diff --git a/src/robot_control/launch/gazebo_gui.launch.py b/src/robot_control/launch/gazebo_gui.launch.py
index d60ad89..502cb57 100644
--- a/src/robot_control/launch/gazebo_gui.launch.py
+++ b/src/robot_control/launch/gazebo_gui.launch.py
@@ -146,7 +146,6 @@ def generate_launch_description():
             {"use_sim_time": True},
             {"moveit_current_state_monitor.joint_state_qos": "sensor_data"},
         ],  # Pass the MoveIt config to the GUI node
-        # arguments=['--ros-args', '--log-level', 'debug'],
     )
 
     # Return the LaunchDescription
diff --git a/src/robot_control/launch/moveit_control.launch.py b/src/robot_control/launch/moveit_control.launch.py
index 43b60bc..a0cb24e 100644
--- a/src/robot_control/launch/moveit_control.launch.py
+++ b/src/robot_control/launch/moveit_control.launch.py
@@ -8,6 +8,7 @@
 
 import os
 from launch import LaunchDescription
+from ament_index_python.packages import get_package_share_directory
 from launch_ros.actions import Node
 from moveit_configs_utils import MoveItConfigsBuilder
 
@@ -22,11 +23,22 @@ def generate_launch_description():
     @return LaunchDescription object containing the nodes to launch.
     """
 
-    # Load the MoveIt configuration using MoveItConfigsBuilder
+    # Specify the name of the package and path to xacro file within the package
+    pkg_name = "robot_description"  # Name of the robot description package
+    share_dir = get_package_share_directory(
+        pkg_name
+    )  # Get the share directory of the package
+
+    # Use xacro to process the file
+    xacro_file = os.path.join(
+        share_dir, "urdf", "r5a_v_ros.urdf.xacro"
+    )  # Full path to the XACRO file
+
+    # MoveIt configuration using MoveItConfigsBuilder
     moveit_config = (
         MoveItConfigsBuilder("robot_moveit_config", package_name="robot_moveit_config")
         .robot_description(
-            file_path="config/r5a_v_ros.urdf.xacro", mappings={"use_sim_time": "true"}
+            file_path=xacro_file, mappings={"use_sim_time": "true"}
         )
         .robot_description_semantic("config/armr5.srdf")
         .robot_description_kinematics("config/kinematics.yaml")
diff --git a/src/robot_control/launch/moveit_control2.launch.py b/src/robot_control/launch/moveit_control2.launch.py
index 7775394..f1adaa4 100644
--- a/src/robot_control/launch/moveit_control2.launch.py
+++ b/src/robot_control/launch/moveit_control2.launch.py
@@ -8,6 +8,7 @@
 
 import os
 from launch import LaunchDescription
+from ament_index_python.packages import get_package_share_directory
 from launch_ros.actions import Node
 from moveit_configs_utils import MoveItConfigsBuilder
 
@@ -21,11 +22,22 @@ def generate_launch_description():
     @return LaunchDescription object containing the robot control node.
     """
 
-    # Load the MoveIt configuration using MoveItConfigsBuilder
+    # Specify the name of the package and path to xacro file within the package
+    pkg_name = "robot_description"  # Name of the robot description package
+    share_dir = get_package_share_directory(
+        pkg_name
+    )  # Get the share directory of the package
+
+    # Use xacro to process the file
+    xacro_file = os.path.join(
+        share_dir, "urdf", "r5a_v_ros.urdf.xacro"
+    )  # Full path to the XACRO file
+
+    # MoveIt configuration using MoveItConfigsBuilder
     moveit_config = (
         MoveItConfigsBuilder("robot_moveit_config", package_name="robot_moveit_config")
         .robot_description(
-            file_path="config/r5a_v_ros.urdf.xacro", mappings={"use_sim_time": "true"}
+            file_path=xacro_file, mappings={"use_sim_time": "true"}
         )
         .robot_description_semantic("config/armr5.srdf")
         .robot_description_kinematics("config/kinematics.yaml")
diff --git a/src/robot_control/launch/moveit_control_gui.launch.py b/src/robot_control/launch/moveit_control_gui.launch.py
index a129112..55c4fc1 100644
--- a/src/robot_control/launch/moveit_control_gui.launch.py
+++ b/src/robot_control/launch/moveit_control_gui.launch.py
@@ -8,6 +8,7 @@
 
 import os
 from launch import LaunchDescription
+from ament_index_python.packages import get_package_share_directory
 from launch_ros.actions import Node
 from moveit_configs_utils import MoveItConfigsBuilder
 
@@ -22,11 +23,22 @@ def generate_launch_description():
     @return LaunchDescription object containing the GUI node.
     """
 
-    # Load the MoveIt configuration using MoveItConfigsBuilder
+    # Specify the name of the package and path to xacro file within the package
+    pkg_name = "robot_description"  # Name of the robot description package
+    share_dir = get_package_share_directory(
+        pkg_name
+    )  # Get the share directory of the package
+
+    # Use xacro to process the file
+    xacro_file = os.path.join(
+        share_dir, "urdf", "r5a_v_ros.urdf.xacro"
+    )  # Full path to the XACRO file
+
+    # MoveIt configuration using MoveItConfigsBuilder
     moveit_config = (
         MoveItConfigsBuilder("robot_moveit_config", package_name="robot_moveit_config")
         .robot_description(
-            file_path="config/r5a_v_ros.urdf.xacro", mappings={"use_sim_time": "true"}
+            file_path=xacro_file, mappings={"use_sim_time": "true"}
         )
         .robot_description_semantic("config/armr5.srdf")
         .robot_description_kinematics("config/kinematics.yaml")
diff --git a/src/robot_control/launch/visual_sim.launch.py b/src/robot_control/launch/visual_sim.launch.py
index 5b7f436..eab1ad7 100644
--- a/src/robot_control/launch/visual_sim.launch.py
+++ b/src/robot_control/launch/visual_sim.launch.py
@@ -32,9 +32,9 @@ def generate_launch_description():
     This function sets up the robot description, launches Gazebo with a custom world file,
     spawns the robot entity, configures MoveIt, and starts the necessary nodes and controllers,
     including the GUI node, object detector node, and visual joint state publisher node.
-    
+
     It now accepts a parameter 'num_cameras' to determine whether to launch the single or double ArUco detector.
-    
+
     @return LaunchDescription object containing all the nodes and configurations to launch.
     """
 
@@ -77,7 +77,7 @@ def generate_launch_description():
         parameters=[robot_description, {"use_sim_time": True}],
     )
 
-    # Gazebo launch with a custom world file that includes a spotlight
+    # Gazebo Launch
     world_file_path = os.path.join(
         share_dir, "worlds", "spotlight.world"
     )  # Path to the custom world file
@@ -156,7 +156,6 @@ def generate_launch_description():
     )
 
     load_gripper_controller = ExecuteProcess(
-
         cmd=[
             "ros2",
             "control",
@@ -166,8 +165,8 @@ def generate_launch_description():
             "gripper_controller",
         ],
         output="screen",
-
     )
+
     # Launch the GUI Node
     gui_node = Node(
         package="robot_control",  # Package name containing the GUI node
@@ -177,7 +176,7 @@ def generate_launch_description():
             moveit_config.to_dict(),
             {"use_sim_time": True},
             {"moveit_current_state_monitor.joint_state_qos": "sensor_data"},
-        ],  # Pass MoveIt config to the GUI node
+        ],  # Pass the MoveIt config to the GUI node
     )
 
     # Aruco Detector Single Node
@@ -220,7 +219,6 @@ def generate_launch_description():
                 output='screen',
                 parameters=[{'use_sim_time': True}]
             ),
-
             SetParameter(name="use_sim_time", value=True),  # Enable simulation time
             RegisterEventHandler(
                 event_handler=OnProcessExit(
@@ -237,8 +235,10 @@ def generate_launch_description():
             RegisterEventHandler(
                 event_handler=OnProcessExit(
                     target_action=load_arm_controller,
-                    on_exit=[load_gripper_controller, move_group_node],  # Load gripper controller before move group
-
+                    on_exit=[
+                        load_gripper_controller,
+                        move_group_node
+                    ],  # Load gripper controller before move group
                 )
             ),
             RegisterEventHandler(
diff --git a/src/robot_description/launch/gazebo.launch.py b/src/robot_description/launch/gazebo.launch.py
index 249b408..f5ac216 100644
--- a/src/robot_description/launch/gazebo.launch.py
+++ b/src/robot_description/launch/gazebo.launch.py
@@ -34,7 +34,6 @@ def generate_launch_description():
 
     # Specify the name of the package and path to xacro file within the package
     pkg_name = "robot_description"  # Name of the robot description package
-
     share_dir = get_package_share_directory(
         pkg_name
     )  # Get the share directory of the package
@@ -58,6 +57,7 @@ def generate_launch_description():
             {"use_sim_time": True},
         ],  # Parameters
     )
+
     # Node to spawn the entity in Gazebo
     spawn_entity = Node(
         package="gazebo_ros",  # Package containing the node
@@ -70,6 +70,7 @@ def generate_launch_description():
         ],  # Arguments for spawning
         output="screen",
     )
+
     # Include the Gazebo launch file
     gazebo = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -92,6 +93,7 @@ def generate_launch_description():
         ],  # Command to load and activate joint_state_broadcaster
         output="screen",
     )
+
     load_arm_controller = ExecuteProcess(
         cmd=[
             "ros2",
diff --git a/src/robot_description/launch/gazebo_move.launch.py b/src/robot_description/launch/gazebo_move.launch.py
index 6e55f44..9b8d312 100644
--- a/src/robot_description/launch/gazebo_move.launch.py
+++ b/src/robot_description/launch/gazebo_move.launch.py
@@ -111,7 +111,7 @@ def generate_launch_description():
     moveit_config = (
         MoveItConfigsBuilder("robot_moveit_config", package_name="robot_moveit_config")
         .robot_description(
-            file_path="config/r5a_v_ros.urdf.xacro", mappings={"use_sim_time": "true"}
+            file_path=xacro_file, mappings={"use_sim_time": "true"}
         )
         .robot_description_semantic("config/armr5.srdf")
         .robot_description_kinematics("config/kinematics.yaml")