diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
index 32d176c..3abc846 100644
--- a/.github/workflows/ci-coverage-build.yml
+++ b/.github/workflows/ci-coverage-build.yml
@@ -10,7 +10,7 @@ on:
 jobs:
   coverage:
     name: coverage build
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     strategy:
       fail-fast: false
     env:
@@ -39,12 +39,12 @@ jobs:
               }
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v3.1.0
+      - uses: codecov/codecov-action@v4
         with:
           file: ros_ws/lcov/total_coverage.info
           flags: unittests
           name: codecov-umbrella
-      - uses: actions/upload-artifact@v3.1.0
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-coverage-rolling
           path: ros_ws/log
diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-binary-build-main.yml
deleted file mode 100644
index fd97c85..0000000
--- a/.github/workflows/humble-binary-build-main.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Humble Binary Build - main
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: main
-      upstream_workspace: ros2_robotiq_gripper-not-released.humble.repos
-      ref_for_scheduled_build: main
diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build-testing.yml
deleted file mode 100644
index 36076de..0000000
--- a/.github/workflows/humble-binary-build-testing.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Humble Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: testing
-      upstream_workspace: ros2_robotiq_gripper-not-released.humble.repos
-      ref_for_scheduled_build: main
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml
deleted file mode 100644
index 17ababa..0000000
--- a/.github/workflows/humble-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Humble Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: main
-      upstream_workspace: ros2_robotiq_gripper.humble.repos
-      ref_for_scheduled_build: main
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build-testing.yml
deleted file mode 100644
index 0292176..0000000
--- a/.github/workflows/humble-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Humble Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: testing
-      upstream_workspace: ros2_robotiq_gripper.humble.repos
-      ref_for_scheduled_build: main
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
deleted file mode 100644
index 9869d1f..0000000
--- a/.github/workflows/humble-source-build.yml
+++ /dev/null
@@ -1,19 +0,0 @@
-name: Humble Source Build
-on:
-  workflow_dispatch:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
-    with:
-      ros_distro: humble
-      ref: main
-      ros2_repo_branch: humble
diff --git a/.github/workflows/iron-binary-build-main.yml b/.github/workflows/iron-binary-build-main.yml
deleted file mode 100644
index cea9495..0000000
--- a/.github/workflows/iron-binary-build-main.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Iron Binary Build - main
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: iron
-      ros_repo: main
-      upstream_workspace: ros2_robotiq_gripper-not-released.iron.repos
-      ref_for_scheduled_build: main
diff --git a/.github/workflows/iron-binary-build-testing.yml b/.github/workflows/iron-binary-build-testing.yml
deleted file mode 100644
index 9470611..0000000
--- a/.github/workflows/iron-binary-build-testing.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Iron Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: iron
-      ros_repo: testing
-      upstream_workspace: ros2_robotiq_gripper-not-released.iron.repos
-      ref_for_scheduled_build: main
diff --git a/.github/workflows/iron-semi-binary-build-main.yml b/.github/workflows/iron-semi-binary-build-main.yml
deleted file mode 100644
index ac9efb5..0000000
--- a/.github/workflows/iron-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Iron Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: iron
-      ros_repo: main
-      upstream_workspace: ros2_robotiq_gripper.iron.repos
-      ref_for_scheduled_build: main
diff --git a/.github/workflows/iron-semi-binary-build-testing.yml b/.github/workflows/iron-semi-binary-build-testing.yml
deleted file mode 100644
index ec93f8f..0000000
--- a/.github/workflows/iron-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Iron Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: iron
-      ros_repo: testing
-      upstream_workspace: ros2_robotiq_gripper.iron.repos
-      ref_for_scheduled_build: main
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
deleted file mode 100644
index 350896d..0000000
--- a/.github/workflows/iron-source-build.yml
+++ /dev/null
@@ -1,19 +0,0 @@
-name: Iron Source Build
-on:
-  workflow_dispatch:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
-    with:
-      ros_distro: iron
-      ref: main
-      ros2_repo_branch: iron
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
index 86c1f72..e2a6bcd 100644
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -45,7 +45,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_robotiq_gripper.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v1
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/robotiq_description/urdf/2f_140.ros2_control.xacro b/robotiq_description/urdf/2f_140.ros2_control.xacro
index 80c4294..59964f5 100644
--- a/robotiq_description/urdf/2f_140.ros2_control.xacro
+++ b/robotiq_description/urdf/2f_140.ros2_control.xacro
@@ -4,12 +4,12 @@
     <xacro:macro name="robotiq_gripper_ros2_control" params="
         name
         prefix
-        sim_ignition:=false
+        sim_gazebo:=false
         sim_isaac:=false
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
         use_fake_hardware:=false
-        fake_sensor_commands:=false
+        mock_sensor_commands:=false
         com_port:=/dev/ttyUSB0">
 
         <ros2_control name="${name}" type="system">
@@ -20,15 +20,15 @@
                     <param name="joint_commands_topic">${isaac_joint_commands}</param>
                     <param name="joint_states_topic">${isaac_joint_states}</param>
                 </xacro:if>
-                <xacro:if value="${sim_ignition}">
+                <xacro:if value="${sim_gazebo}">
                     <plugin>ign_ros2_control/IgnitionSystem</plugin>
                 </xacro:if>
                 <xacro:if value="${use_fake_hardware}">
                     <plugin>mock_components/GenericSystem</plugin>
-                    <param name="fake_sensor_commands">${fake_sensor_commands}</param>
+                    <param name="mock_sensor_commands">${mock_sensor_commands}</param>
                     <param name="state_following_offset">0.0</param>
                 </xacro:if>
-                <xacro:unless value="${use_fake_hardware or sim_ignition or sim_isaac}">
+                <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
                     <plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
                     <param name="gripper_closed_position">0.695</param>
                     <param name="COM_port">${com_port}</param>
@@ -38,7 +38,7 @@
             </hardware>
 
             <!-- Joint interfaces -->
-            <!-- With Ignition or Hardware, they handle mimic joints, so we only need this command interface activated -->
+            <!-- With Gazebo or Hardware, they handle mimic joints, so we only need this command interface activated -->
             <joint name="${prefix}finger_joint">
                 <command_interface name="position" />
                 <state_interface name="position">
@@ -47,48 +47,33 @@
                 <state_interface name="velocity"/>
             </joint>
             <!-- When simulating we need to include the rest of the gripper joints -->
-            <xacro:if value="${use_fake_hardware or sim_isaac or sim_ignition}">
+            <xacro:if value="${use_fake_hardware or sim_isaac or sim_gazebo}">
                 <joint name="${prefix}left_inner_knuckle_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}left_inner_finger_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}right_outer_knuckle_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}right_inner_knuckle_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}right_inner_finger_joint">
-                    <param name="mimic">${prefix}finger_joint</param>
-                    <param name="multiplier">1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
@@ -96,7 +81,7 @@
             </xacro:if>
 
             <!-- Only add this with fake hardware mode -->
-            <xacro:unless value="${sim_ignition or sim_isaac}">
+            <xacro:unless value="${sim_gazebo or sim_isaac}">
                 <gpio name="reactivate_gripper">
                     <command_interface name="reactivate_gripper_cmd" />
                     <command_interface name="reactivate_gripper_response" />
diff --git a/robotiq_description/urdf/2f_85.ros2_control.xacro b/robotiq_description/urdf/2f_85.ros2_control.xacro
index 96d3969..11f46f5 100644
--- a/robotiq_description/urdf/2f_85.ros2_control.xacro
+++ b/robotiq_description/urdf/2f_85.ros2_control.xacro
@@ -4,12 +4,12 @@
     <xacro:macro name="robotiq_gripper_ros2_control" params="
         name
         prefix
-        sim_ignition:=false
+        sim_gazebo:=false
         sim_isaac:=false
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
         use_fake_hardware:=false
-        fake_sensor_commands:=false
+        mock_sensor_commands:=false
         com_port:=/dev/ttyUSB0">
 
         <ros2_control name="${name}" type="system">
@@ -25,15 +25,15 @@
                     <param name="joint_states_topic">${isaac_joint_states}</param>
                     <param name="trigger_joint_command_threshold">0.02</param>
                 </xacro:if>
-                <xacro:if value="${sim_ignition}">
+                <xacro:if value="${sim_gazebo}">
                     <plugin>ign_ros2_control/IgnitionSystem</plugin>
                 </xacro:if>
                 <xacro:if value="${use_fake_hardware}">
                     <plugin>mock_components/GenericSystem</plugin>
-                    <param name="fake_sensor_commands">${fake_sensor_commands}</param>
+                    <param name="mock_sensor_commands">${mock_sensor_commands}</param>
                     <param name="state_following_offset">0.0</param>
                 </xacro:if>
-                <xacro:unless value="${use_fake_hardware or sim_ignition or sim_isaac}">
+                <xacro:unless value="${use_fake_hardware or sim_gazebo or sim_isaac}">
                     <plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
                     <param name="gripper_closed_position">0.7929</param>
                     <param name="COM_port">${com_port}</param>
@@ -43,7 +43,7 @@
             </hardware>
 
             <!-- Joint interfaces -->
-            <!-- With Ignition or Hardware, they handle mimic joints, so we only need this command interface activated -->
+            <!-- With Gazebo or Hardware, they handle mimic joints, so we only need this command interface activated -->
             <joint name="${prefix}robotiq_85_left_knuckle_joint">
                 <command_interface name="position" />
                 <state_interface name="position">
@@ -52,48 +52,33 @@
                 <state_interface name="velocity"/>
             </joint>
             <!-- When simulating we need to include the rest of the gripper joints -->
-            <xacro:if value="${use_fake_hardware or sim_isaac or sim_ignition}">
+            <xacro:if value="${use_fake_hardware or sim_isaac or sim_gazebo}">
                 <joint name="${prefix}robotiq_85_right_knuckle_joint">
-                    <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}robotiq_85_left_inner_knuckle_joint">
-                    <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
-                    <param name="multiplier">1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}robotiq_85_right_inner_knuckle_joint">
-                    <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}robotiq_85_left_finger_tip_joint">
-                    <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
-                    <param name="multiplier">-1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
                 </joint>
                 <joint name="${prefix}robotiq_85_right_finger_tip_joint">
-                    <param name="mimic">${prefix}robotiq_85_left_knuckle_joint</param>
-                    <param name="multiplier">1</param>
-                    <xacro:unless value="${sim_ignition}">
-                        <command_interface name="position"/>
+                    <xacro:unless value="${sim_gazebo}">
                         <state_interface name="position"/>
                         <state_interface name="velocity"/>
                     </xacro:unless>
@@ -101,7 +86,7 @@
             </xacro:if>
 
             <!-- Only add this with fake hardware mode -->
-            <xacro:unless value="${sim_ignition or sim_isaac}">
+            <xacro:unless value="${sim_gazebo or sim_isaac}">
                 <gpio name="reactivate_gripper">
                     <command_interface name="reactivate_gripper_cmd" />
                     <command_interface name="reactivate_gripper_response" />
diff --git a/robotiq_description/urdf/robotiq_2f_140.xacro b/robotiq_description/urdf/robotiq_2f_140.xacro
index 758f4f0..bc252ff 100644
--- a/robotiq_description/urdf/robotiq_2f_140.xacro
+++ b/robotiq_description/urdf/robotiq_2f_140.xacro
@@ -17,7 +17,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_140/robotiq_2f_${stroke}_outer_knuckle.stl" />
+          <mesh filename="package://robotiq_description/meshes/visual/2f_140/robotiq_2f_${stroke}_outer_knuckle.stl" />
         </geometry>
         <material name="">
           <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
@@ -26,7 +26,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_140/robotiq_2f_${stroke}_outer_knuckle.stl" />
+          <mesh filename="package://robotiq_description/meshes/collision/2f_140/robotiq_2f_${stroke}_outer_knuckle.stl" />
         </geometry>
       </collision>
     </link>
@@ -48,7 +48,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_140/robotiq_2f_${stroke}_outer_finger.stl" />
+          <mesh filename="package://robotiq_description/meshes/visual/2f_140/robotiq_2f_${stroke}_outer_finger.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
@@ -57,7 +57,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_140/robotiq_2f_${stroke}_outer_finger.stl" />
+          <mesh filename="package://robotiq_description/meshes/collision/2f_140/robotiq_2f_${stroke}_outer_finger.stl" />
         </geometry>
       </collision>
     </link>
@@ -79,7 +79,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_140/robotiq_2f_${stroke}_inner_knuckle.stl" />
+          <mesh filename="package://robotiq_description/meshes/visual/2f_140/robotiq_2f_${stroke}_inner_knuckle.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
@@ -88,7 +88,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_140/robotiq_2f_${stroke}_inner_knuckle.stl" />
+          <mesh filename="package://robotiq_description/meshes/collision/2f_140/robotiq_2f_${stroke}_inner_knuckle.stl" />
         </geometry>
       </collision>
     </link>
@@ -110,7 +110,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_140/robotiq_2f_${stroke}_inner_finger.stl" />
+          <mesh filename="package://robotiq_description/meshes/visual/2f_140/robotiq_2f_${stroke}_inner_finger.stl" />
         </geometry>
         <material name="">
           <color rgba="0.1 0.1 0.1 1" />
@@ -119,7 +119,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_140/robotiq_2f_${stroke}_inner_finger.stl" />
+          <mesh filename="package://robotiq_description/meshes/collision/2f_140/robotiq_2f_${stroke}_inner_finger.stl" />
         </geometry>
       </collision>
     </link>
diff --git a/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro b/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
index 9a2cc7d..dbd4acc 100644
--- a/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
+++ b/robotiq_description/urdf/robotiq_2f_140_macro.urdf.xacro
@@ -5,12 +5,12 @@
         prefix
         parent
         *origin
-        sim_ignition:=false
+        sim_gazebo:=false
         sim_isaac:=false
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
         use_fake_hardware:=false
-        fake_sensor_commands:=false
+        mock_sensor_commands:=false
         include_ros2_control:=true
         com_port:=/dev/ttyUSB0">
 
@@ -20,12 +20,12 @@
         <xacro:if value="${include_ros2_control}">
             <xacro:robotiq_gripper_ros2_control
                 name="${name}" prefix="${prefix}"
-                sim_ignition="${sim_ignition}"
+                sim_gazebo="${sim_gazebo}"
                 sim_isaac="${sim_isaac}"
                 isaac_joint_commands="${isaac_joint_commands}"
                 isaac_joint_states="${isaac_joint_states}"
                 use_fake_hardware="${use_fake_hardware}"
-                fake_sensor_commands="${fake_sensor_commands}"
+                mock_sensor_commands="${mock_sensor_commands}"
                 com_port="${com_port}"/>
         </xacro:if>
 
@@ -46,7 +46,7 @@
         <visual>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry>
-            <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_140/robotiq_2f_140_base_link.stl" />
+            <mesh filename="package://robotiq_description/meshes/visual/2f_140/robotiq_2f_140_base_link.stl" />
           </geometry>
           <material name="">
             <color rgba="0.1 0.1 0.1 1" />
@@ -55,7 +55,7 @@
         <collision>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry>
-            <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_140/robotiq_2f_140_base_link.stl" />
+            <mesh filename="package://robotiq_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl" />
           </geometry>
         </collision>
       </link>
diff --git a/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro b/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
index 7ec0918..5a8978f 100644
--- a/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
+++ b/robotiq_description/urdf/robotiq_2f_85_macro.urdf.xacro
@@ -5,12 +5,12 @@
         prefix
         parent
         *origin
-        sim_ignition:=false
+        sim_gazebo:=false
         sim_isaac:=false
         isaac_joint_commands:=/isaac_joint_commands
         isaac_joint_states:=/isaac_joint_states
         use_fake_hardware:=false
-        fake_sensor_commands:=false
+        mock_sensor_commands:=false
         include_ros2_control:=true
         com_port:=/dev/ttyUSB0">
 
@@ -20,24 +20,24 @@
         <xacro:if value="${include_ros2_control}">
             <xacro:robotiq_gripper_ros2_control
                 name="${name}" prefix="${prefix}"
-                sim_ignition="${sim_ignition}"
+                sim_gazebo="${sim_gazebo}"
                 sim_isaac="${sim_isaac}"
                 isaac_joint_commands="${isaac_joint_commands}"
                 isaac_joint_states="${isaac_joint_states}"
                 use_fake_hardware="${use_fake_hardware}"
-                fake_sensor_commands="${fake_sensor_commands}"
+                mock_sensor_commands="${mock_sensor_commands}"
                 com_port="${com_port}"/>
         </xacro:if>
 
         <link name="${prefix}robotiq_85_base_link">
             <visual>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/robotiq_base.dae" />
+                    <mesh filename="package://robotiq_description/meshes/visual/2f_85/robotiq_base.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/robotiq_base.stl" />
+                    <mesh filename="package://robotiq_description/meshes/collision/2f_85/robotiq_base.stl" />
                 </geometry>
             </collision>
             <inertial>
@@ -50,12 +50,12 @@
         <link name="${prefix}robotiq_85_left_knuckle_link">
             <visual>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_knuckle.dae" />
+                    <mesh filename="package://robotiq_description/meshes/visual/2f_85/left_knuckle.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/left_knuckle.stl" />
+                    <mesh filename="package://robotiq_description/meshes/collision/2f_85/left_knuckle.stl" />
                 </geometry>
             </collision>
             <inertial>
@@ -68,12 +68,12 @@
         <link name="${prefix}robotiq_85_right_knuckle_link">
             <visual>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_knuckle.dae" />
+                    <mesh filename="package://robotiq_description/meshes/visual/2f_85/right_knuckle.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/right_knuckle.stl" />
+                    <mesh filename="package://robotiq_description/meshes/collision/2f_85/right_knuckle.stl" />
                 </geometry>
             </collision>
             <inertial>
@@ -86,12 +86,12 @@
         <link name="${prefix}robotiq_85_left_finger_link">
             <visual>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_finger.dae" />
+                    <mesh filename="package://robotiq_description/meshes/visual/2f_85/left_finger.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/left_finger.stl" />
+                    <mesh filename="package://robotiq_description/meshes/collision/2f_85/left_finger.stl" />
                 </geometry>
             </collision>
             <inertial>
@@ -104,12 +104,12 @@
         <link name="${prefix}robotiq_85_right_finger_link">
             <visual>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_finger.dae" />
+                    <mesh filename="package://robotiq_description/meshes/visual/2f_85/right_finger.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/right_finger.stl" />
+                    <mesh filename="package://robotiq_description/meshes/collision/2f_85/right_finger.stl" />
                 </geometry>
             </collision>
             <inertial>
@@ -122,12 +122,12 @@
         <link name="${prefix}robotiq_85_left_inner_knuckle_link">
             <visual>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_inner_knuckle.dae" />
+                    <mesh filename="package://robotiq_description/meshes/visual/2f_85/left_inner_knuckle.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/left_inner_knuckle.stl" />
+                    <mesh filename="package://robotiq_description/meshes/collision/2f_85/left_inner_knuckle.stl" />
                 </geometry>
             </collision>
             <inertial>
@@ -140,12 +140,12 @@
         <link name="${prefix}robotiq_85_right_inner_knuckle_link">
             <visual>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_inner_knuckle.dae" />
+                    <mesh filename="package://robotiq_description/meshes/visual/2f_85/right_inner_knuckle.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/right_inner_knuckle.stl" />
+                    <mesh filename="package://robotiq_description/meshes/collision/2f_85/right_inner_knuckle.stl" />
                 </geometry>
             </collision>
             <inertial>
@@ -158,12 +158,12 @@
         <link name="${prefix}robotiq_85_left_finger_tip_link">
             <visual>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/left_finger_tip.dae" />
+                    <mesh filename="package://robotiq_description/meshes/visual/2f_85/left_finger_tip.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/left_finger_tip.stl" />
+                    <mesh filename="package://robotiq_description/meshes/collision/2f_85/left_finger_tip.stl" />
                 </geometry>
                 <surface>
                     <friction>
@@ -194,12 +194,12 @@
         <link name="${prefix}robotiq_85_right_finger_tip_link">
             <visual>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/visual/2f_85/right_finger_tip.dae" />
+                    <mesh filename="package://robotiq_description/meshes/visual/2f_85/right_finger_tip.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry>
-                    <mesh filename="file://$(find robotiq_description)/meshes/collision/2f_85/right_finger_tip.stl" />
+                    <mesh filename="package://robotiq_description/meshes/collision/2f_85/right_finger_tip.stl" />
                 </geometry>
                 <surface>
                     <friction>
diff --git a/robotiq_driver/package.xml b/robotiq_driver/package.xml
index b01813f..856ed97 100644
--- a/robotiq_driver/package.xml
+++ b/robotiq_driver/package.xml
@@ -33,7 +33,6 @@
 
   <!-- Support for gtest and gmock-based tests in the ament buildsystem in CMake. -->
   <test_depend>ament_cmake_gmock</test_depend>
-  <test_depend>ros2_control_test_assets</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/robotiq_driver/tests/CMakeLists.txt b/robotiq_driver/tests/CMakeLists.txt
index 357e1d8..5db0b3c 100644
--- a/robotiq_driver/tests/CMakeLists.txt
+++ b/robotiq_driver/tests/CMakeLists.txt
@@ -2,7 +2,6 @@
 find_package(ament_cmake_gtest REQUIRED)
 find_package(ament_cmake_gmock REQUIRED)
 find_package(ament_lint_auto REQUIRED)
-find_package(ros2_control_test_assets REQUIRED)
 
 ament_lint_auto_find_test_dependencies()
 
@@ -21,9 +20,7 @@ target_include_directories(test_robotiq_gripper_hardware_interface
     PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
 )
 target_link_libraries(test_robotiq_gripper_hardware_interface robotiq_driver)
-ament_target_dependencies(test_robotiq_gripper_hardware_interface
-    ros2_control_test_assets
-)
+ament_target_dependencies(test_robotiq_gripper_hardware_interface)
 
 ###############################################################################
 # test_default_serial_factory
diff --git a/robotiq_driver/tests/test_data_utils.cpp b/robotiq_driver/tests/test_data_utils.cpp
index 61312c4..c5f74c1 100644
--- a/robotiq_driver/tests/test_data_utils.cpp
+++ b/robotiq_driver/tests/test_data_utils.cpp
@@ -25,7 +25,9 @@
 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
+
 #include <gtest/gtest.h>
+
 #include <robotiq_driver/data_utils.hpp>
 
 namespace robotiq_driver::test
diff --git a/robotiq_driver/tests/test_robotiq_gripper_hardware_interface.cpp b/robotiq_driver/tests/test_robotiq_gripper_hardware_interface.cpp
index 7b058fd..b187a80 100644
--- a/robotiq_driver/tests/test_robotiq_gripper_hardware_interface.cpp
+++ b/robotiq_driver/tests/test_robotiq_gripper_hardware_interface.cpp
@@ -26,24 +26,11 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#include <gmock/gmock.h>
 #include <gtest/gtest.h>
 
-#include <chrono>
-
-#include <robotiq_driver/default_driver_factory.hpp>
-#include <robotiq_driver/hardware_interface.hpp>
-
-#include <hardware_interface/loaned_command_interface.hpp>
-#include <hardware_interface/loaned_state_interface.hpp>
 #include <hardware_interface/resource_manager.hpp>
-#include <hardware_interface/types/lifecycle_state_names.hpp>
 
-#include <lifecycle_msgs/msg/state.hpp>
-#include <rclcpp_lifecycle/state.hpp>
-
-#include <ros2_control_test_assets/components_urdfs.hpp>
-#include <ros2_control_test_assets/descriptions.hpp>
+#include <rclcpp/node.hpp>
 
 namespace robotiq_driver::test
 {
@@ -54,31 +41,52 @@ namespace robotiq_driver::test
  */
 TEST(TestRobotiqGripperHardwareInterface, load_urdf)
 {
-  std::string urdf_control_ =
+  std::string urdf =
       R"(
-         <ros2_control name="robotiq_driver_ros2_control" type="system">
-           <hardware>
-             <plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
-             <param name="gripper_speed_multiplier">1.0</param>
-             <param name="gripper_force_multiplier">0.5</param>
-             <param name="COM_port">/dev/ttyUSB0</param>
-             <param name="gripper_closed_position">0.7929</param>
-           </hardware>
-           <joint name="robotiq_85_left_knuckle_joint">
-             <command_interface name="position" />
-             <state_interface name="position">
-               <param name="initial_value">0.7929</param>
-             </state_interface>
-             <state_interface name="velocity"/>
-           </joint>
-         </ros2_control>
-       )";
+        <?xml version="1.0" encoding="utf-8"?>
+        <robot name="test_robot">
+          <link name="robotiq_85_base_link"/>
+          <link name="robotiq_85_left_knuckle_link"/>
+          <joint name="robotiq_85_left_knuckle_joint" type="revolute">
+            <parent link="robotiq_85_base_link" />
+            <child link="robotiq_85_left_knuckle_link" />
+            <axis xyz="0 -1 0" />
+            <origin xyz="0.03060114 0.0 0.05490452" rpy="0 0 0" />
+            <limit lower="0.0" upper="0.8" velocity="0.5" effort="50" />
+          </joint>
+          <ros2_control name="robotiq_driver_ros2_control" type="system">
+            <hardware>
+              <plugin>robotiq_driver/RobotiqGripperHardwareInterface</plugin>
+              <param name="gripper_speed_multiplier">1.0</param>
+              <param name="gripper_force_multiplier">0.5</param>
+              <param name="COM_port">/dev/ttyUSB0</param>
+              <param name="gripper_closed_position">0.7929</param>
+            </hardware>
+            <joint name="robotiq_85_left_knuckle_joint">
+              <command_interface name="position" />
+              <state_interface name="position">
+                <param name="initial_value">0.7929</param>
+              </state_interface>
+              <state_interface name="velocity"/>
+            </joint>
+          </ros2_control>
+        </robot>
+        )";
+
+  rclcpp::Node node{ "test_robotiq_gripper_hardware_interface" };
 
-  auto urdf = ros2_control_test_assets::urdf_head + urdf_control_ + ros2_control_test_assets::urdf_tail;
-  hardware_interface::ResourceManager rm(urdf);
+  // Initialize the resource manager
+  hardware_interface::ResourceManager rm(urdf, node.get_node_clock_interface(), node.get_node_logging_interface());
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());
 }
 
 }  // namespace robotiq_driver::test
+
+int main(int argc, char** argv)
+{
+  rclcpp::init(argc, argv);
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
diff --git a/ros2_robotiq_gripper-not-released.humble.repos b/ros2_robotiq_gripper-not-released.humble.repos
deleted file mode 100644
index 510d9bc..0000000
--- a/ros2_robotiq_gripper-not-released.humble.repos
+++ /dev/null
@@ -1,5 +0,0 @@
-repositories:
-  serial:
-    type: git
-    url: https://github.com/tylerjw/serial.git
-    version: ros2
diff --git a/ros2_robotiq_gripper-not-released.iron.repos b/ros2_robotiq_gripper-not-released.iron.repos
deleted file mode 100644
index 510d9bc..0000000
--- a/ros2_robotiq_gripper-not-released.iron.repos
+++ /dev/null
@@ -1,5 +0,0 @@
-repositories:
-  serial:
-    type: git
-    url: https://github.com/tylerjw/serial.git
-    version: ros2
diff --git a/ros2_robotiq_gripper.humble.repos b/ros2_robotiq_gripper.humble.repos
deleted file mode 100644
index 510d9bc..0000000
--- a/ros2_robotiq_gripper.humble.repos
+++ /dev/null
@@ -1,5 +0,0 @@
-repositories:
-  serial:
-    type: git
-    url: https://github.com/tylerjw/serial.git
-    version: ros2
diff --git a/ros2_robotiq_gripper.iron.repos b/ros2_robotiq_gripper.iron.repos
deleted file mode 100644
index 510d9bc..0000000
--- a/ros2_robotiq_gripper.iron.repos
+++ /dev/null
@@ -1,5 +0,0 @@
-repositories:
-  serial:
-    type: git
-    url: https://github.com/tylerjw/serial.git
-    version: ros2