diff --git a/ur10_e_moveit_config/launch/planning_context.launch b/ur10_e_moveit_config/launch/planning_context.launch
index a87b942d1e37c6b32a8a426b6df705e46f89048a..3a02cad2c7af361d43b0b768deecfce2d63ad2cd 100644
--- a/ur10_e_moveit_config/launch/planning_context.launch
+++ b/ur10_e_moveit_config/launch/planning_context.launch
@@ -8,8 +8,8 @@
 
   <!-- Load universal robot description format (URDF) -->
   <group if="$(arg load_robot_description)">
-    <param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />
-    <param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro'" />
+    <param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_robot.urdf.xacro'" />
+    <param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur10e_joint_limited_robot.urdf.xacro'" />
   </group>
 
   <!-- The semantic description that corresponds to the URDF -->
diff --git a/ur10_e_moveit_config/package.xml b/ur10_e_moveit_config/package.xml
index 5473baa05c9c79ba9a85904c2e499d160e6af363..1b8cf9d50651b8f54b7aba533fe5862596be20e1 100644
--- a/ur10_e_moveit_config/package.xml
+++ b/ur10_e_moveit_config/package.xml
@@ -25,7 +25,7 @@
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <depend>ur_description</depend>
+  <depend>ur_e_description</depend>
 
   <test_depend>roslaunch</test_depend>
   <buildtool_depend>catkin</buildtool_depend>
diff --git a/ur3_e_moveit_config/launch/planning_context.launch b/ur3_e_moveit_config/launch/planning_context.launch
index d1a1618ac6b8ee60adfd7fc7de596881151c89f5..7f270e681529888c4516fff06fbf76744e3cbdf6 100644
--- a/ur3_e_moveit_config/launch/planning_context.launch
+++ b/ur3_e_moveit_config/launch/planning_context.launch
@@ -8,8 +8,8 @@
 
   <!-- Load universal robot description format (URDF) -->
   <group if="$(arg load_robot_description)">
-    <param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro'" />
-    <param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro'" />
+    <param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_robot.urdf.xacro'" />
+    <param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur3e_joint_limited_robot.urdf.xacro'" />
   </group>
 
   <!-- The semantic description that corresponds to the URDF -->
diff --git a/ur3_e_moveit_config/package.xml b/ur3_e_moveit_config/package.xml
index 8afdc76aca32dd7f2c334c05c17248e52f84d2e7..32d7a903cd00fc87a46e8b32fc63a32e042ff8ef 100644
--- a/ur3_e_moveit_config/package.xml
+++ b/ur3_e_moveit_config/package.xml
@@ -25,7 +25,7 @@
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <depend>ur_description</depend>
+  <depend>ur_e_description</depend>
 
   <test_depend>roslaunch</test_depend>
   <buildtool_depend>catkin</buildtool_depend>
diff --git a/ur5_e_moveit_config/launch/planning_context.launch b/ur5_e_moveit_config/launch/planning_context.launch
index 63109be0a1458bc73b91a0279ffe7550789ceb03..d46318299d515e2c847f0d75ac3279aa57b9ad8b 100644
--- a/ur5_e_moveit_config/launch/planning_context.launch
+++ b/ur5_e_moveit_config/launch/planning_context.launch
@@ -8,8 +8,8 @@
 
   <!-- Load universal robot description format (URDF) -->
   <group if="$(arg load_robot_description)">
-    <param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
-    <param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
+    <param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_robot.urdf.xacro'" />
+    <param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_e_description)/urdf/ur5e_joint_limited_robot.urdf.xacro'" />
   </group>
 
   <!-- The semantic description that corresponds to the URDF -->
diff --git a/ur5_e_moveit_config/package.xml b/ur5_e_moveit_config/package.xml
index 66bb550ba79d5f92cd5eb1934be5362f35ade6d9..9e756b4bd2efba389934a21ab8ac2cc199b004fa 100644
--- a/ur5_e_moveit_config/package.xml
+++ b/ur5_e_moveit_config/package.xml
@@ -25,7 +25,7 @@
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <depend>ur_description</depend>
+  <depend>ur_e_description</depend>
 
   <test_depend>roslaunch</test_depend>
   <buildtool_depend>catkin</buildtool_depend>