diff --git a/builder/image-build.sh b/builder/image-build.sh
index ee0336fd..534157eb 100755
--- a/builder/image-build.sh
+++ b/builder/image-build.sh
@@ -118,8 +118,6 @@ ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/ros_pyt
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/pigpiod.service' '/lib/systemd/system/'
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/launch.nanorc' '/usr/share/nano/'
 # ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${SCRIPTS_DIR}'/assets/kinetic-ros-clover.rosinstall' '/home/pi/ros_catkin_ws/'
-# Add PX4 udev rules
-${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} copy ${REPO_DIR}'/clover/config/99-px4fmu.rules' '/lib/udev/rules.d/'
 # Add rename script
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-ros.sh' ${REPO_URL} ${IMAGE_VERSION} false false ${NUMBER_THREADS}
 ${BUILDER_DIR}/image-chroot.sh ${IMAGE_PATH} exec ${SCRIPTS_DIR}'/image-validate.sh'
diff --git a/builder/image-ros.sh b/builder/image-ros.sh
index 67d9bab6..ac2a98ae 100755
--- a/builder/image-ros.sh
+++ b/builder/image-ros.sh
@@ -162,6 +162,9 @@ ln -s /home/pi/catkin_ws/src/clover/builder/assets/roscore.service /lib/systemd/
 [ -f /lib/systemd/system/clover.service ]
 [ -f /lib/systemd/system/roscore.service ]
 
+echo_stamp "Make udev rules symlink"
+ln -s "$(catkin_find clover udev --first-only)"/* /lib/udev/rules.d/
+
 echo_stamp "Setup ROS environment"
 cat << EOF >> /home/pi/.bashrc
 LANG='C.UTF-8'
diff --git a/clover/CMakeLists.txt b/clover/CMakeLists.txt
index 05178fec..fa64a658 100644
--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -280,7 +280,7 @@ string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)
 if (${_PREFIX_INDEX} EQUAL 0)
   message(STATUS "Building as a Debian package - adding udev rules as installable files")
   install(FILES
-    config/99-px4fmu.rules
+    udev/99-px4fmu.rules
     DESTINATION /lib/udev/rules.d
   )
 else()
diff --git a/clover/README.md b/clover/README.md
index 51243812..32f1aac1 100644
--- a/clover/README.md
+++ b/clover/README.md
@@ -36,7 +36,7 @@ curl https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/inst
 You may optionally install udev rules to provide `/dev/px4fmu` symlink to your PX4-based flight controller connected over USB. Copy `99-px4fmu.rules` to your `/lib/udev/rules.d` folder:
 
 ```bash
-cd ~/catkin_ws/src/clover/clover/config
+cd ~/catkin_ws/src/clover/clover/udev
 sudo cp 99-px4fmu.rules /lib/udev/rules.d
 ```
 
diff --git a/clover/config/99-px4fmu.rules b/clover/udev/99-px4fmu.rules
similarity index 100%
rename from clover/config/99-px4fmu.rules
rename to clover/udev/99-px4fmu.rules
diff --git a/docs/en/jetson_nano.md b/docs/en/jetson_nano.md
index 90988dc2..9b63cff1 100644
--- a/docs/en/jetson_nano.md
+++ b/docs/en/jetson_nano.md
@@ -110,7 +110,7 @@ cd ~/catkin_ws
 catkin_make
 ```
 
-> **Hint** You may also want to add udev rules for PX4 flight controllers. Copy [the rules file](https://github.com/CopterExpress/clover/blob/master/clover/config/99-px4fmu.rules) to `/etc/udev/rules.d` and run `sudo udevadm control --reload-rules && sudo udevadm trigger`.
+> **Hint** You may also want to add udev rules for PX4 flight controllers. Copy [the rules file](https://github.com/CopterExpress/clover/blob/master/clover/udev/99-px4fmu.rules) to `/etc/udev/rules.d` and run `sudo udevadm control --reload-rules && sudo udevadm trigger`.
 
 ### Running Clover nodes
 
diff --git a/docs/ru/jetson_nano.md b/docs/ru/jetson_nano.md
index 199b9275..765402e2 100644
--- a/docs/ru/jetson_nano.md
+++ b/docs/ru/jetson_nano.md
@@ -110,7 +110,7 @@ cd ~/catkin_ws
 catkin_make
 ```
 
-> **Hint** При подключении полётных контроллеров на базе PX4 через USB следует также добавить правила udev в систему. Скопируйте [файл с правилами](https://github.com/CopterExpress/clover/blob/master/clover/config/99-px4fmu.rules) в `/etc/udev/rules.d` и выполните команду `sudo udevadm control --reload-rules && sudo udevadm trigger`.
+> **Hint** При подключении полётных контроллеров на базе PX4 через USB следует также добавить правила udev в систему. Скопируйте [файл с правилами](https://github.com/CopterExpress/clover/blob/master/clover/udev/99-px4fmu.rules) в `/etc/udev/rules.d` и выполните команду `sudo udevadm control --reload-rules && sudo udevadm trigger`.
 
 ### Запуск Клеверных нод