diff --git a/README.md b/README.md
index 5d7d4d540..5630f9a1a 100644
--- a/README.md
+++ b/README.md
@@ -89,7 +89,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | ❌   | ✅   | `add_world_transform`        | Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots). <br/> ***bool:*** `False`                                                                                                                                                                                |
 | ✅   | ✅   | `animations_config_path`     | Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations. <br/> ***string:*** [`{robot_model}_animations.yaml`](./husarion_ugv_lights/config)                                                                           |
 | ❌   | ✅   | `battery_config_path`        | Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only. <br/> ***string:*** `None`                                                                                                                                                                |
-| ✅   | ✅   | `components_config_path`     | Additional components configuration file. Components described in this file are dynamically included in robot's URDF. Available options are described in [the manual](https://husarion.com/manuals/panther/panther-options). <br/> ***string:*** [`components.yaml`](./husarion_ugv_description/config/components.yaml) |
+| ✅   | ✅   | `components_config_path`     | Additional components configuration file. Components described in this file are dynamically included in robot's URDF. Available options are described in [the manual](https://husarion.com/manuals/panther/panther-options). <br/> ***string:*** [`components.yaml`](./husarion_ugv_descriptions/config/components.yaml) |
 | ✅   | ✅   | `controller_config_path`     | Path to controller configuration file. A path to custom configuration can be specified here. <br/> ***string:*** [`{wheel_type}_controller.yaml`](./husarion_ugv_controller/config/)                                                                                                                               |
 | ✅   | ✅   | `disable_manager`            | Enable or disable manager_bt_node. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                       |
 | ✅   | ✅   | `fuse_gps`                   | Include GPS for data fusion. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                             |
@@ -111,7 +111,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | ❌   | ✅   | `use_rviz`                   | Run RViz simultaneously. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                                                   |
 | ✅   | ✅   | `use_sim`                    | Whether simulation is used. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                              |
 | ✅   | ✅   | `user_led_animations_path`   | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''`                                                                                                                                                                                                                    |
-| ✅   | ✅   | `wheel_config_path`          | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./husarion_ugv_description/config)                                                                                                                                                                                                          |
+| ✅   | ✅   | `wheel_config_path`          | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./husarion_ugv_descriptions/config)                                                                                                                                                                                                          |
 | ✅   | ✅   | `wheel_type`                 | Specify the wheel type. If the selected wheel type is not 'custom', the wheel_config_path and controller_config_path arguments will be automatically adjusted and can be omitted. <br/> ***string:*** `WH01` (for Panther), `WH05` (for Lynx) (choices: `WH01`, `WH02`, `WH04`, `WH05`, `custom`)                  |
 | ❌   | ✅   | `x`                          | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                            |
 | ❌   | ✅   | `y`                          | Initial robot position in the global 'y' axis. <br/> ***float:***` -2.0`                                                                                                                                                                                                                                           |
diff --git a/husarion_ugv_controller/CONFIGURATION.md b/husarion_ugv_controller/CONFIGURATION.md
index 360e25c98..49e29dd4e 100644
--- a/husarion_ugv_controller/CONFIGURATION.md
+++ b/husarion_ugv_controller/CONFIGURATION.md
@@ -6,4 +6,4 @@ The default drive controller is based on [diff_drive_controller](https://control
 
 ## Changing Wheel Type
 
-Changing wheel types is possible and can be done for both the real robot and the simulation. By default, three types of wheels are supported using the launch argument `wheel_type`. If you want to use custom wheels, all you need to do is point to the new wheel and controller configuration files using the `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default files, i.e. [WH01_controller.yaml](./config/WH01_controller.yaml) and [WH01.yaml](../husarion_ugv_description/config/WH01.yaml).
+Changing wheel types is possible and can be done for both the real robot and the simulation. By default, three types of wheels are supported using the launch argument `wheel_type`. If you want to use custom wheels, all you need to do is point to the new wheel and controller configuration files using the `wheel_config_path` and `controller_config_path` parameters. These files should be based on the default files, i.e. [WH01_controller.yaml](./config/WH01_controller.yaml) and [WH01.yaml](../husarion_ugv_descriptions/config/WH01.yaml).
diff --git a/husarion_ugv_controller/launch/controller.launch.py b/husarion_ugv_controller/launch/controller.launch.py
index e82d93eb8..2cfee29a1 100644
--- a/husarion_ugv_controller/launch/controller.launch.py
+++ b/husarion_ugv_controller/launch/controller.launch.py
@@ -122,14 +122,14 @@ def generate_launch_description():
         "wheel_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare("husarion_ugv_description"),
+                FindPackageShare("husarion_ugv_descriptions"),
                 "config",
                 PythonExpression(["'", wheel_type, ".yaml'"]),
             ]
         ),
         description=(
             "Path to wheel configuration file. By default, it is located in "
-            "'husarion_ugv_description/config/{wheel_type}.yaml'. You can also specify the path "
+            "'husarion_ugv_descriptions/config/{wheel_type}.yaml'. You can also specify the path "
             "to your custom wheel configuration file here. "
         ),
     )
@@ -159,7 +159,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare("husarion_ugv_description"), "urdf", urdf_file]
+                [FindPackageShare("husarion_ugv_descriptions"), "urdf", urdf_file]
             ),
             " use_sim:=",
             use_sim,
diff --git a/husarion_ugv_controller/package.xml b/husarion_ugv_controller/package.xml
index 0e0c4519c..33fb991db 100644
--- a/husarion_ugv_controller/package.xml
+++ b/husarion_ugv_controller/package.xml
@@ -18,7 +18,7 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
-  <exec_depend>husarion_ugv_description</exec_depend>
+  <exec_depend>husarion_ugv_descriptions</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == hardware">husarion_ugv_hardware_interfaces</exec_depend>
   <exec_depend>imu_sensor_broadcaster</exec_depend>
   <exec_depend>joint_state_broadcaster</exec_depend>
diff --git a/husarion_ugv_description/CMakeLists.txt b/husarion_ugv_description/CMakeLists.txt
index 9f7e7d4a7..8881ede9e 100644
--- a/husarion_ugv_description/CMakeLists.txt
+++ b/husarion_ugv_description/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10.2)
-project(husarion_ugv_description)
+project(husarion_ugv_descriptions)
 
 find_package(ament_cmake REQUIRED)
 
diff --git a/husarion_ugv_description/README.md b/husarion_ugv_description/README.md
index 9cf7a1e03..976e4ca41 100644
--- a/husarion_ugv_description/README.md
+++ b/husarion_ugv_description/README.md
@@ -1,4 +1,4 @@
-# husarion_ugv_description
+# husarion_ugv_descriptions
 
 The package contains URDF files responsible for creating a representation of the robot by specifying the relationships and types of connections (joints) between individual links. It also contains information about the robot's mesh.
 
diff --git a/husarion_ugv_description/config/WH01.yaml b/husarion_ugv_description/config/WH01.yaml
index e5bbdd1c1..57ae5c43e 100644
--- a/husarion_ugv_description/config/WH01.yaml
+++ b/husarion_ugv_description/config/WH01.yaml
@@ -4,6 +4,6 @@ wheel_separation: 0.697
 mass: 3.0
 inertia: { ixx: 0.022510, iyy: 0.034850, izz: 0.022510 }
 inertia_y_offset: 0.0
-mesh_package: husarion_ugv_description
+mesh_package: husarion_ugv_descriptions
 folder_path: meshes/WH01
 mecanum: False
diff --git a/husarion_ugv_description/config/WH02.yaml b/husarion_ugv_description/config/WH02.yaml
index 60ff7a594..fbfeb99e9 100644
--- a/husarion_ugv_description/config/WH02.yaml
+++ b/husarion_ugv_description/config/WH02.yaml
@@ -4,6 +4,6 @@ wheel_separation: 0.6785
 mass: 2.4
 inertia: { ixx: 0.010050, iyy: 0.016496, izz: 0.010068 }
 inertia_y_offset: 0.0
-mesh_package: husarion_ugv_description
+mesh_package: husarion_ugv_descriptions
 folder_path: meshes/WH02
 mecanum: True
diff --git a/husarion_ugv_description/config/WH04.yaml b/husarion_ugv_description/config/WH04.yaml
index 45fb0d6ae..6d82ba8f1 100644
--- a/husarion_ugv_description/config/WH04.yaml
+++ b/husarion_ugv_description/config/WH04.yaml
@@ -4,6 +4,6 @@ wheel_separation: 0.616
 mass: 0.85
 inertia: { ixx: 0.003099, iyy: 0.005849, izz: 0.003101 }
 inertia_y_offset: 0.0
-mesh_package: husarion_ugv_description
+mesh_package: husarion_ugv_descriptions
 folder_path: meshes/WH04
 mecanum: False
diff --git a/husarion_ugv_description/config/WH05.yaml b/husarion_ugv_description/config/WH05.yaml
index 3cae8f1d5..1b477154a 100644
--- a/husarion_ugv_description/config/WH05.yaml
+++ b/husarion_ugv_description/config/WH05.yaml
@@ -5,6 +5,6 @@ wheel_separation: 0.45
 mass: 2.5
 inertia: { ixx: 0.014738, iyy: 0.0261, izz: 0.014738 }
 inertia_y_offset: 0.0
-mesh_package: husarion_ugv_description
+mesh_package: husarion_ugv_descriptions
 folder_path: meshes/WH05
 mecanum: False
diff --git a/husarion_ugv_description/launch/load_urdf.launch.py b/husarion_ugv_description/launch/load_urdf.launch.py
index 9347553fb..df5f61e31 100644
--- a/husarion_ugv_description/launch/load_urdf.launch.py
+++ b/husarion_ugv_description/launch/load_urdf.launch.py
@@ -56,7 +56,7 @@ def generate_launch_description():
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("husarion_ugv_description"), "config", "components.yaml"]
+            [FindPackageShare("husarion_ugv_descriptions"), "config", "components.yaml"]
         ),
         description=(
             "Specify file which contains components. These components will be included in URDF."
@@ -112,14 +112,14 @@ def generate_launch_description():
         "wheel_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare("husarion_ugv_description"),
+                FindPackageShare("husarion_ugv_descriptions"),
                 "config",
                 PythonExpression(["'", wheel_type, ".yaml'"]),
             ]
         ),
         description=(
             "Path to wheel configuration file. By default, it is located in "
-            "'husarion_ugv_description/config/{wheel_type}.yaml'. You can also specify the path "
+            "'husarion_ugv_descriptions/config/{wheel_type}.yaml'. You can also specify the path "
             "to your custom wheel configuration file here. "
         ),
     )
@@ -149,7 +149,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare("husarion_ugv_description"), "urdf", urdf_file]
+                [FindPackageShare("husarion_ugv_descriptions"), "urdf", urdf_file]
             ),
             " use_sim:=",
             use_sim,
diff --git a/husarion_ugv_description/launch/overwrite_robot_description.launch.py b/husarion_ugv_description/launch/overwrite_robot_description.launch.py
index 810b0ec0e..455065a24 100644
--- a/husarion_ugv_description/launch/overwrite_robot_description.launch.py
+++ b/husarion_ugv_description/launch/overwrite_robot_description.launch.py
@@ -47,7 +47,7 @@ def generate_launch_description():
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("husarion_ugv_description"), "config", "components.yaml"]
+            [FindPackageShare("husarion_ugv_descriptions"), "config", "components.yaml"]
         ),
         description=(
             "Specify file which contains components. These components will be included in URDF."
@@ -103,14 +103,14 @@ def generate_launch_description():
         "wheel_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare("husarion_ugv_description"),
+                FindPackageShare("husarion_ugv_descriptions"),
                 "config",
                 PythonExpression(["'", wheel_type, ".yaml'"]),
             ]
         ),
         description=(
             "Path to wheel configuration file. By default, it is located in "
-            "'husarion_ugv_description/config/{wheel_type}.yaml'. You can also specify the path "
+            "'husarion_ugv_descriptions/config/{wheel_type}.yaml'. You can also specify the path "
             "to your custom wheel configuration file here. "
         ),
     )
@@ -140,7 +140,7 @@ def generate_launch_description():
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
             PathJoinSubstitution(
-                [FindPackageShare("husarion_ugv_description"), "urdf", urdf_file]
+                [FindPackageShare("husarion_ugv_descriptions"), "urdf", urdf_file]
             ),
             " use_sim:=",
             use_sim,
diff --git a/husarion_ugv_description/launch/rviz.launch.py b/husarion_ugv_description/launch/rviz.launch.py
index 1fd0b0bc9..054802d30 100644
--- a/husarion_ugv_description/launch/rviz.launch.py
+++ b/husarion_ugv_description/launch/rviz.launch.py
@@ -41,7 +41,7 @@ def generate_launch_description():
     declare_rviz_config_arg = DeclareLaunchArgument(
         "rviz_config",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("husarion_ugv_description"), "rviz", "husarion_ugv.rviz"]
+            [FindPackageShare("husarion_ugv_descriptions"), "rviz", "husarion_ugv.rviz"]
         ),
         description="RViz configuration file.",
     )
diff --git a/husarion_ugv_description/package.xml b/husarion_ugv_description/package.xml
index 5712cdfdd..9d2e9de82 100644
--- a/husarion_ugv_description/package.xml
+++ b/husarion_ugv_description/package.xml
@@ -1,7 +1,7 @@
 <?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>husarion_ugv_description</name>
+  <name>husarion_ugv_descriptions</name>
   <version>2.1.2</version>
   <description>The package contains URDF and mesh files for Husarion UGV</description>
   <maintainer email="support@husarion.com">Husarion</maintainer>
diff --git a/husarion_ugv_description/urdf/lynx.urdf.xacro b/husarion_ugv_description/urdf/lynx.urdf.xacro
index a5aba292b..eb102ca5e 100644
--- a/husarion_ugv_description/urdf/lynx.urdf.xacro
+++ b/husarion_ugv_description/urdf/lynx.urdf.xacro
@@ -6,7 +6,7 @@
   <xacro:arg name="imu_xyz" default="0.169 0.025 0.092" />
   <xacro:arg name="imu_rpy" default="0.0 0.0 -1.57" />
   <xacro:arg name="wheel_config_file"
-    default="$(find husarion_ugv_description)/config/WH05.yaml" />
+    default="$(find husarion_ugv_descriptions)/config/WH05.yaml" />
   <xacro:arg name="controller_config_file"
     default="$(find husarion_ugv_controller)/config/WH05_controller.yaml" />
   <xacro:arg name="battery_config_file"
@@ -14,7 +14,7 @@
   <xacro:arg name="namespace" default="" />
 
 
-  <xacro:include filename="$(find husarion_ugv_description)/urdf/lynx/lynx_macro.urdf.xacro" ns="husarion" />
+  <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/lynx/lynx_macro.urdf.xacro" ns="husarion" />
   <xacro:husarion.lynx_robot
     use_sim="$(arg use_sim)"
     imu_xyz="$(arg imu_xyz)"
@@ -24,7 +24,7 @@
     battery_config_file="$(arg battery_config_file)"
     namespace="$(arg namespace)" />
 
-  <xacro:arg name="components_config_path" default="$(find husarion_ugv_description)/config/components.yaml" />
+  <xacro:arg name="components_config_path" default="$(find husarion_ugv_descriptions)/config/components.yaml" />
   <xacro:property name="components_config_path_property" value="$(arg components_config_path)" />
 
   <xacro:unless value="${components_config_path_property == 'None'}">
diff --git a/husarion_ugv_description/urdf/lynx/body.urdf.xacro b/husarion_ugv_description/urdf/lynx/body.urdf.xacro
index 1d3395434..b715a7b18 100644
--- a/husarion_ugv_description/urdf/lynx/body.urdf.xacro
+++ b/husarion_ugv_description/urdf/lynx/body.urdf.xacro
@@ -16,7 +16,7 @@
     <link name="base_link">
       <visual>
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/lynx/base.dae" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/lynx/base.dae" />
         </geometry>
       </visual>
 
@@ -24,7 +24,7 @@
         <origin xyz="0.0 0.0 0.0745" rpy="0.0 0.0 0.0" />
         <geometry>
           <!-- TODO change when models ready -->
-          <!-- <mesh filename="package://husarion_ugv_description/meshes/panther/body_collision.stl" /> -->
+          <!-- <mesh filename="package://husarion_ugv_descriptions/meshes/panther/body_collision.stl" /> -->
           <box size="0.646 0.34 0.268" />
         </geometry>
       </collision>
@@ -48,14 +48,14 @@
     <link name="user_compartment_link">
       <visual>
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/lynx/user_compartment.dae" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/lynx/user_compartment.dae" />
         </geometry>
       </visual>
 
       <!-- TODO change when models ready -->
       <!-- <collision>
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/panther/user_compartment_collision.stl" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/panther/user_compartment_collision.stl" />
         </geometry>
       </collision> -->
 
@@ -77,14 +77,14 @@
     <link name="battery_link">
       <visual>
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/lynx/battery.dae" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/lynx/battery.dae" />
         </geometry>
       </visual>
 
       <!-- TODO change when models ready -->
       <!-- <collision>
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/panther/battery_collision.stl" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/panther/battery_collision.stl" />
         </geometry>
       </collision> -->
 
diff --git a/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro b/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro
index c126d80c6..5cc44a5da 100644
--- a/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro
+++ b/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro
@@ -17,9 +17,9 @@
     <xacro:property name="wheel_separation_x" value="0.35" />
 
     <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/lynx/body.urdf.xacro" ns="body" />
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/gazebo.urdf.xacro" ns="gazebo" />
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/wheel.urdf.xacro" ns="wheel" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/lynx/body.urdf.xacro" ns="body" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/common/gazebo.urdf.xacro" ns="gazebo" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/common/wheel.urdf.xacro" ns="wheel" />
 
     <!-- BODY DECLARATION -->
     <xacro:body.body
diff --git a/husarion_ugv_description/urdf/panther.urdf.xacro b/husarion_ugv_description/urdf/panther.urdf.xacro
index 90c684b51..e9057c6b8 100644
--- a/husarion_ugv_description/urdf/panther.urdf.xacro
+++ b/husarion_ugv_description/urdf/panther.urdf.xacro
@@ -5,7 +5,7 @@
   <xacro:arg name="imu_xyz" default="0.169 0.025 0.092" />
   <xacro:arg name="imu_rpy" default="0.0 0.0 -1.57" />
   <xacro:arg name="wheel_config_file"
-    default="$(find husarion_ugv_description)/config/WH01.yaml" />
+    default="$(find husarion_ugv_descriptions)/config/WH01.yaml" />
   <xacro:arg name="controller_config_file"
     default="$(find husarion_ugv_controller)/config/WH01_controller.yaml" />
   <xacro:arg name="battery_config_file"
@@ -13,7 +13,7 @@
   <xacro:arg name="namespace" default="" />
 
 
-  <xacro:include filename="$(find husarion_ugv_description)/urdf/panther/panther_macro.urdf.xacro" ns="husarion" />
+  <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/panther/panther_macro.urdf.xacro" ns="husarion" />
   <xacro:husarion.panther_robot
     use_sim="$(arg use_sim)"
     imu_xyz="$(arg imu_xyz)"
@@ -23,7 +23,7 @@
     battery_config_file="$(arg battery_config_file)"
     namespace="$(arg namespace)" />
 
-  <xacro:arg name="components_config_path" default="$(find husarion_ugv_description)/config/components.yaml" />
+  <xacro:arg name="components_config_path" default="$(find husarion_ugv_descriptions)/config/components.yaml" />
   <xacro:property name="components_config_path_property" value="$(arg components_config_path)" />
 
   <xacro:unless value="${components_config_path_property == 'None'}">
diff --git a/husarion_ugv_description/urdf/panther/body.urdf.xacro b/husarion_ugv_description/urdf/panther/body.urdf.xacro
index 5a05a6be8..8d81120d0 100644
--- a/husarion_ugv_description/urdf/panther/body.urdf.xacro
+++ b/husarion_ugv_description/urdf/panther/body.urdf.xacro
@@ -18,14 +18,14 @@
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/panther/base.dae" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/panther/base.dae" />
         </geometry>
       </visual>
 
       <collision>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
-          <mesh filename="package://husarion_ugv_description/meshes/panther/base_collision.stl" />
+          <mesh filename="package://husarion_ugv_descriptions/meshes/panther/base_collision.stl" />
         </geometry>
       </collision>
 
diff --git a/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro b/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro
index 697758e15..33d8f8578 100644
--- a/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro
+++ b/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro
@@ -22,9 +22,9 @@
     <xacro:property name="wheel_separation_x" value="0.44" />
 
     <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/panther/body.urdf.xacro" ns="body" />
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/gazebo.urdf.xacro" ns="gazebo" />
-    <xacro:include filename="$(find husarion_ugv_description)/urdf/common/wheel.urdf.xacro" ns="wheel" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/panther/body.urdf.xacro" ns="body" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/common/gazebo.urdf.xacro" ns="gazebo" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/common/wheel.urdf.xacro" ns="wheel" />
 
     <!-- BODY DECLARATION -->
     <xacro:body.body
diff --git a/husarion_ugv_gazebo/CONFIGURATION.md b/husarion_ugv_gazebo/CONFIGURATION.md
index d85647b41..e2ac0a4b6 100644
--- a/husarion_ugv_gazebo/CONFIGURATION.md
+++ b/husarion_ugv_gazebo/CONFIGURATION.md
@@ -8,7 +8,7 @@ The NavSat sensors requires the spherical coordinates of the world origin to be
 
 To obtain GPS data in Ignition, follow these steps:
 
-- Include the [ANT02](https://github.com/husarion/ros_components_description/blob/ros2/urdf/teltonika_003R-00253.urdf.xacro) by adding the following lines to your [components.yaml](../husarion_ugv_description/config/components.yaml) file inside the `components` list:
+- Include the [ANT02](https://github.com/husarion/ros_components_description/blob/ros2/urdf/teltonika_003R-00253.urdf.xacro) by adding the following lines to your [components.yaml](../husarion_ugv_descriptions/config/components.yaml) file inside the `components` list:
 
 ```yaml
   - type: ANT02
diff --git a/husarion_ugv_gazebo/README.md b/husarion_ugv_gazebo/README.md
index 78ee89044..8e808acf9 100644
--- a/husarion_ugv_gazebo/README.md
+++ b/husarion_ugv_gazebo/README.md
@@ -44,7 +44,7 @@ Plugin based on `ign_system` is responsible for handling sensor interfaces (only
 
 #### Parameters
 
-Required parameters are defined when including the interface in the URDF (you can check out [panther_macro.urdf.xacro](../husarion_ugv_description/urdf/panther_macro.urdf.xacro)).
+Required parameters are defined when including the interface in the URDF (you can check out [panther_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/panther_macro.urdf.xacro)).
 
 - `e_stop_initial_state` [*bool*, default: **true**]: Initial state of E-stop.
 
@@ -65,7 +65,7 @@ Required parameters are defined when including the interface in the URDF (you ca
 
 #### Parameters
 
-The following parameters are required when including this interface in the URDF (you can refer to the [gazebo.urdf.xacro](../husarion_ugv_description/urdf/panther/common/gazebo.urdf.xacro) file for details).
+The following parameters are required when including this interface in the URDF (you can refer to the [gazebo.urdf.xacro](../husarion_ugv_descriptions/urdf/panther/common/gazebo.urdf.xacro) file for details).
 
 - `light_name` [*string*, default: **""**]: The name of the light entity. The visualization will be attached to this entity.
 - `topic` [*string*, default: **""**]: The name of the topic from which the Image message is received.
diff --git a/husarion_ugv_gazebo/launch/simulate_robot.launch.py b/husarion_ugv_gazebo/launch/simulate_robot.launch.py
index 9fd378097..029601337 100644
--- a/husarion_ugv_gazebo/launch/simulate_robot.launch.py
+++ b/husarion_ugv_gazebo/launch/simulate_robot.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("husarion_ugv_description"), "config", "components.yaml"]
+            [FindPackageShare("husarion_ugv_descriptions"), "config", "components.yaml"]
         ),
         description=(
             "Additional components configuration file. Components described in this file "
diff --git a/husarion_ugv_gazebo/launch/simulation.launch.py b/husarion_ugv_gazebo/launch/simulation.launch.py
index 25eb3bf9d..d4bce4249 100644
--- a/husarion_ugv_gazebo/launch/simulation.launch.py
+++ b/husarion_ugv_gazebo/launch/simulation.launch.py
@@ -72,7 +72,7 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
                 [
-                    FindPackageShare("husarion_ugv_description"),
+                    FindPackageShare("husarion_ugv_descriptions"),
                     "launch",
                     "rviz.launch.py",
                 ]
diff --git a/husarion_ugv_gazebo/launch/spawn_robot.launch.py b/husarion_ugv_gazebo/launch/spawn_robot.launch.py
index 650e15d3d..875a2806f 100644
--- a/husarion_ugv_gazebo/launch/spawn_robot.launch.py
+++ b/husarion_ugv_gazebo/launch/spawn_robot.launch.py
@@ -84,7 +84,7 @@ def generate_launch_description():
     load_urdf = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(
-                [FindPackageShare("husarion_ugv_description"), "launch", "load_urdf.launch.py"]
+                [FindPackageShare("husarion_ugv_descriptions"), "launch", "load_urdf.launch.py"]
             )
         ),
         launch_arguments={
diff --git a/husarion_ugv_gazebo/package.xml b/husarion_ugv_gazebo/package.xml
index b8621d8ae..2d9ca190d 100644
--- a/husarion_ugv_gazebo/package.xml
+++ b/husarion_ugv_gazebo/package.xml
@@ -30,7 +30,7 @@
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">controller_manager</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_gz_worlds</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_ugv_controller</exec_depend>
-  <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_ugv_description</exec_depend>
+  <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_ugv_descriptions</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_ugv_lights</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_ugv_localization</exec_depend>
   <exec_depend condition="$HUSARION_ROS_BUILD_TYPE == simulation">husarion_ugv_manager</exec_depend>
diff --git a/husarion_ugv_hardware_interfaces/README.md b/husarion_ugv_hardware_interfaces/README.md
index 3b6ec176c..a211256ec 100644
--- a/husarion_ugv_hardware_interfaces/README.md
+++ b/husarion_ugv_hardware_interfaces/README.md
@@ -4,7 +4,7 @@ Package that implements SystemInterface from ros2_control for Husarion UGV.
 
 ## ROS Nodes
 
-This package doesn't contain any standalone nodes, only plugins that are loaded by the resource manager. To use this hardware interface, add it to your URDF. You can check how to do it in [panther_macro.urdf.xacro](../husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro) or [lynx_macro.urdf.xacro](../husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro).
+This package doesn't contain any standalone nodes, only plugins that are loaded by the resource manager. To use this hardware interface, add it to your URDF. You can check how to do it in [panther_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/panther/panther_macro.urdf.xacro) or [lynx_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/lynx/lynx_macro.urdf.xacro).
 
 ### UGVSystem (PantherSystem | LynxSystem)
 
@@ -30,7 +30,7 @@ Plugins for Panther and Lynx are based on an abstraction called UGVSystem. Most
 
 #### Parameters
 
-Required parameters are defined when including the interface in the URDF (you can check out [panther_macro.urdf.xacro](../husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro) or [lynx_macro.urdf.xacro](../husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro)).
+Required parameters are defined when including the interface in the URDF (you can check out [panther_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/panther/panther_macro.urdf.xacro) or [lynx_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/lynx/lynx_macro.urdf.xacro)).
 
 Physical properties
 
@@ -72,7 +72,7 @@ Plugin responsible for communicating with IMU and filtering data using Madgwick
 
 #### Parameters
 
-Required parameters are defined when including the interface in the URDF (you can check out [panther_macro.urdf.xacro](../husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro) or [lynx_macro.urdf.xacro](../husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro)).
+Required parameters are defined when including the interface in the URDF (you can check out [panther_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/panther/panther_macro.urdf.xacro) or [lynx_macro.urdf.xacro](../husarion_ugv_descriptions/urdf/lynx/lynx_macro.urdf.xacro)).
 
 Physical properties