diff --git a/agv_pro_gazebo/launch/agv_pro.launch.py b/agv_pro_gazebo/launch/agv_pro.launch.py
index 7c3c375..5400787 100644
--- a/agv_pro_gazebo/launch/agv_pro.launch.py
+++ b/agv_pro_gazebo/launch/agv_pro.launch.py
@@ -16,7 +16,7 @@ def generate_launch_description():
     use_sim_time = LaunchConfiguration('use_sim_time')
  
     # Process the URDF file
-    pkg_path = os.path.join(get_package_share_directory('agv_pro_description'))
+    pkg_path = os.path.join(get_package_share_directory('agv_pro_gazebo'))
     xacro_file = os.path.join(pkg_path,'urdf','agv_pro.xacro')
     robot_description_config = xacro.process_file(xacro_file)
     
@@ -38,4 +38,4 @@ def generate_launch_description():
             description='Use sim time if true'),
  
         node_robot_state_publisher
-    ])
\ No newline at end of file
+    ])
diff --git a/agv_pro_gazebo/launch/agv_pro_display.launch.py b/agv_pro_gazebo/launch/agv_pro_display.launch.py
index 9218e09..2b76265 100644
--- a/agv_pro_gazebo/launch/agv_pro_display.launch.py
+++ b/agv_pro_gazebo/launch/agv_pro_display.launch.py
@@ -10,12 +10,12 @@ def generate_launch_description():
     use_rviz = LaunchConfiguration('use_rviz', default='true')
 
     rviz_config_dir = os.path.join(
-        get_package_share_directory('agv_pro_description'),
+        get_package_share_directory('agv_pro_gazebo'),
         'rviz',
         'agvpro_display.rviz')
 
     urdf_file = os.path.join(
-        get_package_share_directory('agv_pro_description'),
+        get_package_share_directory('agv_pro_gazebo'),
         'urdf',
         'agv_pro.urdf'
     )
diff --git a/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py b/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py
index 5a87c2c..78e3796 100644
--- a/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py
+++ b/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py
@@ -8,7 +8,7 @@ from launch_ros.parameter_descriptions import ParameterValue
 from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
-    pkg_name = 'agv_pro_description'
+    pkg_name = 'agv_pro_gazebo'
     pkg_dir = get_package_share_directory(pkg_name)
 
     xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
diff --git a/agv_pro_gazebo/package.xml b/agv_pro_gazebo/package.xml
index 4350707..7fe97ea 100644
--- a/agv_pro_gazebo/package.xml
+++ b/agv_pro_gazebo/package.xml
@@ -1,16 +1,17 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>agv_pro_gazebo</name>
   <version>1.0.0</version>
-  <description>URDF Description package for AGV Pro</description>
-
-  <maintainer email="weijun.xie@elephantrobotics.com">Weijun Xie</maintainer>
-  <license>BSD-3-Clause</license>
-
+  <description>
+    <p>URDF Description package for AGV pro</p>
+  </description>
+  <maintainer email="weijun.xie@elephantrobotics.com">weijun.xie</maintainer>
+  <license>BSD-3-Clause license</license>
   <!-- Build tool -->
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>xacro</buildtool_depend>
-
+  
   <!-- Build dependencies -->
   <depend>gazebo_ros_pkgs</depend>
   <depend>robot_state_publisher</depend>
@@ -25,13 +26,12 @@
   <depend>joint_state_broadcaster</depend>
   <depend>diff_drive_controller</depend>
   <depend>teleop_twist_keyboard</depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <!-- Test dependencies -->
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
-    <gazebo_ros gazebo_model_path="${prefix}/models"/>
   </export>
 </package>
diff --git a/agv_pro_gazebo/urdf/agv_pro.xacro b/agv_pro_gazebo/urdf/agv_pro.xacro
index 4935801..9cf30dd 100644
--- a/agv_pro_gazebo/urdf/agv_pro.xacro
+++ b/agv_pro_gazebo/urdf/agv_pro.xacro
@@ -27,33 +27,33 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
+        <mesh filename="file://$(find agv_pro_gazebo)/meshes/base_link.stl" />
       </geometry>
       <material name=""/>
     </visual>
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
+        <mesh filename="file://$(find agv_pro_gazebo)/meshes/base_link.stl" />
       </geometry>
     </collision>
   </link>
 
   <!-- Include wheel macros & controller definitions -->
-  <xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
+  <xacro:include filename="$(find agv_pro_gazebo)/urdf/parts/wheel_macro.xacro"/>
 
   <!-- Wheels definition -->
   <!-- Right Rear Wheel -->
-  <xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
+  <xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
 
   <!-- Right Front Wheel -->
-  <xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
+  <xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
 
   <!-- Left Front Wheel -->
-  <xacro:wheel name="left_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
+  <xacro:wheel name="left_front_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
 
   <!-- Left Rear Wheel -->
-  <xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
+  <xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
 
 
   <!-- Lidar definition -->
@@ -66,14 +66,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
+        <mesh filename="file://$(find agv_pro_gazebo)/meshes/laser_link.stl" />
       </geometry>
       <material name=""/>
     </visual>
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
+        <mesh filename="file://$(find agv_pro_gazebo)/meshes/laser_link.stl" />
       </geometry>
     </collision>
   </link>
@@ -85,8 +85,8 @@
   </joint>
 
   <!-- Include ros2_controller.xacro to define controllers -->
-  <xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
-  <xacro:include filename="$(find agv_pro_description)/urdf/ros2_controller.xacro"/>
+  <xacro:include filename="$(find agv_pro_gazebo)/urdf/parts/gazebo_control_plugin.xacro"/>
+  <xacro:include filename="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
   <xacro:ros2_controller/>
   <xacro:gazebo_control_plugin/>
 
diff --git a/agv_pro_gazebo/urdf/parts/gazebo_control_plugin.xacro b/agv_pro_gazebo/urdf/parts/gazebo_control_plugin.xacro
index 32729a1..b9a94ca 100644
--- a/agv_pro_gazebo/urdf/parts/gazebo_control_plugin.xacro
+++ b/agv_pro_gazebo/urdf/parts/gazebo_control_plugin.xacro
@@ -27,4 +27,4 @@
       </plugin>
     </gazebo>
   </xacro:macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/agv_pro_gazebo/urdf/ros2_controller.xacro b/agv_pro_gazebo/urdf/ros2_controller.xacro
index 73b7cd7..dd45646 100644
--- a/agv_pro_gazebo/urdf/ros2_controller.xacro
+++ b/agv_pro_gazebo/urdf/ros2_controller.xacro
@@ -46,7 +46,7 @@
 
         <gazebo>
             <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
-                <parameters>$(find agv_pro_description)/config/agv_control.yaml</parameters>
+                <parameters>$(find agv_pro_gazebo)/config/agv_control.yaml</parameters>
                 <ros>
                     <remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping>
                     <remapping>/omni_drive_controller/odom:=/odom</remapping>