diff --git a/rosbot_xl_bringup/launch/combined.launch.py b/rosbot_xl_bringup/launch/combined.launch.py
index f41dbce..ce39e54 100644
--- a/rosbot_xl_bringup/launch/combined.launch.py
+++ b/rosbot_xl_bringup/launch/combined.launch.py
@@ -23,7 +23,11 @@
     SetEnvironmentVariable,
 )
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution,
+    ThisLaunchFileDir,
+)
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
@@ -130,7 +134,9 @@ def generate_launch_description():
     package_dir = FindPackageShare("rosbot_xl_bringup").find("rosbot_xl_bringup")
 
     # Construct the path to the XML file within the package
-    fastrtps_profiles_file = os.path.join(package_dir, "config", "microros_localhost_only.xml")
+    fastrtps_profiles_file = PathJoinSubstitution(
+        [package_dir, "config", "microros_localhost_only.xml"]
+    )
 
     declare_localhost_only_fastrtps_profiles_file_arg = DeclareLaunchArgument(
         "localhost_only_fastrtps_profiles_file",
diff --git a/rosbot_xl_controller/test/test_xacro.py b/rosbot_xl_controller/test/test_xacro.py
index ec6a8fd..afa9485 100644
--- a/rosbot_xl_controller/test/test_xacro.py
+++ b/rosbot_xl_controller/test/test_xacro.py
@@ -13,9 +13,9 @@
 # limitations under the License.
 
 import itertools
-import os
 
 import xacro
+from launch.substitutions import PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 
 
@@ -69,8 +69,9 @@ def test_rosbot_description_parsing():
             "lidar_model": lidar_model,
             "camera_model": camera_model,
         }
-        rosbot_xl_description = FindPackageShare("rosbot_xl_description")
-        xacro_path = os.path.join(rosbot_xl_description, "urdf/rosbot_xl.urdf.xacro")
+        xacro_path = PathJoinSubstitution(
+            [FindPackageShare("rosbot_xl_description"), "urdf", "rosbot_xl.urdf.xacro"]
+        )
         try:
             xacro.process_file(xacro_path, mappings=mappings)
         except xacro.XacroException as e:
diff --git a/rosbot_xl_gazebo/package.xml b/rosbot_xl_gazebo/package.xml
index 12ca19e..cde7d19 100644
--- a/rosbot_xl_gazebo/package.xml
+++ b/rosbot_xl_gazebo/package.xml
@@ -22,6 +22,7 @@
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
+  <exec_depend>ament_index_python</exec_depend>
 
   <exec_depend>rosbot_xl_bringup</exec_depend>
   <exec_depend>husarion_gz_worlds</exec_depend>
diff --git a/rosbot_xl_utils/rosbot_xl_utils/flash_firmware.py b/rosbot_xl_utils/rosbot_xl_utils/flash_firmware.py
index 01bb447..5ce127a 100644
--- a/rosbot_xl_utils/rosbot_xl_utils/flash_firmware.py
+++ b/rosbot_xl_utils/rosbot_xl_utils/flash_firmware.py
@@ -21,8 +21,8 @@
 import subprocess
 import sys
 
+import ament_index_python.packages
 import requests
-from launch_ros.substitutions import FindPackageShare
 
 # Global variable to hold the subprocess reference
 subproc = None
@@ -49,7 +49,9 @@ def download_firmware(firmware_url, firmware_path):
 
 def find_firmware_file():
     # Find the install directory of 'rosbot_utils' package
-    package_install_directory = FindPackageShare("rosbot_xl_utils")
+    package_install_directory = ament_index_python.packages.get_package_share_directory(
+        "rosbot_xl_utils"
+    )
 
     # Construct the path to the firmware directory
     firmware_dir = os.path.join(package_install_directory, "firmware")