
     <!-- Base Link -->
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/base_link_visual.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/base_link_visual.stl"/>
         </geometry>
         <material name="base_link_material">
           <color rgba="0.80032179626883115375 0.81301836741632160788 0.83346199892499306383 1.0"/>
@@ -47,7 +47,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/base_link_collision.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/base_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -83,7 +83,7 @@
       <visual>
         <origin xyz="0 0 ${wheel_len}" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/wheel_link_visual.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/wheel_link_visual.stl"/>
         </geometry>
         <material name="wheel_link_material">
           <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
@@ -92,7 +92,7 @@
       <collision>
         <origin xyz="0 0 ${wheel_len}" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/wheel_link_collision.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/wheel_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -118,7 +118,7 @@
       <visual>
         <origin xyz="0 0 ${wheel_len}" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/wheel_link_2_visual.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/wheel_link_2_visual.stl"/>
         </geometry>
         <material name="wheel_link_2_material">
           <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
@@ -127,7 +127,7 @@
       <collision>
         <origin xyz="0 0 ${wheel_len}" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/wheel_link_2_collision.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/wheel_link_2_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -152,7 +152,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/caster_link_visual.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/caster_link_visual.stl"/>
         </geometry>
         <material name="caster_link_material">
           <color rgba="0.69513764518117548974 0.69513764518117548974 0.69513764518117548974 1.0"/>
@@ -161,7 +161,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/caster_link_collision.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/caster_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -176,7 +176,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="${PI} -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/laser_link_visual.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/laser_link_visual.stl"/>
         </geometry>
         <material name="laser_link_material">
           <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
@@ -185,7 +185,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="${PI} -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/laser_link_collision.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/laser_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -210,7 +210,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/camera_link_visual.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/camera_link_visual.stl"/>
         </geometry>
         <material name="camera_link_material">
           <color rgba="0.26274509803921569651 0.28235294117647058432 0.30196078431372547213 1.0"/>
@@ -219,7 +219,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="package://bot_mini_description/mesh/camera_link_collision.stl"/>
+          <mesh filename="package://cps_loki_description/mesh/camera_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
diff --git a/urdf/diffbot_description.urdf.xacro.bak3 b/urdf/diffbot_description.urdf.xacro.bak3
index dd0eab3..ec3d1af 100644
--- a/urdf/diffbot_description.urdf.xacro.bak3
+++ b/urdf/diffbot_description.urdf.xacro.bak3
@@ -31,7 +31,7 @@
       <visual>
         <origin xyz="1.2116163827517698533e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/right_motor.stl" />
         </geometry>
         <material name="right_motor_material">
           <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0" />
@@ -40,13 +40,13 @@
       <collision>
         <origin xyz="1.2116163827517698533e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/right_motor.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/motor_bar_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/motor_bar_frame.stl" />
         </geometry>
         <material name="motor_bar_frame_material">
           <color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0" />
@@ -55,13 +55,13 @@
       <collision>
         <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/motor_bar_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/motor_bar_frame.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/base_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/base_frame.stl" />
         </geometry>
         <material name="base_frame_material">
           <color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0" />
@@ -70,13 +70,13 @@
       <collision>
         <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/base_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/base_frame.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="7.952827485173360274e-17 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_motor.stl" />
         </geometry>
         <material name="left_motor_material">
           <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0" />
@@ -85,13 +85,13 @@
       <collision>
         <origin xyz="7.952827485173360274e-17 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_motor.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_connector.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_connector.stl" />
         </geometry>
         <material name="caster_connector_material">
           <color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0" />
@@ -100,13 +100,13 @@
       <collision>
         <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_connector.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_connector.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="1.1422274437126975695e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/right_motor_frame.stl" />
         </geometry>
         <material name="right_motor_frame_material">
           <color rgba="0.08627450980392156743 0.31764705882352939348 0.69019607843137253944 1.0" />
@@ -115,13 +115,13 @@
       <collision>
         <origin xyz="1.1422274437126975695e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/right_motor_frame.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="8.6467168755640818792e-17 -0.47900000000000020339 -0.04500000000000002609" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_motor_frame.stl" />
         </geometry>
         <material name="left_motor_frame_material">
           <color rgba="0.08627450980392156743 0.31764705882352939348 0.69019607843137253944 1.0" />
@@ -130,33 +130,33 @@
       <collision>
         <origin xyz="8.6467168755640818792e-17 -0.47900000000000020339 -0.04500000000000002609" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_motor_frame.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="1.1834508674736059205e-16 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/laser_frame.stl" />
         </geometry>
         <material name="orange"/>
       </visual>
       <collision>
         <origin xyz="1.1834508674736059205e-16 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/laser_frame.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_angle.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_angle.stl" />
         </geometry>
         <material name="black"/>
       </visual>
       <collision>
         <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_angle.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_angle.stl" />
         </geometry>
       </collision>
       <inertial>
@@ -179,7 +179,7 @@
       <visual>
         <origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_wheel.stl" />
         </geometry>
         <material name="left_wheel_material">
           <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0" />
@@ -220,7 +220,7 @@
       <collision>
         <origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_wheel.stl" />
         </geometry>
       </collision>
       <inertial>
@@ -244,7 +244,7 @@
       <visual>
         <origin xyz="1.1302212892091925974e-17 5.5511151231257827021e-17 0" rpy="3.141592653589793116 -8.3802055560433424155e-17 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_wheel.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_wheel.stl" />
         </geometry>
         <material name="caster_wheel_material">
           <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0" />
@@ -253,13 +253,13 @@
       <collision>
         <origin xyz="1.1302212892091925974e-17 5.5511151231257827021e-17 0" rpy="3.141592653589793116 -8.3802055560433424155e-17 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_wheel.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_wheel.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="2.6961896103443574151e-18 0 0" rpy="3.141592653589793116 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_bearing_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_bearing_frame.stl" />
         </geometry>
         <material name="caster_bearing_frame_material">
           <color rgba="0.80000000000000004441 0.80000000000000004441 0.80000000000000004441 1.0" />
@@ -268,13 +268,13 @@
       <collision>
         <origin xyz="2.6961896103443574151e-18 0 0" rpy="3.141592653589793116 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_bearing_frame.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_bearing_frame.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_left.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_frame_left.stl" />
         </geometry>
         <material name="caster_frame_left_material">
           <color rgba="0.90196078431372550543 0.90196078431372550543 0.90196078431372550543 1.0" />
@@ -283,13 +283,13 @@
       <collision>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_left.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_frame_left.stl" />
         </geometry>
       </collision>
       <visual>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_top.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_frame_top.stl" />
         </geometry>
         <material name="caster_frame_top_material">
           <color rgba="0.80000000000000004441 0.80000000000000004441 0.80000000000000004441 1.0" />
@@ -311,7 +311,7 @@
       <collision>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_right.stl" />
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_frame_right.stl" />
         </geometry>
       </collision>
       <inertial>
diff --git a/urdf/diffbot_description.urdf.xacro.bak4 b/urdf/diffbot_description.urdf.xacro.bak4
index 94e8329..d6ee7d2 100644
--- a/urdf/diffbot_description.urdf.xacro.bak4
+++ b/urdf/diffbot_description.urdf.xacro.bak4
@@ -30,14 +30,14 @@
       <child link="${prefix}base_link" />
     </joint>
 
-    <!-- needed for replacement to find mesh dir: file://$(find bot_mini_description)/mesh/ -->
+    <!-- needed for replacement to find mesh dir: file://$(find cps_loki_description)/mesh/ -->
 
     <!-- Base Link -->
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="1.2116163827517698533e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/right_motor.stl"/>
         </geometry>
         <material name="right_motor_material">
           <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
@@ -46,13 +46,13 @@
       <collision>
         <origin xyz="1.2116163827517698533e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/right_motor.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/motor_bar_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/motor_bar_frame.stl"/>
         </geometry>
         <material name="motor_bar_frame_material">
           <color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0"/>
@@ -61,13 +61,13 @@
       <collision>
         <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/motor_bar_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/motor_bar_frame.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/base_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/base_frame.stl"/>
         </geometry>
         <material name="base_frame_material">
           <color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0"/>
@@ -76,13 +76,13 @@
       <collision>
         <origin xyz="1.142227443712697323e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/base_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/base_frame.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="7.952827485173360274e-17 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_motor.stl"/>
         </geometry>
         <material name="left_motor_material">
           <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
@@ -91,13 +91,13 @@
       <collision>
         <origin xyz="7.952827485173360274e-17 -0.4790000000000002589 -0.045000000000000012212" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_motor.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_connector.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_connector.stl"/>
         </geometry>
         <material name="caster_connector_material">
           <color rgba="0.91764705882352937127 0.91764705882352937127 0.91764705882352937127 1.0"/>
@@ -106,13 +106,13 @@
       <collision>
         <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_connector.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_connector.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="1.1422274437126975695e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/right_motor_frame.stl"/>
         </geometry>
         <material name="right_motor_frame_material">
           <color rgba="0.08627450980392156743 0.31764705882352939348 0.69019607843137253944 1.0"/>
@@ -121,13 +121,13 @@
       <collision>
         <origin xyz="1.1422274437126975695e-16 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/right_motor_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/right_motor_frame.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="8.6467168755640818792e-17 -0.47900000000000020339 -0.04500000000000002609" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_motor_frame.stl"/>
         </geometry>
         <material name="left_motor_frame_material">
           <color rgba="0.08627450980392156743 0.31764705882352939348 0.69019607843137253944 1.0"/>
@@ -136,13 +136,13 @@
       <collision>
         <origin xyz="8.6467168755640818792e-17 -0.47900000000000020339 -0.04500000000000002609" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_motor_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_motor_frame.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_angle.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_angle.stl"/>
         </geometry>
         <material name="caster_angle_material">
           <color rgba="0.64705882352941179736 0.64705882352941179736 0.64705882352941179736 1.0"/>
@@ -151,7 +151,7 @@
       <collision>
         <origin xyz="7.4868290514223760072e-17 -0.47900000000000020339 -0.044999999999999998335" rpy="-5.5511151231257814695e-17 -0 3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_angle.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_angle.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -185,7 +185,7 @@
       <visual>
         <origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_wheel.stl"/>
         </geometry>
         <material name="left_wheel_material">
           <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
@@ -194,7 +194,7 @@
       <collision>
         <origin xyz="-0.10999999999999998668 0.060000000000000011657 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_wheel.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -219,7 +219,7 @@
       <visual>
         <origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_wheel.stl"/>
         </geometry>
         <material name="left_wheel_material">
           <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
@@ -228,7 +228,7 @@
       <collision>
         <origin xyz="-0.10999999999999998668 0.05999999999999999778 0.125" rpy="-1.570796326794896558 -1.570796326794896558 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/left_wheel.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/left_wheel.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -253,7 +253,7 @@
       <visual>
         <origin xyz="1.1302212892091925974e-17 5.5511151231257827021e-17 0" rpy="3.141592653589793116 -8.3802055560433424155e-17 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_wheel.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_wheel.stl"/>
         </geometry>
         <material name="caster_wheel_material">
           <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
@@ -262,13 +262,13 @@
       <collision>
         <origin xyz="1.1302212892091925974e-17 5.5511151231257827021e-17 0" rpy="3.141592653589793116 -8.3802055560433424155e-17 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_wheel.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_wheel.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="2.6961896103443574151e-18 0 0" rpy="3.141592653589793116 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_bearing_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_bearing_frame.stl"/>
         </geometry>
         <material name="caster_bearing_frame_material">
           <color rgba="0.80000000000000004441 0.80000000000000004441 0.80000000000000004441 1.0"/>
@@ -277,13 +277,13 @@
       <collision>
         <origin xyz="2.6961896103443574151e-18 0 0" rpy="3.141592653589793116 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_bearing_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_bearing_frame.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_left.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_frame_left.stl"/>
         </geometry>
         <material name="caster_frame_left_material">
           <color rgba="0.90196078431372550543 0.90196078431372550543 0.90196078431372550543 1.0"/>
@@ -292,13 +292,13 @@
       <collision>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_left.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_frame_left.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_top.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_frame_top.stl"/>
         </geometry>
         <material name="caster_frame_top_material">
           <color rgba="0.80000000000000004441 0.80000000000000004441 0.80000000000000004441 1.0"/>
@@ -307,13 +307,13 @@
       <collision>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_top.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_frame_top.stl"/>
         </geometry>
       </collision>
       <visual>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_right.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_frame_right.stl"/>
         </geometry>
         <material name="caster_frame_right_material">
           <color rgba="0.90196078431372550543 0.90196078431372550543 0.90196078431372550543 1.0"/>
@@ -322,7 +322,7 @@
       <collision>
         <origin xyz="-1.232595164407830946e-32 0 0" rpy="3.141592653589793116 4.7934256393637874986e-32 -3.141592653589793116" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_frame_right.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_frame_right.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -337,7 +337,7 @@
       <visual>
         <origin xyz="-4.1223423760908350982e-18 0.13500000000000000888 0.025000000000000001388" rpy="3.141592653589793116 -0 1.0263416486754026723e-48" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/laser_frame.stl"/>
         </geometry>
         <material name="laser_frame_material">
           <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
@@ -346,7 +346,7 @@
       <collision>
         <origin xyz="-4.1223423760908350982e-18 0.13500000000000000888 0.025000000000000001388" rpy="3.141592653589793116 -0 1.0263416486754026723e-48" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/laser_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/laser_frame.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -371,7 +371,7 @@
       <visual>
         <origin xyz="3.0814879110195773649e-32 0 0" rpy="-1.570796326794896558 2.775557561562890365e-16 -9.2444637330585569324e-33" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/camera_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/camera_frame.stl"/>
         </geometry>
         <material name="hikvision_ds-u02_material">
           <color rgba="0.26274509803921569651 0.28235294117647058432 0.30196078431372547213 1.0"/>
@@ -380,7 +380,7 @@
       <collision>
         <origin xyz="3.0814879110195773649e-32 0 0" rpy="-1.570796326794896558 2.775557561562890365e-16 -9.2444637330585569324e-33" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/camera_frame.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/camera_frame.stl"/>
         </geometry>
       </collision>
       <inertial>
diff --git a/urdf/diffbot_description.urdf.xacro.bak5 b/urdf/diffbot_description.urdf.xacro.bak5
index 0cf12ce..ea79b55 100644
--- a/urdf/diffbot_description.urdf.xacro.bak5
+++ b/urdf/diffbot_description.urdf.xacro.bak5
@@ -30,14 +30,14 @@
       <child link="${prefix}base_link" />
     </joint> -->
 
-    <!-- needed for replacement to find mesh dir: file://$(find bot_mini_description)/mesh/ -->
+    <!-- needed for replacement to find mesh dir: file://$(find cps_loki_description)/mesh/ -->
 
     <!-- Base Link -->
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/base_link_visual.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/base_link_visual.stl"/>
         </geometry>
         <material name="base_link_material">
           <color rgba="0.80032179626883115375 0.81301836741632160788 0.83346199892499306383 1.0"/>
@@ -46,7 +46,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/base_link_collision.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/base_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -81,7 +81,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_visual.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/wheel_link_visual.stl"/>
         </geometry>
         <material name="wheel_link_material">
           <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
@@ -90,7 +90,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_collision.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/wheel_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -116,7 +116,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_2_visual.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/wheel_link_2_visual.stl"/>
         </geometry>
         <material name="wheel_link_2_material">
           <color rgba="0.50196078431372548323 0.50196078431372548323 0.50196078431372548323 1.0"/>
@@ -125,7 +125,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_2_collision.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/wheel_link_2_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -150,7 +150,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_link_visual.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_link_visual.stl"/>
         </geometry>
         <material name="caster_link_material">
           <color rgba="0.69513764518117548974 0.69513764518117548974 0.69513764518117548974 1.0"/>
@@ -159,7 +159,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_link_collision.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/caster_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -174,7 +174,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/laser_link_visual.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/laser_link_visual.stl"/>
         </geometry>
         <material name="laser_link_material">
           <color rgba="0.49803921568627451677 0.49803921568627451677 0.49803921568627451677 1.0"/>
@@ -183,7 +183,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/laser_link_collision.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/laser_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -208,7 +208,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/camera_link_visual.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/camera_link_visual.stl"/>
         </geometry>
         <material name="camera_link_material">
           <color rgba="0.26274509803921569651 0.28235294117647058432 0.30196078431372547213 1.0"/>
@@ -217,7 +217,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/camera_link_collision.stl"/>
+          <mesh filename="file://$(find cps_loki_description)/mesh/camera_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
diff --git a/urdf/odrive_diffbot.urdf.xacro b/urdf/odrive_diffbot.urdf.xacro
index b5db85a..3e12d58 100644
--- a/urdf/odrive_diffbot.urdf.xacro
+++ b/urdf/odrive_diffbot.urdf.xacro
@@ -3,11 +3,11 @@
 
   <xacro:arg name="prefix" default="" />
 
-  <xacro:include filename="$(find bot_mini_description)/urdf/diffbot_description.urdf.xacro" />
+  <xacro:include filename="$(find cps_loki_description)/urdf/diffbot_description.urdf.xacro" />
 
-  <xacro:include filename="$(find bot_mini_description)/urdf/diffbot.materials.xacro" />
+  <xacro:include filename="$(find cps_loki_description)/urdf/diffbot.materials.xacro" />
 
-  <xacro:include filename="$(find bot_mini_description)/urdf/odrive.ros2_control.xacro" />
+  <xacro:include filename="$(find cps_loki_description)/urdf/odrive.ros2_control.xacro" />
 
   <xacro:diffbot prefix="$(arg prefix)" />