diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9bc02a50b4372b5072e57b835c0107eeaba527d1..f01c03c02d5af443b5bef15449095f7863d8d776 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,10 +2,11 @@
 
 ## 0.1.1 - UNRELEASED
 
-  * Integrate `franka_description` as subdirectory
-  * Fix dependencies on libfranka
-  * Fix RViz config file path in `franka_visualization`
-  * Add missing `test_depend` to `franka_hw`
+  * Integrated `franka_description` as subdirectory
+  * Fixed dependencies on libfranka
+  * Fixed RViz config file paths
+  * Added missing `test_depend` to `franka_hw`
+  * Added missing CMake install rules
 
 ## 0.1.0 - 2017-09-15
 
diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt
index 00952fc159b85e8a33ee43ef2bd10cc1c2c1d6d5..1619f28e5f71b03b1b1c4c9d867f59d492363a89 100644
--- a/franka_control/CMakeLists.txt
+++ b/franka_control/CMakeLists.txt
@@ -120,6 +120,27 @@ target_include_directories(franka_control_node PUBLIC
   ${catkin_INCLUDE_DIRS}
 )
 
+## Installation
+install(TARGETS franka_state_controller
+                franka_control_services
+                franka_control_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(FILES franka_controller_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 ## Tools
 file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
 file(GLOB_RECURSE HEADERS
diff --git a/franka_description/CMakeLists.txt b/franka_description/CMakeLists.txt
index 001965b76afc1f9901ce1b44dcd99da560ff7ebc..7282c39947f348162715e7e829a4aa5eb0f6e2b9 100644
--- a/franka_description/CMakeLists.txt
+++ b/franka_description/CMakeLists.txt
@@ -3,3 +3,10 @@ project(franka_description)
 
 find_package(catkin REQUIRED)
 catkin_package(CATKIN_DEPENDS xacro)
+
+install(DIRECTORY meshes
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY robots
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt
index 68238ccc23f80fb62204d3edea147761a12394a0..31f665a58f0445503580bc3ae867e571b1446e82 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -28,7 +28,7 @@ catkin_package(
 
 include_directories(include ${catkin_INCLUDE_DIRS})
 
-add_library(franka_example_controllers 
+add_library(franka_example_controllers
   src/cartesian_pose_example_controller.cpp
   src/cartesian_velocity_example_controller.cpp
   src/joint_position_example_controller.cpp
@@ -45,6 +45,25 @@ add_dependencies(franka_example_controllers
 
 target_link_libraries(franka_example_controllers ${catkin_LIBRARIES})
 
+## Installation
+install(TARGETS franka_example_controllers
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(FILES franka_example_controllers_plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 ## Tools
 file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
 file(GLOB_RECURSE HEADERS
diff --git a/franka_example_controllers/launch/cartesian_pose_example_controller.launch b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
index e6cd1f33d82435c88b031a904db0391c4e2316be..3611c66c09af66b33b67f2b679f13a0822b9875f 100644
--- a/franka_example_controllers/launch/cartesian_pose_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_pose_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
index db0d1e8585d3d338986b77673e51c67162d18fcf..b7bfc305cec5683733141f8001fc24332b6add01 100644
--- a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_velocity_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/joint_impedance_example_controller.launch b/franka_example_controllers/launch/joint_impedance_example_controller.launch
index 1f12cefe5815061fe08beabec757702752aa13f8..e3a488e5f1a556736fc75b5107c9642f4681d0d6 100644
--- a/franka_example_controllers/launch/joint_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/joint_impedance_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_impedance_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/joint_position_example_controller.launch b/franka_example_controllers/launch/joint_position_example_controller.launch
index b22550d8e872f2fe5c4053653e662b1e3e49eee2..2cab22d838a8bb26535c0d05b7120717e9fe88fb 100644
--- a/franka_example_controllers/launch/joint_position_example_controller.launch
+++ b/franka_example_controllers/launch/joint_position_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_position_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/joint_velocity_example_controller.launch b/franka_example_controllers/launch/joint_velocity_example_controller.launch
index 16a9441916720b392e9db94dcfb68c4412ff574d..ed8b84b0d2f7ad8ce7bf5464d842fde1e0064b7a 100644
--- a/franka_example_controllers/launch/joint_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/joint_velocity_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_velocity_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/model_example_controller.launch b/franka_example_controllers/launch/model_example_controller.launch
index 6bf195388adbaaad6e41f41d2a2852ebe3fb5875..1f1b2405f9e8914df00c4dce50cf47ac625bba52 100644
--- a/franka_example_controllers/launch/model_example_controller.launch
+++ b/franka_example_controllers/launch/model_example_controller.launch
@@ -11,6 +11,6 @@
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
     <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="model_example_controller --shutdown-timeout 2"/>
-    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
+    <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>
diff --git a/franka_example_controllers/launch/robot.rviz b/franka_example_controllers/launch/robot.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..07c4f7ffe621006022132808b51562feab5a9c86
--- /dev/null
+++ b/franka_example_controllers/launch/robot.rviz
@@ -0,0 +1,187 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 89
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 746
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        panda_hand:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_leftfinger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link7:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        panda_link8:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        panda_rightfinger:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: panda_link0
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 3.39362764
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.139062241
+        Y: 0.151414081
+        Z: 0.0437288694
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.485397696
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.500398219
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1059
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000384fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006f00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000384000000f300fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000384fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004100000384000000bb00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e0000027600fffffffb0000000800540069006d00650100000000000004500000000000000000000004f90000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1918
+  X: 1920
+  Y: 19
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index 19fdf950efe5590e682b93def6f905a900b3bcaf..58e3677544bf4f1a4d244150219a594f92aeb9d1 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -81,6 +81,23 @@ target_include_directories(franka_gripper_node PUBLIC
   include
 )
 
+## Installation
+install(TARGETS franka_gripper
+                franka_gripper_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 ## Tools
 file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
 file(GLOB_RECURSE HEADERS
diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt
index 8774cde8cc1a895ad3c019b754ff28c15020c870..3d5c68a96f50da18f9f23626549e937292b1c8ed 100644
--- a/franka_hw/CMakeLists.txt
+++ b/franka_hw/CMakeLists.txt
@@ -45,6 +45,16 @@ target_include_directories(franka_hw PUBLIC
   include
 )
 
+## Installation
+install(TARGETS franka_hw
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
 if(CATKIN_ENABLE_TESTING)
   add_subdirectory(test)
 endif()
diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt
index 10c8c25d8b14e1a9f24472667dc08172f34ee881..5188fc6f1acba9db30bcefde78bb30e181d5d2d0 100644
--- a/franka_visualization/CMakeLists.txt
+++ b/franka_visualization/CMakeLists.txt
@@ -15,26 +15,33 @@ find_package(Franka REQUIRED)
 
 catkin_package(CATKIN_DEPENDS sensor_msgs roscpp)
 
-set(EXECUTABLES
-  franka_joint_state_publisher
-)
-
-foreach(executable ${EXECUTABLES})
-  add_executable(${executable}
-    src/${executable}.cpp
-  )
-  add_dependencies(${executable}
-    ${${PROJECT_NAME}_EXPORTED_TARGETS}
-    ${catkin_EXPORTED_TARGETS}
-  )
-  target_link_libraries(${executable}
-    ${catkin_LIBRARIES}
-    Franka::Franka
-  )
-  target_include_directories(${executable} PUBLIC
-    ${catkin_INCLUDE_DIRS}
-  )
-endforeach()
+add_executable(franka_joint_state_publisher
+  src/franka_joint_state_publisher.cpp
+)
+add_dependencies(franka_joint_state_publisher
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
+  ${catkin_EXPORTED_TARGETS}
+)
+target_link_libraries(franka_joint_state_publisher
+  ${catkin_LIBRARIES}
+  Franka::Franka
+)
+target_include_directories(franka_joint_state_publisher PUBLIC
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Installation
+install(TARGETS franka_joint_state_publisher
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+install(DIRECTORY config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
 ## Tools
 file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
@@ -46,5 +53,5 @@ include(ClangTools)
 add_format_target(franka_visualization FILES ${SOURCES} ${HEADERS})
 add_tidy_target(franka_visualization
   FILES ${SOURCES}
-  DEPENDS ${EXECUTABLES}
+  DEPENDS franka_joint_state_publisher
 )
diff --git a/franka_visualization/param/robot_read_settings.yaml b/franka_visualization/config/robot_read_settings.yaml
similarity index 99%
rename from franka_visualization/param/robot_read_settings.yaml
rename to franka_visualization/config/robot_read_settings.yaml
index 2c1154d6598b98487a3622331279a220372b8933..7bd6f1afb71bbbe7e908af6dea90ec318b7889e9 100644
--- a/franka_visualization/param/robot_read_settings.yaml
+++ b/franka_visualization/config/robot_read_settings.yaml
@@ -6,4 +6,3 @@ joint_names:
   - panda_joint5
   - panda_joint6
   - panda_joint7
-
diff --git a/franka_visualization/launch/franka_visualization.launch b/franka_visualization/launch/franka_visualization.launch
index 93ab4741931e04c1079130dd6c90e498bcdba464..6bad56141c088e6fed5b2ffb1f184c32ca602a93 100644
--- a/franka_visualization/launch/franka_visualization.launch
+++ b/franka_visualization/launch/franka_visualization.launch
@@ -8,7 +8,7 @@
   <param if="$(arg load_gripper)" name="robot_description" command="$(find xacro)/xacro --inorder $(find franka_description)/robots/panda_arm_hand.urdf.xacro" />
 
   <node name="franka_joint_state_publisher" pkg="franka_visualization" type="franka_joint_state_publisher" output="screen">
-    <rosparam command="load" file="$(find franka_visualization)/param/robot_read_settings.yaml" />
+    <rosparam command="load" file="$(find franka_visualization)/config/robot_read_settings.yaml" />
     <param name="robot_ip" value="$(arg robot_ip)" />
   </node>