diff --git a/package.xml b/package.xml
index 7eb49d1..6f37244 100644
--- a/package.xml
+++ b/package.xml
@@ -14,5 +14,6 @@
 
   <export>
     <build_type>ament_python</build_type>
+    <gazebo_ros gazebo_model_path="${prefix}/.."/>
   </export>
 </package>
diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index 23cb691..0fc8356 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -31,14 +31,14 @@
       <child link="${prefix}base_link" />
     </joint> -->
 
-    <!-- needed for replacement to find mesh dir: file://$(find bot_mini_description)/mesh/ -->
+    <!-- needed for replacement to find mesh dir: package://bot_mini_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="package://bot_mini_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="file://$(find bot_mini_description)/mesh/base_link_collision.stl"/>
+          <mesh filename="package://bot_mini_description/mesh/base_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -83,7 +83,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_visual.stl"/>
+          <mesh filename="package://bot_mini_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 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_collision.stl"/>
+          <mesh filename="package://bot_mini_description/mesh/wheel_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -118,7 +118,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_2_visual.stl"/>
+          <mesh filename="package://bot_mini_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 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/wheel_link_2_collision.stl"/>
+          <mesh filename="package://bot_mini_description/mesh/wheel_link_2_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -152,7 +152,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/caster_link_visual.stl"/>
+          <mesh filename="package://bot_mini_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="file://$(find bot_mini_description)/mesh/caster_link_collision.stl"/>
+          <mesh filename="package://bot_mini_description/mesh/caster_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -176,7 +176,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/laser_link_visual.stl"/>
+          <mesh filename="package://bot_mini_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="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/laser_link_collision.stl"/>
+          <mesh filename="package://bot_mini_description/mesh/laser_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>
@@ -210,7 +210,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 -0 0" />
         <geometry>
-          <mesh filename="file://$(find bot_mini_description)/mesh/camera_link_visual.stl"/>
+          <mesh filename="package://bot_mini_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="file://$(find bot_mini_description)/mesh/camera_link_collision.stl"/>
+          <mesh filename="package://bot_mini_description/mesh/camera_link_collision.stl"/>
         </geometry>
       </collision>
       <inertial>