diff --git a/src/rover_urdf_pkg/config/joint_names_URDF v2 - axes added.yaml b/src/arm_description/config/joint_names_URDF v2 - axes added.yaml
similarity index 100%
rename from src/rover_urdf_pkg/config/joint_names_URDF v2 - axes added.yaml
rename to src/arm_description/config/joint_names_URDF v2 - axes added.yaml
diff --git a/src/rover_urdf_pkg/export.log b/src/arm_description/export.log
similarity index 100%
rename from src/rover_urdf_pkg/export.log
rename to src/arm_description/export.log
diff --git a/src/rover_urdf_pkg/launch/display.launch b/src/arm_description/launch/display.launch
similarity index 100%
rename from src/rover_urdf_pkg/launch/display.launch
rename to src/arm_description/launch/display.launch
diff --git a/src/rover_urdf_pkg/launch/gazebo.launch b/src/arm_description/launch/gazebo.launch
similarity index 100%
rename from src/rover_urdf_pkg/launch/gazebo.launch
rename to src/arm_description/launch/gazebo.launch
diff --git a/src/rover_urdf_pkg/meshes/Axis_0_Plate.STL b/src/arm_description/meshes/Axis_0_Plate.STL
similarity index 100%
rename from src/rover_urdf_pkg/meshes/Axis_0_Plate.STL
rename to src/arm_description/meshes/Axis_0_Plate.STL
diff --git a/src/rover_urdf_pkg/meshes/Axis_1_Segment.STL b/src/arm_description/meshes/Axis_1_Segment.STL
similarity index 100%
rename from src/rover_urdf_pkg/meshes/Axis_1_Segment.STL
rename to src/arm_description/meshes/Axis_1_Segment.STL
diff --git a/src/rover_urdf_pkg/meshes/Axis_2_Segment.STL b/src/arm_description/meshes/Axis_2_Segment.STL
similarity index 100%
rename from src/rover_urdf_pkg/meshes/Axis_2_Segment.STL
rename to src/arm_description/meshes/Axis_2_Segment.STL
diff --git a/src/rover_urdf_pkg/meshes/Diff_Carrier.STL b/src/arm_description/meshes/Diff_Carrier.STL
similarity index 100%
rename from src/rover_urdf_pkg/meshes/Diff_Carrier.STL
rename to src/arm_description/meshes/Diff_Carrier.STL
diff --git a/src/rover_urdf_pkg/meshes/EF_Gripper_Left.STL b/src/arm_description/meshes/EF_Gripper_Left.STL
similarity index 100%
rename from src/rover_urdf_pkg/meshes/EF_Gripper_Left.STL
rename to src/arm_description/meshes/EF_Gripper_Left.STL
diff --git a/src/rover_urdf_pkg/meshes/EF_Gripper_Right.STL b/src/arm_description/meshes/EF_Gripper_Right.STL
similarity index 100%
rename from src/rover_urdf_pkg/meshes/EF_Gripper_Right.STL
rename to src/arm_description/meshes/EF_Gripper_Right.STL
diff --git a/src/rover_urdf_pkg/meshes/End_Effector.STL b/src/arm_description/meshes/End_Effector.STL
similarity index 100%
rename from src/rover_urdf_pkg/meshes/End_Effector.STL
rename to src/arm_description/meshes/End_Effector.STL
diff --git a/src/rover_urdf_pkg/meshes/Wrist.STL b/src/arm_description/meshes/Wrist.STL
similarity index 100%
rename from src/rover_urdf_pkg/meshes/Wrist.STL
rename to src/arm_description/meshes/Wrist.STL
diff --git a/src/rover_urdf_pkg/meshes/base_link.STL b/src/arm_description/meshes/base_link.STL
similarity index 100%
rename from src/rover_urdf_pkg/meshes/base_link.STL
rename to src/arm_description/meshes/base_link.STL
diff --git a/src/rover_urdf_pkg/package.xml b/src/arm_description/package.xml
similarity index 92%
rename from src/rover_urdf_pkg/package.xml
rename to src/arm_description/package.xml
index 3e693c5..59246de 100755
--- a/src/rover_urdf_pkg/package.xml
+++ b/src/arm_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>rover_urdf_pkg</name>
+  <name>arm_description</name>
   <version>1.0.0</version>
   <description>This package contains configuration data, 3D models and launch files for Clucky's arm</description>
   <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
diff --git a/src/rover_urdf_pkg/resource/rover_urdf_pkg b/src/arm_description/resource/arm_description
similarity index 100%
rename from src/rover_urdf_pkg/resource/rover_urdf_pkg
rename to src/arm_description/resource/arm_description
diff --git a/src/rover_urdf_pkg/setup.cfg b/src/arm_description/setup.cfg
similarity index 100%
rename from src/rover_urdf_pkg/setup.cfg
rename to src/arm_description/setup.cfg
diff --git a/src/rover_urdf_pkg/setup.py b/src/arm_description/setup.py
similarity index 96%
rename from src/rover_urdf_pkg/setup.py
rename to src/arm_description/setup.py
index 965a1c5..1c3c997 100644
--- a/src/rover_urdf_pkg/setup.py
+++ b/src/arm_description/setup.py
@@ -2,7 +2,7 @@ from setuptools import find_packages, setup
 import os
 from glob import glob
 
-package_name = 'rover_urdf_pkg'
+package_name = 'arm_description'
 
 list_of_folders = ["config", "launch", "meshes", "textures", "urdf"]
 
diff --git a/src/rover_urdf_pkg/urdf/ASTRA_Arm.csv b/src/arm_description/urdf/ASTRA_Arm.csv
similarity index 100%
rename from src/rover_urdf_pkg/urdf/ASTRA_Arm.csv
rename to src/arm_description/urdf/ASTRA_Arm.csv
diff --git a/src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf b/src/arm_description/urdf/ASTRA_Arm.urdf
similarity index 85%
rename from src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf
rename to src/arm_description/urdf/ASTRA_Arm.urdf
index 05925e0..e3c25a0 100755
--- a/src/rover_urdf_pkg/urdf/ASTRA_Arm.urdf
+++ b/src/arm_description/urdf/ASTRA_Arm.urdf
@@ -27,7 +27,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/base_link.STL" />
+          filename="package://arm_description/meshes/base_link.STL" />
       </geometry>
       <material
         name="">
@@ -41,7 +41,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/base_link.STL" />
+          filename="package://arm_description/meshes/base_link.STL" />
       </geometry>
     </collision>
   </link>
@@ -68,7 +68,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/Axis_0_Plate.STL" />
+          filename="package://arm_description/meshes/Axis_0_Plate.STL" />
       </geometry>
       <material
         name="">
@@ -82,7 +82,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/Axis_0_Plate.STL" />
+          filename="package://arm_description/meshes/Axis_0_Plate.STL" />
       </geometry>
     </collision>
   </link>
@@ -128,7 +128,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/Axis_1_Segment.STL" />
+          filename="package://arm_description/meshes/Axis_1_Segment.STL" />
       </geometry>
       <material
         name="">
@@ -142,7 +142,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/Axis_1_Segment.STL" />
+          filename="package://arm_description/meshes/Axis_1_Segment.STL" />
       </geometry>
     </collision>
   </link>
@@ -188,7 +188,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/Axis_2_Segment.STL" />
+          filename="package://arm_description/meshes/Axis_2_Segment.STL" />
       </geometry>
       <material
         name="">
@@ -202,7 +202,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/Axis_2_Segment.STL" />
+          filename="package://arm_description/meshes/Axis_2_Segment.STL" />
       </geometry>
     </collision>
   </link>
@@ -248,7 +248,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/Wrist.STL" />
+          filename="package://arm_description/meshes/Wrist.STL" />
       </geometry>
       <material
         name="">
@@ -262,7 +262,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/Wrist.STL" />
+          filename="package://arm_description/meshes/Wrist.STL" />
       </geometry>
     </collision>
   </link>
@@ -308,7 +308,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/Diff_Carrier.STL" />
+          filename="package://arm_description/meshes/Diff_Carrier.STL" />
       </geometry>
       <material
         name="">
@@ -322,7 +322,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/Diff_Carrier.STL" />
+          filename="package://arm_description/meshes/Diff_Carrier.STL" />
       </geometry>
     </collision>
   </link>
@@ -368,7 +368,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/End_Effector.STL" />
+          filename="package://arm_description/meshes/End_Effector.STL" />
       </geometry>
       <material
         name="">
@@ -382,7 +382,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/End_Effector.STL" />
+          filename="package://arm_description/meshes/End_Effector.STL" />
       </geometry>
     </collision>
   </link>
@@ -423,7 +423,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/EF_Gripper_Right.STL" />
+          filename="package://arm_description/meshes/EF_Gripper_Right.STL" />
       </geometry>
       <material
         name="">
@@ -437,7 +437,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/EF_Gripper_Right.STL" />
+          filename="package://arm_description/meshes/EF_Gripper_Right.STL" />
       </geometry>
     </collision>
   </link>
@@ -486,7 +486,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/EF_Gripper_Left.STL" />
+          filename="package://arm_description/meshes/EF_Gripper_Left.STL" />
       </geometry>
       <material
         name="">
@@ -500,7 +500,7 @@
         rpy="0 0 0" />
       <geometry>
         <mesh
-          filename="package://rover_urdf_pkg/meshes/EF_Gripper_Left.STL" />
+          filename="package://arm_description/meshes/EF_Gripper_Left.STL" />
       </geometry>
     </collision>
   </link>
diff --git a/src/astra_arm_moveit_config/.setup_assistant b/src/arm_moveit_config/.setup_assistant
similarity index 94%
rename from src/astra_arm_moveit_config/.setup_assistant
rename to src/arm_moveit_config/.setup_assistant
index 6a8d8ee..6e4101e 100644
--- a/src/astra_arm_moveit_config/.setup_assistant
+++ b/src/arm_moveit_config/.setup_assistant
@@ -1,6 +1,6 @@
 moveit_setup_assistant_config:
   urdf:
-    package: rover_urdf_pkg
+    package: arm_description
     relative_path: urdf/ASTRA_Arm.urdf
   srdf:
     relative_path: config/ASTRA_Arm.srdf
diff --git a/src/astra_arm_moveit_config/CMakeLists.txt b/src/arm_moveit_config/CMakeLists.txt
similarity index 92%
rename from src/astra_arm_moveit_config/CMakeLists.txt
rename to src/arm_moveit_config/CMakeLists.txt
index 693fc9a..73836ca 100644
--- a/src/astra_arm_moveit_config/CMakeLists.txt
+++ b/src/arm_moveit_config/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(astra_arm_moveit_config)
+project(arm_moveit_config)
 
 find_package(ament_cmake REQUIRED)
 
diff --git a/src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro b/src/arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro
similarity index 100%
rename from src/astra_arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro
rename to src/arm_moveit_config/config/ASTRA_Arm.ros2_control.xacro
diff --git a/src/astra_arm_moveit_config/config/ASTRA_Arm.srdf b/src/arm_moveit_config/config/ASTRA_Arm.srdf
similarity index 100%
rename from src/astra_arm_moveit_config/config/ASTRA_Arm.srdf
rename to src/arm_moveit_config/config/ASTRA_Arm.srdf
diff --git a/src/astra_arm_moveit_config/config/ASTRA_Arm.urdf.xacro b/src/arm_moveit_config/config/ASTRA_Arm.urdf.xacro
similarity index 84%
rename from src/astra_arm_moveit_config/config/ASTRA_Arm.urdf.xacro
rename to src/arm_moveit_config/config/ASTRA_Arm.urdf.xacro
index 9e7d0e0..a5ba442 100644
--- a/src/astra_arm_moveit_config/config/ASTRA_Arm.urdf.xacro
+++ b/src/arm_moveit_config/config/ASTRA_Arm.urdf.xacro
@@ -3,7 +3,7 @@
     <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
 
     <!-- Import ASTRA_Arm urdf file -->
-    <xacro:include filename="$(find rover_urdf_pkg)/urdf/ASTRA_Arm.urdf" />
+    <xacro:include filename="$(find arm_description)/urdf/ASTRA_Arm.urdf" />
 
     <!-- Import control_xacro -->
     <xacro:include filename="ASTRA_Arm.ros2_control.xacro" />
diff --git a/src/astra_arm_moveit_config/config/astra_arm_simulated_config.yaml b/src/arm_moveit_config/config/astra_arm_simulated_config.yaml
similarity index 100%
rename from src/astra_arm_moveit_config/config/astra_arm_simulated_config.yaml
rename to src/arm_moveit_config/config/astra_arm_simulated_config.yaml
diff --git a/src/astra_arm_moveit_config/config/initial_positions.yaml b/src/arm_moveit_config/config/initial_positions.yaml
similarity index 100%
rename from src/astra_arm_moveit_config/config/initial_positions.yaml
rename to src/arm_moveit_config/config/initial_positions.yaml
diff --git a/src/astra_arm_moveit_config/config/joint_limits.yaml b/src/arm_moveit_config/config/joint_limits.yaml
similarity index 100%
rename from src/astra_arm_moveit_config/config/joint_limits.yaml
rename to src/arm_moveit_config/config/joint_limits.yaml
diff --git a/src/astra_arm_moveit_config/config/kinematics.yaml b/src/arm_moveit_config/config/kinematics.yaml
similarity index 100%
rename from src/astra_arm_moveit_config/config/kinematics.yaml
rename to src/arm_moveit_config/config/kinematics.yaml
diff --git a/src/astra_arm_moveit_config/config/moveit.rviz b/src/arm_moveit_config/config/moveit.rviz
similarity index 100%
rename from src/astra_arm_moveit_config/config/moveit.rviz
rename to src/arm_moveit_config/config/moveit.rviz
diff --git a/src/astra_arm_moveit_config/config/moveit_controllers.yaml b/src/arm_moveit_config/config/moveit_controllers.yaml
similarity index 100%
rename from src/astra_arm_moveit_config/config/moveit_controllers.yaml
rename to src/arm_moveit_config/config/moveit_controllers.yaml
diff --git a/src/astra_arm_moveit_config/config/pilz_cartesian_limits.yaml b/src/arm_moveit_config/config/pilz_cartesian_limits.yaml
similarity index 100%
rename from src/astra_arm_moveit_config/config/pilz_cartesian_limits.yaml
rename to src/arm_moveit_config/config/pilz_cartesian_limits.yaml
diff --git a/src/astra_arm_moveit_config/config/ros2_controllers.yaml b/src/arm_moveit_config/config/ros2_controllers.yaml
similarity index 100%
rename from src/astra_arm_moveit_config/config/ros2_controllers.yaml
rename to src/arm_moveit_config/config/ros2_controllers.yaml
diff --git a/src/astra_arm_moveit_config/launch/demo.launch.py b/src/arm_moveit_config/launch/demo.launch.py
similarity index 98%
rename from src/astra_arm_moveit_config/launch/demo.launch.py
rename to src/arm_moveit_config/launch/demo.launch.py
index 79ce0e6..c3b5c55 100644
--- a/src/astra_arm_moveit_config/launch/demo.launch.py
+++ b/src/arm_moveit_config/launch/demo.launch.py
@@ -28,7 +28,7 @@ from launch_ros.descriptions import ComposableNode
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="arm_moveit_config").to_moveit_configs()
     # return generate_demo_launch(moveit_config)
     launch_package_path = moveit_config.package_path
 
@@ -119,7 +119,7 @@ def generate_launch_description():
 
     # Get parameters for the Servo node
     servo_params = {
-        "moveit_servo": ParameterBuilder("astra_arm_moveit_config")
+        "moveit_servo": ParameterBuilder("arm_moveit_config")
         .yaml("config/astra_arm_simulated_config.yaml")
         .to_dict()
     }
diff --git a/src/astra_arm_moveit_config/launch/move_group.launch.py b/src/arm_moveit_config/launch/move_group.launch.py
similarity index 84%
rename from src/astra_arm_moveit_config/launch/move_group.launch.py
rename to src/arm_moveit_config/launch/move_group.launch.py
index 5874350..1b687ad 100644
--- a/src/astra_arm_moveit_config/launch/move_group.launch.py
+++ b/src/arm_moveit_config/launch/move_group.launch.py
@@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_move_group_launch
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="arm_moveit_config").to_moveit_configs()
     return generate_move_group_launch(moveit_config)
diff --git a/src/astra_arm_moveit_config/launch/moveit_rviz.launch.py b/src/arm_moveit_config/launch/moveit_rviz.launch.py
similarity index 84%
rename from src/astra_arm_moveit_config/launch/moveit_rviz.launch.py
rename to src/arm_moveit_config/launch/moveit_rviz.launch.py
index 98dadf6..ef1011b 100644
--- a/src/astra_arm_moveit_config/launch/moveit_rviz.launch.py
+++ b/src/arm_moveit_config/launch/moveit_rviz.launch.py
@@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_moveit_rviz_launch
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="arm_moveit_config").to_moveit_configs()
     return generate_moveit_rviz_launch(moveit_config)
diff --git a/src/astra_arm_moveit_config/launch/rsp.launch.py b/src/arm_moveit_config/launch/rsp.launch.py
similarity index 84%
rename from src/astra_arm_moveit_config/launch/rsp.launch.py
rename to src/arm_moveit_config/launch/rsp.launch.py
index 184ad80..848649b 100644
--- a/src/astra_arm_moveit_config/launch/rsp.launch.py
+++ b/src/arm_moveit_config/launch/rsp.launch.py
@@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_rsp_launch
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="arm_moveit_config").to_moveit_configs()
     return generate_rsp_launch(moveit_config)
diff --git a/src/astra_arm_moveit_config/launch/setup_assistant.launch.py b/src/arm_moveit_config/launch/setup_assistant.launch.py
similarity index 85%
rename from src/astra_arm_moveit_config/launch/setup_assistant.launch.py
rename to src/arm_moveit_config/launch/setup_assistant.launch.py
index 3e95366..632aa7a 100644
--- a/src/astra_arm_moveit_config/launch/setup_assistant.launch.py
+++ b/src/arm_moveit_config/launch/setup_assistant.launch.py
@@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_setup_assistant_launch
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="arm_moveit_config").to_moveit_configs()
     return generate_setup_assistant_launch(moveit_config)
diff --git a/src/astra_arm_moveit_config/launch/spawn_controllers.launch.py b/src/arm_moveit_config/launch/spawn_controllers.launch.py
similarity index 96%
rename from src/astra_arm_moveit_config/launch/spawn_controllers.launch.py
rename to src/arm_moveit_config/launch/spawn_controllers.launch.py
index 7ec9edb..74f360b 100644
--- a/src/astra_arm_moveit_config/launch/spawn_controllers.launch.py
+++ b/src/arm_moveit_config/launch/spawn_controllers.launch.py
@@ -24,7 +24,7 @@ from moveit_configs_utils.launch_utils import (
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="arm_moveit_config").to_moveit_configs()
     # return generate_spawn_controllers_launch(moveit_config)
     controller_names = moveit_config.trajectory_execution.get(
         "moveit_simple_controller_manager", {}
diff --git a/src/astra_arm_moveit_config/launch/static_virtual_joint_tfs.launch.py b/src/arm_moveit_config/launch/static_virtual_joint_tfs.launch.py
similarity index 85%
rename from src/astra_arm_moveit_config/launch/static_virtual_joint_tfs.launch.py
rename to src/arm_moveit_config/launch/static_virtual_joint_tfs.launch.py
index 6b487a0..db84f8b 100644
--- a/src/astra_arm_moveit_config/launch/static_virtual_joint_tfs.launch.py
+++ b/src/arm_moveit_config/launch/static_virtual_joint_tfs.launch.py
@@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_laun
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="arm_moveit_config").to_moveit_configs()
     return generate_static_virtual_joint_tfs_launch(moveit_config)
diff --git a/src/astra_arm_moveit_config/launch/warehouse_db.launch.py b/src/arm_moveit_config/launch/warehouse_db.launch.py
similarity index 84%
rename from src/astra_arm_moveit_config/launch/warehouse_db.launch.py
rename to src/arm_moveit_config/launch/warehouse_db.launch.py
index 3c07275..f03f7b3 100644
--- a/src/astra_arm_moveit_config/launch/warehouse_db.launch.py
+++ b/src/arm_moveit_config/launch/warehouse_db.launch.py
@@ -3,5 +3,5 @@ from moveit_configs_utils.launches import generate_warehouse_db_launch
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="arm_moveit_config").to_moveit_configs()
     return generate_warehouse_db_launch(moveit_config)
diff --git a/src/astra_arm_moveit_config/package.xml b/src/arm_moveit_config/package.xml
similarity index 96%
rename from src/astra_arm_moveit_config/package.xml
rename to src/arm_moveit_config/package.xml
index d738ff6..8918b8e 100644
--- a/src/astra_arm_moveit_config/package.xml
+++ b/src/arm_moveit_config/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>astra_arm_moveit_config</name>
+  <name>arm_moveit_config</name>
   <version>0.3.0</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the ASTRA_Arm with the MoveIt Motion Planning Framework
@@ -37,7 +37,7 @@
   <exec_depend>moveit_ros_warehouse</exec_depend>
   <exec_depend>moveit_setup_assistant</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rover_urdf_pkg</exec_depend>
+  <exec_depend>arm_description</exec_depend>
   <exec_depend>rviz2</exec_depend>
   <exec_depend>rviz_common</exec_depend>
   <exec_depend>rviz_default_plugins</exec_depend>
diff --git a/src/servo_arm_twist_pkg/CMakeLists.txt b/src/servo_arm_twist_pkg/CMakeLists.txt
index 8494a48..346d9ea 100644
--- a/src/servo_arm_twist_pkg/CMakeLists.txt
+++ b/src/servo_arm_twist_pkg/CMakeLists.txt
@@ -54,9 +54,9 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
-include_directories(
-  include
-)
+# include_directories(
+#   include
+# )
 
 ###################
 ## C++ Libraries ##
@@ -140,7 +140,7 @@ install(
   LIBRARY DESTINATION lib
   ARCHIVE DESTINATION lib
   RUNTIME DESTINATION bin
-  INCLUDES DESTINATION include
+  # INCLUDES DESTINATION include
 )
 
 # # Install Binaries
@@ -155,10 +155,10 @@ install(
 #   RUNTIME DESTINATION lib/${PROJECT_NAME}
 # )
 
-# Install include, launch, config directories
-install(DIRECTORY include/ DESTINATION include)
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+# # Install include, launch, config directories
+# install(DIRECTORY include/ DESTINATION include)
+# install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+# install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})