diff --git a/clover_description/urdf/clover/clover4.xacro b/clover_description/urdf/clover/clover4.xacro
index 0c902650..e55c6174 100644
--- a/clover_description/urdf/clover/clover4.xacro
+++ b/clover_description/urdf/clover/clover4.xacro
@@ -8,10 +8,10 @@
   <xacro:arg name="maintain_camera_rate" default="false"/>
   <xacro:arg name="use_clover_physics" default="false"/>
 
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_base.xacro" />
-  <xacro:include filename="$(find clover_description)/urdf/sensors/rpi_cam.urdf.xacro"/>
-  <xacro:include filename="$(find clover_description)/urdf/sensors/distance_sensor.urdf.xacro"/>
-  <xacro:include filename="$(find clover_description)/urdf/leds/led_strip.xacro"/>
+  <xacro:include filename="clover4_base.xacro" />
+  <xacro:include filename="../sensors/rpi_cam.urdf.xacro"/>
+  <xacro:include filename="../sensors/distance_sensor.urdf.xacro"/>
+  <xacro:include filename="../leds/led_strip.xacro"/>
 
   <!-- Create camera plugin -->
   <xacro:if value="$(arg main_camera)">
diff --git a/clover_description/urdf/clover/clover4_base.xacro b/clover_description/urdf/clover/clover4_base.xacro
index 6239008f..1ab09834 100644
--- a/clover_description/urdf/clover/clover4_base.xacro
+++ b/clover_description/urdf/clover/clover4_base.xacro
@@ -31,10 +31,10 @@
   <xacro:arg name='log_file' default='iris' />
 
   <!-- macros for gazebo plugins, sensors -->
-  <xacro:include filename="$(find clover_description)/urdf/component_snippets.urdf.xacro" />
+  <xacro:include filename="../component_snippets.urdf.xacro" />
 
   <!-- Instantiate iris "mechanics" -->
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_physics.xacro" />
+  <xacro:include filename="clover4_physics.xacro" />
 
   <xacro:if value="$(arg enable_wind)">
     <xacro:wind_plugin_macro
diff --git a/clover_description/urdf/clover/clover4_physics.xacro b/clover_description/urdf/clover/clover4_physics.xacro
index f157976e..42391b24 100644
--- a/clover_description/urdf/clover/clover4_physics.xacro
+++ b/clover_description/urdf/clover/clover4_physics.xacro
@@ -84,7 +84,7 @@
   </xacro:unless>
 
   <!-- Included URDF Files -->
-  <xacro:include filename="$(find clover_description)/urdf/clover/clover4_macros.xacro" />
+  <xacro:include filename="clover4_macros.xacro" />
 
   <!-- Instantiate multirotor_base_macro once -->
   <xacro:clover4_base_macro
diff --git a/clover_description/urdf/sensors/distance_sensor.urdf.xacro b/clover_description/urdf/sensors/distance_sensor.urdf.xacro
index cce5558e..4b539a29 100644
--- a/clover_description/urdf/sensors/distance_sensor.urdf.xacro
+++ b/clover_description/urdf/sensors/distance_sensor.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
+  <xacro:include filename="../camera_sensor.urdf.xacro"/>
 
   <xacro:macro name="distance_sensor" params="name:=lidar_vl53l1x parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 range_min:=0.01 range_max:=4.0 resolution:=0.01 rate:=10">
     <joint name="${name}_joint" type="fixed">
diff --git a/clover_description/urdf/sensors/pinhole_camera.urdf.xacro b/clover_description/urdf/sensors/pinhole_camera.urdf.xacro
index c90f0ad7..697d6ab6 100644
--- a/clover_description/urdf/sensors/pinhole_camera.urdf.xacro
+++ b/clover_description/urdf/sensors/pinhole_camera.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="pinhole_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
+  <xacro:include filename="../camera_sensor.urdf.xacro"/>
   <xacro:camera_sensor name="main_camera" width="640" height="480" rate="30" horizontal_fov="${120.0*pi/180.0}"/>
 </robot>
diff --git a/clover_description/urdf/sensors/rpi_cam.urdf.xacro b/clover_description/urdf/sensors/rpi_cam.urdf.xacro
index bc2a4099..bc4bede4 100644
--- a/clover_description/urdf/sensors/rpi_cam.urdf.xacro
+++ b/clover_description/urdf/sensors/rpi_cam.urdf.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot name="rpi_camera" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find clover_description)/urdf/camera_sensor.urdf.xacro"/>
+  <xacro:include filename="../camera_sensor.urdf.xacro"/>
 
   <xacro:macro name="rpi_cam" params="name:=rpi_cam parent x:=0 y:=0 z:=0 roll:=0 pitch:=0 yaw:=0 width:=320 height:=240 rate:=40 do_throttling:=false">
     <joint name="${name}_joint" type="fixed">