diff --git a/README.md b/README.md
index fe1552068..a01a0f938 100644
--- a/README.md
+++ b/README.md
@@ -115,7 +115,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | ✅   | ✅   | `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`                                                                                                                                                                                                                                           |
-| ❌   | ✅   | `z`                          | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                            |
+| ❌   | ✅   | `z`                          | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.2`                                                                                                                                                                                                                                            |
 | ❌   | ✅   | `roll`                       | Initial robot 'roll' orientation. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                         |
 | ❌   | ✅   | `pitch`                      | Initial robot 'pitch' orientation. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                        |
 | ❌   | ✅   | `yaw`                        | Initial robot 'yaw' orientation. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                          |
diff --git a/husarion_ugv_controller/config/WH01_controller.yaml b/husarion_ugv_controller/config/WH01_controller.yaml
index 66d3455f8..da21d73ec 100644
--- a/husarion_ugv_controller/config/WH01_controller.yaml
+++ b/husarion_ugv_controller/config/WH01_controller.yaml
@@ -41,7 +41,7 @@
 
       publish_rate: 100.0
       odom_frame_id: odom
-      base_frame_id: base_footprint
+      base_frame_id: base_link
       twist_covariance_diagonal: [5.4e-5, 5.4e-5, 0.0, 0.0, 0.0, 1.9e-4] # Values measured experimentally
 
       # Whether to use feedback or commands for odometry calculations
diff --git a/husarion_ugv_controller/config/WH02_controller.yaml b/husarion_ugv_controller/config/WH02_controller.yaml
index 9f8380daa..0e6e8ee5f 100644
--- a/husarion_ugv_controller/config/WH02_controller.yaml
+++ b/husarion_ugv_controller/config/WH02_controller.yaml
@@ -42,7 +42,7 @@
 
       publish_rate: 100.0
       odom_frame_id: odom
-      base_frame_id: base_footprint
+      base_frame_id: base_link
       twist_covariance_diagonal: [5.4e-5, 5.4e-5, 0.0, 0.0, 0.0, 1.9e-4] # Selected intuitively based on WH01 results
 
       # Whether to use feedback or commands for odometry calculations
diff --git a/husarion_ugv_controller/config/WH04_controller.yaml b/husarion_ugv_controller/config/WH04_controller.yaml
index a31abf446..2ae5cb34f 100644
--- a/husarion_ugv_controller/config/WH04_controller.yaml
+++ b/husarion_ugv_controller/config/WH04_controller.yaml
@@ -42,7 +42,7 @@
 
       publish_rate: 100.0
       odom_frame_id: odom
-      base_frame_id: base_footprint
+      base_frame_id: base_link
       twist_covariance_diagonal: [2.7e-5, 2.7e-5, 0.0, 0.0, 0.0, 1.0e-4] # Selected intuitively based on WH01 results
 
       # Whether to use feedback or commands for odometry calculations
diff --git a/husarion_ugv_controller/config/WH05_controller.yaml b/husarion_ugv_controller/config/WH05_controller.yaml
index ac146f01c..e9cfd5985 100644
--- a/husarion_ugv_controller/config/WH05_controller.yaml
+++ b/husarion_ugv_controller/config/WH05_controller.yaml
@@ -41,7 +41,7 @@
 
       publish_rate: 100.0
       odom_frame_id: odom
-      base_frame_id: base_footprint
+      base_frame_id: base_link
       twist_covariance_diagonal: [5.4e-5, 5.4e-5, 0.0, 0.0, 0.0, 1.9e-4] # Values measured experimentally
 
       # Whether to use feedback or commands for odometry calculations
diff --git a/husarion_ugv_description/launch/rviz.launch.py b/husarion_ugv_description/launch/rviz.launch.py
index 054802d30..5dc2a34ab 100644
--- a/husarion_ugv_description/launch/rviz.launch.py
+++ b/husarion_ugv_description/launch/rviz.launch.py
@@ -58,7 +58,7 @@ def generate_launch_description():
 
     rviz_config = ReplaceString(
         source_file=rviz_config,
-        replacements={"<robot_namespace>/": ns_ext, "<robot_namespace>": namespace},
+        replacements={"<namespace>/": ns_ext, "<namespace>": namespace},
     )
 
     rviz_node = Node(
diff --git a/husarion_ugv_description/rviz/husarion_ugv.rviz b/husarion_ugv_description/rviz/husarion_ugv.rviz
index 8285a0474..8d6a56c49 100644
--- a/husarion_ugv_description/rviz/husarion_ugv.rviz
+++ b/husarion_ugv_description/rviz/husarion_ugv.rviz
@@ -45,7 +45,7 @@ Visualization Manager:
             Z: 0
           Plane: XY
           Plane Cell Count: 10
-          Reference Frame: <Fixed Frame>
+          Reference Frame: <namespace>/base_footprint
           Value: true
       Enabled: true
       Name: Map
@@ -73,7 +73,7 @@ Visualization Manager:
             Inertia: false
             Mass: false
           Name: RobotModel
-          TF Prefix: <robot_namespace>
+          TF Prefix: <namespace>
           Update Interval: 0
           Value: true
           Visual Enabled: true
@@ -135,7 +135,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: <robot_namespace>/odom
+    Fixed Frame: <namespace>/odom
     Frame Rate: 30
   Name: root
   Tools:
diff --git a/husarion_ugv_description/urdf/lynx/body.urdf.xacro b/husarion_ugv_description/urdf/lynx/base.urdf.xacro
similarity index 97%
rename from husarion_ugv_description/urdf/lynx/body.urdf.xacro
rename to husarion_ugv_description/urdf/lynx/base.urdf.xacro
index 295748c2a..f18041428 100644
--- a/husarion_ugv_description/urdf/lynx/body.urdf.xacro
+++ b/husarion_ugv_description/urdf/lynx/base.urdf.xacro
@@ -13,11 +13,11 @@
       </visual>
 
       <collision>
-        <origin xyz="0.0 0.0 0.0745" rpy="0.0 0.0 0.0" />
+        <origin xyz="0.0 0.0 0.09" rpy="0.0 0.0 0.0" />
         <geometry>
           <!-- TODO change when models ready -->
           <!-- <mesh filename="package://husarion_ugv_descriptions/meshes/panther/body_collision.stl" /> -->
-          <box size="0.646 0.34 0.268" />
+          <box size="0.64 0.34 0.28" />
         </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 5cc44a5da..6bedaf63d 100644
--- a/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro
+++ b/husarion_ugv_description/urdf/lynx/lynx_macro.urdf.xacro
@@ -17,7 +17,7 @@
     <xacro:property name="wheel_separation_x" value="0.35" />
 
     <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
-    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/lynx/body.urdf.xacro" ns="body" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/lynx/base.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" />
 
diff --git a/husarion_ugv_description/urdf/panther/body.urdf.xacro b/husarion_ugv_description/urdf/panther/base.urdf.xacro
similarity index 100%
rename from husarion_ugv_description/urdf/panther/body.urdf.xacro
rename to husarion_ugv_description/urdf/panther/base.urdf.xacro
diff --git a/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro b/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro
index 33d8f8578..135c2bc85 100644
--- a/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro
+++ b/husarion_ugv_description/urdf/panther/panther_macro.urdf.xacro
@@ -22,7 +22,7 @@
     <xacro:property name="wheel_separation_x" value="0.44" />
 
     <!-- INCLUDE ROBOT PARTS DEFINITIONS -->
-    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/panther/body.urdf.xacro" ns="body" />
+    <xacro:include filename="$(find husarion_ugv_descriptions)/urdf/panther/base.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" />
 
diff --git a/husarion_ugv_gazebo/launch/spawn_robot.launch.py b/husarion_ugv_gazebo/launch/spawn_robot.launch.py
index 875a2806f..d68ce0091 100644
--- a/husarion_ugv_gazebo/launch/spawn_robot.launch.py
+++ b/husarion_ugv_gazebo/launch/spawn_robot.launch.py
@@ -57,7 +57,7 @@ def generate_launch_description():
 
     z = LaunchConfiguration("z")
     declare_z_arg = DeclareLaunchArgument(
-        "z", default_value="0.0", description="Initial robot position in the global 'z' axis."
+        "z", default_value="0.2", description="Initial robot position in the global 'z' axis."
     )
 
     roll = LaunchConfiguration("roll")
diff --git a/husarion_ugv_localization/config/enu_localization.yaml b/husarion_ugv_localization/config/enu_localization.yaml
index 9cd7071e8..6b2668cc7 100644
--- a/husarion_ugv_localization/config/enu_localization.yaml
+++ b/husarion_ugv_localization/config/enu_localization.yaml
@@ -10,7 +10,7 @@
 
       map_frame: map
       odom_frame: odom
-      base_link_frame: base_footprint
+      base_link_frame: base_link
       world_frame: odom
       publish_tf: true
       publish_acceleration: false
diff --git a/husarion_ugv_localization/config/enu_localization_with_gps.yaml b/husarion_ugv_localization/config/enu_localization_with_gps.yaml
index e9e31763b..ef1fa6ff6 100644
--- a/husarion_ugv_localization/config/enu_localization_with_gps.yaml
+++ b/husarion_ugv_localization/config/enu_localization_with_gps.yaml
@@ -10,7 +10,7 @@
 
       map_frame: map
       odom_frame: odom
-      base_link_frame: base_footprint
+      base_link_frame: base_link
       world_frame: odom
       publish_tf: true
       publish_acceleration: false
diff --git a/husarion_ugv_localization/config/relative_localization.yaml b/husarion_ugv_localization/config/relative_localization.yaml
index 98d4e91f8..5f420735b 100644
--- a/husarion_ugv_localization/config/relative_localization.yaml
+++ b/husarion_ugv_localization/config/relative_localization.yaml
@@ -10,7 +10,7 @@
 
       map_frame: map
       odom_frame: odom
-      base_link_frame: base_footprint
+      base_link_frame: base_link
       world_frame: odom
       publish_tf: true
       publish_acceleration: false
diff --git a/husarion_ugv_localization/config/relative_localization_with_gps.yaml b/husarion_ugv_localization/config/relative_localization_with_gps.yaml
index 444ed7fc0..fa8426758 100644
--- a/husarion_ugv_localization/config/relative_localization_with_gps.yaml
+++ b/husarion_ugv_localization/config/relative_localization_with_gps.yaml
@@ -10,7 +10,7 @@
 
       map_frame: map
       odom_frame: odom
-      base_link_frame: base_footprint
+      base_link_frame: base_link
       world_frame: odom
       publish_tf: true
       publish_acceleration: false