diff --git a/README.md b/README.md
index 7caa940..db925dc 100644
--- a/README.md
+++ b/README.md
@@ -88,40 +88,40 @@ The scancontrol_driver_node connects to the scanCONTROL device and allows contro
 
 #### Published Topics
 
-* **`/scancontrol_pointcloud`** ([sensor_msgs/PointCloud2])
+* **`profiles`** ([sensor_msgs/PointCloud2])
 
-	The laser scan data filtered by the partial profile settings. The last point(s) may get lost, as a timestamp overwrites the last 4 bytes of the measurement buffer.
+	The laser scan data filtered by the partial profile settings. The last point(s) may get lost, as a timestamp overwrites the last 4 bytes of the measurement buffer. Use the `frame_id` parameter to change the name of the reference frame in which the data is published.
 
 
 #### Services
 Most servives are wrappers of the scanCONTROL API. For more information on the available settings and values see the documentation as part of the [scanCONTROL Linux C++ SDK 0.2](https://www.micro-epsilon.com/2D_3D/laser-scanner/Software/downloads/). The rqt plugin uses these services to change the settings during runtime. 
 
-* **`~set_feature`** ([micro_epsilon_scancontrol_msgs/SetFeature])
+* **`set_feature`** ([micro_epsilon_scancontrol_msgs/SetFeature])
 
 	Set a feature (setting) on the scanCONTROL device. 
 
 
-* **`~get_feature`** ([micro_epsilon_scancontrol_msgs/GetFeature])
+* **`get_feature`** ([micro_epsilon_scancontrol_msgs/GetFeature])
 
 	Get the current feature (setting) from the connected scanCONTROL device. 
 
-* **`~get_resolution`** ([micro_epsilon_scancontrol_msgs/GetResolution])
+* **`get_resolution`** ([micro_epsilon_scancontrol_msgs/GetResolution])
 
 	Get the current active resolution used by the connected scanCONTROL device.
 
-* **`~set_resolution`** ([micro_epsilon_scancontrol_msgs/SetResolution])
+* **`set_resolution`** ([micro_epsilon_scancontrol_msgs/SetResolution])
 
 	Set the resultion of the connected scanCONTROL device.
 
-* **`~get_available_resolutions`** ([micro_epsilon_scancontrol_msgs/GetAvailableResolutions])
+* **`get_available_resolutions`** ([micro_epsilon_scancontrol_msgs/GetAvailableResolutions])
 
 	Retrieve a list of all available resolutions of the connected scanCONTROL device. 
 
-* **`~invert_x`** ([std_srvs/SetBool])
+* **`invert_x`** ([std_srvs/SetBool])
 
 	Flip the X values around the middle of the laser line of the sensor.  
 
-* **`~invert_z`** ([std_srvs/SetBool]
+* **`invert_z`** ([std_srvs/SetBool]
 
 	Flip the Z values around the middle of the measuring range of the sensor. Factory default value of of this setting is `True`.
 
@@ -141,7 +141,7 @@ The following parameters are available to allow using multiple scanCONTROL devic
 
 	Define a custom name for the topic to publish the point cloud data on. 
 
-* **`frame_id`** (string, default: `scancontrol`)
+* **`frame_id`** (string, default: `optical_frame`)
 
 	Define a custom name for the measurement frame in which the point clouds are published.
 
diff --git a/micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch b/micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch
deleted file mode 100644
index e9af850..0000000
--- a/micro_epsilon_scancontrol_description/launch/load_scancontrol_26x0_29x0_25.launch
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find micro_epsilon_scancontrol_description)/urdf/scancontrol_26x0_29x0_25.xacro'" />
-</launch>
diff --git a/micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch b/micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch
deleted file mode 100644
index 3959768..0000000
--- a/micro_epsilon_scancontrol_description/launch/load_scancontrol_27x0_100.launch
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find micro_epsilon_scancontrol_description)/urdf/scancontrol_27x0_100.xacro'" />
-</launch>
diff --git a/micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch b/micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch
deleted file mode 100644
index b52b016..0000000
--- a/micro_epsilon_scancontrol_description/launch/load_scancontrol_30xx_25.launch
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find micro_epsilon_scancontrol_description)/urdf/scancontrol_30xx_25.xacro'" />
-</launch>
diff --git a/micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch b/micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch
deleted file mode 100644
index d3ba2bc..0000000
--- a/micro_epsilon_scancontrol_description/launch/test_scancontrol_26x0_29x0_25.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<launch>
-  <include file="$(find micro_epsilon_scancontrol_description)/launch/load_scancontrol_26x0_29x0_25.launch" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="false" />
-  </node>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find micro_epsilon_scancontrol_description)/config/rviz.rviz" required="true" />
-</launch>
diff --git a/micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch b/micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch
deleted file mode 100644
index 03bc79d..0000000
--- a/micro_epsilon_scancontrol_description/launch/test_scancontrol_27x0_100.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<launch>
-  <include file="$(find micro_epsilon_scancontrol_description)/launch/load_scancontrol_27x0_100.launch" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="false" />
-  </node>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find micro_epsilon_scancontrol_description)/config/rviz.rviz" required="true" />
-</launch>
diff --git a/micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch b/micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch
deleted file mode 100644
index a454e1e..0000000
--- a/micro_epsilon_scancontrol_description/launch/test_scancontrol_30xx_25.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<launch>
-  <include file="$(find micro_epsilon_scancontrol_description)/launch/load_scancontrol_30xx_25.launch" />
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="false" />
-  </node>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find micro_epsilon_scancontrol_description)/config/rviz.rviz" required="true" />
-</launch>
diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25.xacro b/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25.xacro
deleted file mode 100644
index 7419971..0000000
--- a/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25.xacro
+++ /dev/null
@@ -1,5 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="microepsilon_scancontrol_26x0_29x0_25" xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:include filename="$(find micro_epsilon_scancontrol_description)/urdf/scancontrol_26x0_29x0_25_macro.xacro"/>
-  <xacro:microepsilon_scancontrol_26x0_29x0_25 prefix=""/>
-</robot>
diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100.xacro b/micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100.xacro
deleted file mode 100644
index a9242c3..0000000
--- a/micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100.xacro
+++ /dev/null
@@ -1,5 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="microepsilon_scancontrol_27x0_100" xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:include filename="$(find micro_epsilon_scancontrol_description)/urdf/scancontrol_27x0_100_macro.xacro"/>
-  <xacro:microepsilon_scancontrol_27x0_100 prefix=""/>
-</robot>
diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25.xacro b/micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25.xacro
deleted file mode 100644
index d1b4e56..0000000
--- a/micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25.xacro
+++ /dev/null
@@ -1,5 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="microepsilon_scancontrol_30xx_25" xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:include filename="$(find micro_epsilon_scancontrol_description)/urdf/scancontrol_30xx_25_macro.xacro"/>
-  <xacro:microepsilon_scancontrol_30xx_25 prefix=""/>
-</robot>
diff --git a/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h b/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h
index 1c20975..06822a9 100644
--- a/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h
+++ b/micro_epsilon_scancontrol_driver/include/micro_epsilon_scancontrol_driver/driver.h
@@ -19,8 +19,8 @@
 #define MAX_RESOLUTION_COUNT 6
 #define GENERAL_FUNCTION_FAILED -1
 
-#define DEFAULT_FRAME_ID "scancontrol"
-#define DEFAULT_TOPIC_NAME "scancontrol_pointcloud"
+#define DEFAULT_FRAME_ID "optical_frame"
+#define DEFAULT_TOPIC_NAME "profiles"
 
 typedef pcl::PointCloud<pcl::PointXYZI> point_cloud_t;
 
diff --git a/micro_epsilon_scancontrol_driver/launch/test_driver.launch b/micro_epsilon_scancontrol_driver/launch/test_driver.launch
index 98ad22a..1ca2fe9 100644
--- a/micro_epsilon_scancontrol_driver/launch/test_driver.launch
+++ b/micro_epsilon_scancontrol_driver/launch/test_driver.launch
@@ -1,18 +1,19 @@
 <launch>
+    <arg name="sensor_model" default="30x0" />
 
     <!-- Load the Micro Epsilon scanCONTROL driver -->
-    <node name="scancontrol_driver" pkg="micro_epsilon_scancontrol_driver" type="driver_node" output="screen" required="true" />
+    <include ns="scancontrol" file="$(find micro_epsilon_scancontrol_driver)/launch/load_driver.launch"/>
 
     <!-- Load the Micro Epsilon scanCONTROL description (URDF) -->
-    <include file="$(find micro_epsilon_scancontrol_description)/launch/load_scancontrol_26x0_29x0_25.launch" />
+    <include file="$(find micro_epsilon_scancontrol_support)/launch/load_26x0_29x0_25.launch" if="$(eval arg('sensor_model') == '26x0' or arg('sensor_model') == '29x0')"/>
+    <include file="$(find micro_epsilon_scancontrol_support)/launch/load_27x0_100.launch" if="$(eval arg('sensor_model') == '27x0')" />
+    <include file="$(find micro_epsilon_scancontrol_support)/launch/load_30x0_25.launch" if="$(eval arg('sensor_model') == '30x0')" />
 
     <!-- Start the Joint State publisher and Robot State publisher (for correct visualization) -->
-    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-        <param name="use_gui" value="false" />
-    </node>
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
     <!-- Start Rviz to visualize the data -->
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find micro_epsilon_scancontrol_description)/config/rviz.rviz" required="true" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find micro_epsilon_scancontrol_support)/config/test_driver_config.rviz" required="true" />
 
 </launch>
\ No newline at end of file
diff --git a/micro_epsilon_scancontrol_driver/src/driver.cpp b/micro_epsilon_scancontrol_driver/src/driver.cpp
index af2dcac..03c1cba 100644
--- a/micro_epsilon_scancontrol_driver/src/driver.cpp
+++ b/micro_epsilon_scancontrol_driver/src/driver.cpp
@@ -64,7 +64,7 @@ namespace scancontrol_driver
 
             // Check if the available device is the same as the prefered device (if a serial is provided):
             std::string interface(available_interfaces[0]);
-            if ((config_.serial == "") || (interface.find(config_.serial) > -1)){
+            if ((config_.serial == "") || (interface.find(config_.serial) != std::string::npos)){
                 ROS_INFO_STREAM("Interface found: " << interface);
             }
             else{
@@ -78,7 +78,7 @@ namespace scancontrol_driver
             if (config_.serial != ""){
                 for (int i = 0; i < interface_count; i++){
                     std::string interface(available_interfaces[i]);
-                    if (interface.find(config_.serial) > -1){
+                    if (interface.find(config_.serial) != std::string::npos){
                         ROS_INFO_STREAM("Interface found: " << interface);
                         selected_interface = i;
                         break;
@@ -163,7 +163,7 @@ namespace scancontrol_driver
             gint8 selected_resolution = -1;
             for (int i = 0; i < return_code; i++){
                 std::string resolution = std::to_string(available_resolutions[i]);
-                if (resolution.find(config_.serial) > -1){
+                if (resolution.find(config_.resolution) != std::string::npos){
                     selected_resolution = i;
                     break;
                 }
diff --git a/micro_epsilon_scancontrol_description/CMakeLists.txt b/micro_epsilon_scancontrol_support/CMakeLists.txt
similarity index 52%
rename from micro_epsilon_scancontrol_description/CMakeLists.txt
rename to micro_epsilon_scancontrol_support/CMakeLists.txt
index 42aeeef..349459a 100644
--- a/micro_epsilon_scancontrol_description/CMakeLists.txt
+++ b/micro_epsilon_scancontrol_support/CMakeLists.txt
@@ -1,10 +1,15 @@
 cmake_minimum_required(VERSION 2.8.3)
 
-project(micro_epsilon_scancontrol_description)
+project(micro_epsilon_scancontrol_support)
 
 find_package(catkin REQUIRED)
 
 catkin_package()
 
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(tests/roslaunch_test.xml)
+endif()
+
 install(DIRECTORY config launch meshes urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/micro_epsilon_scancontrol_description/config/rviz.rviz b/micro_epsilon_scancontrol_support/config/test_driver_config.rviz
similarity index 77%
rename from micro_epsilon_scancontrol_description/config/rviz.rviz
rename to micro_epsilon_scancontrol_support/config/test_driver_config.rviz
index a604c76..7dc297f 100644
--- a/micro_epsilon_scancontrol_description/config/rviz.rviz
+++ b/micro_epsilon_scancontrol_support/config/test_driver_config.rviz
@@ -5,11 +5,9 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /Status1
-        - /TF1
-        - /TF1/Frames1
+        - /PointCloud21
       Splitter Ratio: 0.5
-    Tree Height: 815
+    Tree Height: 796
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -18,7 +16,7 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
@@ -29,6 +27,10 @@ Panels:
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -38,7 +40,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.03
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -98,9 +100,9 @@ Visualization Manager:
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.01
+      Size (m): 0.009999999776482582
       Style: Points
-      Topic: /profiles
+      Topic: /scancontrol/profiles
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
@@ -109,9 +111,9 @@ Visualization Manager:
       Enabled: true
       Frame Timeout: 15
       Frames:
-        All Enabled: false
+        All Enabled: true
         aperture_frame:
-          Value: false
+          Value: true
         base_link:
           Value: true
       Marker Scale: 0.5
@@ -128,6 +130,7 @@ Visualization Manager:
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
+    Default Light: true
     Fixed Frame: base_link
     Frame Rate: 30
   Name: root
@@ -139,7 +142,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -149,9 +155,9 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.29337
+      Distance: 1.293370008468628
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
@@ -159,20 +165,23 @@ Visualization Manager:
         X: 0
         Y: 0
         Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.785398
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6203983426094055
       Target Frame: base_link
       Value: Orbit (rviz)
-      Yaw: 0.785398
+      Yaw: 5.783589839935303
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1028
+  Height: 1025
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000003befc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003be000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003befc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000003be000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000013b000003be00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000003a7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000003a7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003a7fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000003a7000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b0000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004b8000003a700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -181,6 +190,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 960
-  X: -10
-  Y: 14
+  Width: 1853
+  X: 67
+  Y: 27
diff --git a/micro_epsilon_scancontrol_support/launch/load_26x0_29x0_25.launch b/micro_epsilon_scancontrol_support/launch/load_26x0_29x0_25.launch
new file mode 100644
index 0000000..83b6da4
--- /dev/null
+++ b/micro_epsilon_scancontrol_support/launch/load_26x0_29x0_25.launch
@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find micro_epsilon_scancontrol_support)/urdf/26x0_29x0_25.xacro'" />
+</launch>
diff --git a/micro_epsilon_scancontrol_support/launch/load_27x0_100.launch b/micro_epsilon_scancontrol_support/launch/load_27x0_100.launch
new file mode 100644
index 0000000..d4754f7
--- /dev/null
+++ b/micro_epsilon_scancontrol_support/launch/load_27x0_100.launch
@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find micro_epsilon_scancontrol_support)/urdf/27x0_100.xacro'" />
+</launch>
diff --git a/micro_epsilon_scancontrol_support/launch/load_30x0_25.launch b/micro_epsilon_scancontrol_support/launch/load_30x0_25.launch
new file mode 100644
index 0000000..fe5adbc
--- /dev/null
+++ b/micro_epsilon_scancontrol_support/launch/load_30x0_25.launch
@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find micro_epsilon_scancontrol_support)/urdf/30x0_25.xacro'" />
+</launch>
diff --git a/micro_epsilon_scancontrol_support/launch/test_26x0_29x0_25.launch b/micro_epsilon_scancontrol_support/launch/test_26x0_29x0_25.launch
new file mode 100644
index 0000000..e24a987
--- /dev/null
+++ b/micro_epsilon_scancontrol_support/launch/test_26x0_29x0_25.launch
@@ -0,0 +1,6 @@
+<launch>
+  <include file="$(find micro_epsilon_scancontrol_support)/launch/load_26x0_29x0_25.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find micro_epsilon_scancontrol_support)/config/rviz.rviz" required="true" />
+</launch>
diff --git a/micro_epsilon_scancontrol_support/launch/test_27x0_100.launch b/micro_epsilon_scancontrol_support/launch/test_27x0_100.launch
new file mode 100644
index 0000000..e07a9c3
--- /dev/null
+++ b/micro_epsilon_scancontrol_support/launch/test_27x0_100.launch
@@ -0,0 +1,6 @@
+<launch>
+  <include file="$(find micro_epsilon_scancontrol_support)/launch/load_27x0_100.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find micro_epsilon_scancontrol_support)/config/rviz.rviz" required="true" />
+</launch>
diff --git a/micro_epsilon_scancontrol_support/launch/test_30x0_25.launch b/micro_epsilon_scancontrol_support/launch/test_30x0_25.launch
new file mode 100644
index 0000000..60ea303
--- /dev/null
+++ b/micro_epsilon_scancontrol_support/launch/test_30x0_25.launch
@@ -0,0 +1,6 @@
+<launch>
+  <include file="$(find micro_epsilon_scancontrol_support)/launch/load_30x0_25.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find micro_epsilon_scancontrol_support)/config/rviz.rviz" required="true" />
+</launch>
diff --git a/micro_epsilon_scancontrol_description/meshes/collision/collision.stl b/micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/collision/base_link.stl
similarity index 100%
rename from micro_epsilon_scancontrol_description/meshes/collision/collision.stl
rename to micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/collision/base_link.stl
diff --git a/micro_epsilon_scancontrol_description/meshes/visual/visual.dae b/micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/visual/base_link.dae
similarity index 100%
rename from micro_epsilon_scancontrol_description/meshes/visual/visual.dae
rename to micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/visual/base_link.dae
diff --git a/micro_epsilon_scancontrol_description/meshes/collision/collision_27x0_100.stl b/micro_epsilon_scancontrol_support/meshes/27x0_100/collision/base_link.stl
similarity index 100%
rename from micro_epsilon_scancontrol_description/meshes/collision/collision_27x0_100.stl
rename to micro_epsilon_scancontrol_support/meshes/27x0_100/collision/base_link.stl
diff --git a/micro_epsilon_scancontrol_description/meshes/visual/visual_27x0_100.dae b/micro_epsilon_scancontrol_support/meshes/27x0_100/visual/base_link.dae
similarity index 100%
rename from micro_epsilon_scancontrol_description/meshes/visual/visual_27x0_100.dae
rename to micro_epsilon_scancontrol_support/meshes/27x0_100/visual/base_link.dae
diff --git a/micro_epsilon_scancontrol_description/meshes/collision/collision_30xx_25.stl b/micro_epsilon_scancontrol_support/meshes/30x0_25/collision/base_link.stl
similarity index 100%
rename from micro_epsilon_scancontrol_description/meshes/collision/collision_30xx_25.stl
rename to micro_epsilon_scancontrol_support/meshes/30x0_25/collision/base_link.stl
diff --git a/micro_epsilon_scancontrol_description/meshes/visual/visual_30xx_25.dae b/micro_epsilon_scancontrol_support/meshes/30x0_25/visual/base_link.dae
similarity index 100%
rename from micro_epsilon_scancontrol_description/meshes/visual/visual_30xx_25.dae
rename to micro_epsilon_scancontrol_support/meshes/30x0_25/visual/base_link.dae
diff --git a/micro_epsilon_scancontrol_description/package.xml b/micro_epsilon_scancontrol_support/package.xml
similarity index 91%
rename from micro_epsilon_scancontrol_description/package.xml
rename to micro_epsilon_scancontrol_support/package.xml
index 4ed225f..d31f963 100644
--- a/micro_epsilon_scancontrol_description/package.xml
+++ b/micro_epsilon_scancontrol_support/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package>
-  <name>micro_epsilon_scancontrol_description</name>
+  <name>micro_epsilon_scancontrol_support</name>
   <version>0.1.0</version>
   <description>URDFs for the Micro-Epsilon scanCONTROL laser profile sensors.</description>
   <maintainer email="riktonnaer@hotmail.com">Rik Tonnaer (Delft University of Technology)</maintainer>
diff --git a/micro_epsilon_scancontrol_support/tests/roslaunch_test.xml b/micro_epsilon_scancontrol_support/tests/roslaunch_test.xml
new file mode 100644
index 0000000..0e651e7
--- /dev/null
+++ b/micro_epsilon_scancontrol_support/tests/roslaunch_test.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<launch>
+  <group ns="load_26x0_29x0_25__">
+    <include file="$(find micro_epsilon_scancontrol_support)/launch/load_26x0_29x0_25.launch"/>
+  </group>
+
+  <group ns="test_26x0_29x0_25__">
+    <include file="$(find micro_epsilon_scancontrol_support)/launch/test_26x0_29x0_25.launch"/>
+  </group>
+
+  <group ns="load_27x0_100__">
+    <include file="$(find micro_epsilon_scancontrol_support)/launch/load_27x0_100.launch"/>
+  </group>
+
+  <group ns="test_27x0_100__">
+    <include file="$(find micro_epsilon_scancontrol_support)/launch/test_27x0_100.launch"/>
+  </group>
+
+  <group ns="load_30x0_25__">
+    <include file="$(find micro_epsilon_scancontrol_support)/launch/load_30x0_25.launch"/>
+  </group>
+
+  <group ns="test_30x0_25__">
+    <include file="$(find micro_epsilon_scancontrol_support)/launch/test_30x0_25.launch"/>
+  </group>
+</launch>
\ No newline at end of file
diff --git a/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25.xacro b/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25.xacro
new file mode 100644
index 0000000..85dcac2
--- /dev/null
+++ b/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="micro_epsilon_scancontrol_26x0_29x0_25" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find micro_epsilon_scancontrol_support)/urdf/26x0_29x0_25_macro.xacro"/>
+  <xacro:micro_epsilon_scancontrol_26x0_29x0_25 prefix=""/>
+</robot>
diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro b/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro
similarity index 59%
rename from micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro
rename to micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro
index 1986fe0..ba38ff4 100644
--- a/micro_epsilon_scancontrol_description/urdf/scancontrol_26x0_29x0_25_macro.xacro
+++ b/micro_epsilon_scancontrol_support/urdf/26x0_29x0_25_macro.xacro
@@ -2,12 +2,12 @@
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
   <!-- Macro for both 26x0 and 29x0 - 25 scan control sensor productlines -->
-  <xacro:macro name="microepsilon_scancontrol_26x0_29x0_25" params="prefix">
+  <xacro:macro name="micro_epsilon_scancontrol_26x0_29x0_25" params="prefix">
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
         <geometry>
-          <mesh filename="package://micro_epsilon_scancontrol_description/meshes/visual/visual.dae"/>
+          <mesh filename="package://micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/visual/base_link.dae"/>
        </geometry>
        <material name="microepsilon_silver">
          <color rgba="0.7 0.7 0.7 1.0"/>
@@ -16,17 +16,17 @@
       <collision>
         <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
         <geometry>
-          <mesh filename="package://micro_epsilon_scancontrol_description/meshes/collision/collision.stl"/>
+          <mesh filename="package://micro_epsilon_scancontrol_support/meshes/26x0_29x0_25/collision/base_link.stl"/>
         </geometry>
       </collision>
     </link>
 
-    <link name="${prefix}aperture_frame" />
+    <link name="${prefix}optical_frame" />
 
-    <joint name="${prefix}base_link-${prefix}aperture_frame" type="fixed">
+    <joint name="${prefix}base_link-optical_frame" type="fixed">
       <origin xyz="0 0 0" rpy="${pi} 0 ${pi/2}" />
       <parent link="${prefix}base_link" />
-      <child link="${prefix}aperture_frame" />
+      <child link="${prefix}optical_frame" />
     </joint>
   </xacro:macro>
 </robot>
diff --git a/micro_epsilon_scancontrol_support/urdf/27x0_100.xacro b/micro_epsilon_scancontrol_support/urdf/27x0_100.xacro
new file mode 100644
index 0000000..59e0f8e
--- /dev/null
+++ b/micro_epsilon_scancontrol_support/urdf/27x0_100.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="micro_epsilon_scancontrol_27x0_100" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find micro_epsilon_scancontrol_support)/urdf/27x0_100_macro.xacro"/>
+  <xacro:micro_epsilon_scancontrol_27x0_100 prefix=""/>
+</robot>
diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100_macro.xacro b/micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro
similarity index 60%
rename from micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100_macro.xacro
rename to micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro
index 650e5d8..04d2e36 100644
--- a/micro_epsilon_scancontrol_description/urdf/scancontrol_27x0_100_macro.xacro
+++ b/micro_epsilon_scancontrol_support/urdf/27x0_100_macro.xacro
@@ -2,12 +2,12 @@
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
   <!-- Macro for both 26x0 and 29x0 - 25 scan control sensor productlines -->
-  <xacro:macro name="microepsilon_scancontrol_27x0_100" params="prefix">
+  <xacro:macro name="micro_epsilon_scancontrol_27x0_100" params="prefix">
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0.0205 -0.0345 0" rpy="${pi/2} 0 ${pi}"/>
         <geometry>
-          <mesh filename="package://micro_epsilon_scancontrol_description/meshes/visual/visual_27x0_100.dae"/>
+          <mesh filename="package://micro_epsilon_scancontrol_support/meshes/27x0_100/visual/base_link.dae"/>
        </geometry>
        <material name="microepsilon_silver">
          <color rgba="0.7 0.7 0.7 1.0"/>
@@ -16,17 +16,17 @@
       <collision>
         <origin xyz="0.0205 0.0345 0" rpy="${pi/2} 0 ${pi}"/>
         <geometry>
-          <mesh filename="package://micro_epsilon_scancontrol_description/meshes/collision/collision_27x0_100.stl"/>
+          <mesh filename="package://micro_epsilon_scancontrol_support/meshes/27x0_100/collision/base_link.stl"/>
         </geometry>
       </collision>
     </link>
 
-    <link name="${prefix}aperture_frame" />
+    <link name="${prefix}optical_frame" />
 
-    <joint name="${prefix}base_link-${prefix}aperture_frame" type="fixed">
+    <joint name="${prefix}base_link-optical_frame" type="fixed">
       <origin xyz="0 0 0" rpy="${pi} 0 ${pi/2}" />
       <parent link="${prefix}base_link" />
-      <child link="${prefix}aperture_frame" />
+      <child link="${prefix}optical_frame" />
     </joint>
 
   </xacro:macro>
diff --git a/micro_epsilon_scancontrol_support/urdf/30x0_25.xacro b/micro_epsilon_scancontrol_support/urdf/30x0_25.xacro
new file mode 100644
index 0000000..3bac149
--- /dev/null
+++ b/micro_epsilon_scancontrol_support/urdf/30x0_25.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="micro_epsilon_scancontrol_30x0_25" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find micro_epsilon_scancontrol_support)/urdf/30x0_25_macro.xacro"/>
+  <xacro:micro_epsilon_scancontrol_30x0_25 prefix=""/>
+</robot>
diff --git a/micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25_macro.xacro b/micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro
similarity index 65%
rename from micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25_macro.xacro
rename to micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro
index d2ef386..b3b7dcf 100644
--- a/micro_epsilon_scancontrol_description/urdf/scancontrol_30xx_25_macro.xacro
+++ b/micro_epsilon_scancontrol_support/urdf/30x0_25_macro.xacro
@@ -2,12 +2,12 @@
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
   <!-- Macro for 30xx_25 scan control sensors  -->
-  <xacro:macro name="microepsilon_scancontrol_30xx_25" params="prefix">
+  <xacro:macro name="micro_epsilon_scancontrol_30x0_25" params="prefix">
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://micro_epsilon_scancontrol_description/meshes/visual/visual_30xx_25.dae"/>
+          <mesh filename="package://micro_epsilon_scancontrol_support/meshes/30x0_25/visual/base_link.dae"/>
        </geometry>
        <material name="microepsilon_silver">
          <color rgba="0.7 0.7 0.7 1.0"/>
@@ -16,19 +16,19 @@
       <collision>
         <origin xyz="0 0.0 0.0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://micro_epsilon_scancontrol_description/meshes/collision/collision_30xx_25.stl"/>
+          <mesh filename="package://micro_epsilon_scancontrol_support/meshes/30x0_25/collision/base_link.stl"/>
         </geometry>
       </collision>
     </link>
 
-    <link name="${prefix}aperture_frame" />
+    <link name="${prefix}optical_frame" />
 
-    <joint name="${prefix}base_link-${prefix}aperture_frame" type="fixed">
+    <joint name="${prefix}base_link-optical_frame" type="fixed">
      <!-- xyz values represent the distance between the top mounting hole and the lens of the laser  -->
      <!-- rpy values are chosen so the x and z axes are consistent with the internal sensor measurement frame -->
       <origin xyz="-0.0935 0 -0.0767" rpy="${pi} 0 ${pi/2}" />
       <parent link="${prefix}base_link" />
-      <child link="${prefix}aperture_frame" />
+      <child link="${prefix}optical_frame" />
     </joint>
 
   </xacro:macro>