diff --git a/launch/kobuki.launch.py b/launch/kobuki.launch.py
index 0722da7..f2bbf3e 100644
--- a/launch/kobuki.launch.py
+++ b/launch/kobuki.launch.py
@@ -109,9 +109,9 @@ def generate_launch_description():
     robot_astra_description_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([os.path.join(
             get_package_share_directory('kobuki_description'),
-            'launch/'), 'kobuki_astra_description.launch.py']),
-        condition=IfCondition(PythonExpression([astra]))
-    )
+            'launch/'), 'kobuki_description.launch.py']),
+            condition=IfCondition(PythonExpression([astra])))
+
 
     ld.add_action(declare_astra_cmd)
     ld.add_action(robot_astra_description_cmd)
diff --git a/launch/simulation.launch.py b/launch/simulation.launch.py
index 748672e..934c3ca 100644
--- a/launch/simulation.launch.py
+++ b/launch/simulation.launch.py
@@ -27,6 +27,9 @@
     SetEnvironmentVariable
 )
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, Command
+from launch_ros.actions import Node
+import launch_ros.descriptions
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
@@ -105,10 +108,7 @@ def generate_launch_description():
 
     kobuki_dir = get_package_share_directory('kobuki_description')
 
-    urdf_file = os.path.join(kobuki_dir, 'urdf', 'kobuki_gazebo.urdf')
-
-    with open(urdf_file, 'r') as info:
-        robot_desc = info.read()
+    urdf_xacro_file = os.path.join(kobuki_dir, 'urdf', 'kobuki_hexagons_asus_xtion_pro_sim.urdf.xacro')
 
     model_name = DeclareLaunchArgument(
         'model_name', default_value='robot',
@@ -119,10 +119,11 @@ def generate_launch_description():
     robot_model = Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
-        parameters=[{'robot_description': robot_desc,
-                    'use_sim_time': True}],
-        arguments=[urdf_file]
-    )
+        parameters=[{
+            'robot_description': launch_ros.descriptions.ParameterValue(
+                Command(['xacro ', urdf_xacro_file]), value_type=str),
+            'use_sim_time': True
+        }])
 
     # TF Tree
     joint_state_publisher_node = Node(
diff --git a/thirdparty.repos b/thirdparty.repos
index da15772..5aa8587 100644
--- a/thirdparty.repos
+++ b/thirdparty.repos
@@ -23,6 +23,10 @@ repositories:
     type: git
     url: https://github.com/stonier/ecl_lite.git
     version: devel
+  ThirdParty/gazebo_plugins:
+    type: git
+    url: https://github.com/fmrico/gazebo_ros_pkgs.git
+    version: ros2_fix_depth
   ThirdParty/kobuki_core:
     type: git
     url: https://github.com/kobuki-base/kobuki_core.git
@@ -46,5 +50,4 @@ repositories:
   ThirdParty/sophus:
     type: git
     url: https://github.com/stonier/sophus.git
-    version: release/1.2.x
-
+    version: release/1.2.x
\ No newline at end of file