diff --git a/tutorials/pick_and_place/2_ros_tcp.md b/tutorials/pick_and_place/2_ros_tcp.md
index 9e04cf20..acaa7ae1 100644
--- a/tutorials/pick_and_place/2_ros_tcp.md
+++ b/tutorials/pick_and_place/2_ros_tcp.md
@@ -47,6 +47,8 @@ To enable communication between Unity and ROS, a TCP endpoint running as a ROS n
 
    In the ROS Message Browser window, click `Browse` next to the ROS message path. Navigate to and select the ROS directory of this cloned repository (`Unity-Robotics-Hub/tutorials/pick_and_place/ROS/`). This window will populate with all msg and srv files found in this directory.
 
+   In the ROS Message Browser window, type in `Scripts/RosMessages` in the text field of Build message path.
+
    ![](img/2_browser.png)
 
    > Note: If any of these ROS directories appear to be empty, you can run the command `git submodule update --init --recursive` to download the packages via Git submodules.
diff --git a/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs b/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs
index 3fd53b75..4ea42f98 100644
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/DemoScripts/Demo.cs
@@ -6,14 +6,12 @@
 using System.IO;
 using System.Reflection;
 using System.Text;
-using RosSharp;
-using RosSharp.Control;
-using RosSharp.Urdf;
-using RosSharp.Urdf.Editor;
 using UnityEditor;
 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;
 using Unity.Robotics.ROSTCPConnector.MessageGeneration;
+using Unity.Robotics.UrdfImporter;
+using Unity.Robotics.UrdfImporter.Control;
 
 public class Demo : MonoBehaviour
 {
@@ -43,7 +41,7 @@ public class Demo : MonoBehaviour
     float controllerSpeed = 30;
     float controllerAcceleration = 10;
 
-    string rosMessagesDirectory = "Assets/RosMessages";
+    string rosMessagesDirectory = "Assets/Scripts/RosMessages";
     string rosSrcDirectory = "../ROS/src";
     string msgDirectory = "msg";
     string srvDirectory = "srv";
@@ -53,6 +51,17 @@ public class Demo : MonoBehaviour
     string moverServiceFileName = "MoverService.srv";
     string scriptPattern = "*.cs";
 
+    string registerMethodName = "Register";
+    string[] rosGeneratedTypeFullName = new string[]
+    {
+        "RosMessageTypes.Moveit.RobotTrajectoryMsg",
+        "RosMessageTypes.NiryoMoveit.NiryoMoveitJointsMsg",
+        "RosMessageTypes.NiryoMoveit.NiryoTrajectoryMsg",
+        "RosMessageTypes.NiryoMoveit.MoverServiceResponse",
+        "RosMessageTypes.NiryoMoveit.MoverServiceRequest"
+    };
+
+
     string externalScriptsDirectory = "../Scripts";
     //string scriptsDirectory = "Assets/Scripts";
 
@@ -77,7 +86,7 @@ void Awake()
         CreateRosConnection();
         CreateTrajectoryPlannerPublisher();
     }
-    
+
     void Update()
     {
         // Make sure to publish only once in the demo
@@ -138,6 +147,12 @@ private void AddRosMessages()
         scripts.AddRange(Directory.GetFiles(rosMessagesDirectory, scriptPattern, SearchOption.AllDirectories));
         scripts.AddRange(Directory.GetFiles(externalScriptsDirectory));
         RecompileScripts(scripts.ToArray());
+
+        // Register Ros message names and their deserialize function
+        foreach (var typeFullName in rosGeneratedTypeFullName)
+        {
+            assembly.GetType(typeFullName).GetMethod(registerMethodName).Invoke(null, null);
+        }
     }
 
     private void CreateTrajectoryPlannerPublisher()
diff --git a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/IntegrationTest.cs b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/IntegrationTest.cs
index 29294aca..47e5a878 100644
--- a/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/IntegrationTest.cs
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Assets/Tests/EditMode/IntegrationTest.cs
@@ -2,12 +2,11 @@
 using System.Collections;
 using System.IO;
 using NUnit.Framework;
-using RosSharp;
-using RosSharp.Control;
-using RosSharp.Urdf;
 using Unity.Robotics.PickAndPlace;
 using UnityEngine;
 using Unity.Robotics.ROSTCPConnector;
+using Unity.Robotics.UrdfImporter;
+using Unity.Robotics.UrdfImporter.Control;
 using UnityEditor;
 using UnityEditor.SceneManagement;
 using UnityEngine.TestTools;
@@ -101,16 +100,16 @@ public IEnumerator TrajectoryPublisher_PickAndPlaceDemo_CompletesTask()
                 m_TimeElapsedSeconds += Time.deltaTime;
                 yield return null;
             }
-            
+
             Assert.IsTrue(DidPlacementSucceed, "Pick and Place did not complete before test timed out.");
-            
+
             yield return new ExitPlayMode();
         }
 
         void SetUpScene()
         {
             EditorSceneManager.OpenScene(k_PathTestScene);
-            
+
             InstantiatePrefabFromName(k_NameTable);
             InstantiatePrefabFromName(k_NameTarget);
             InstantiatePrefabFromName(k_NameTargetPlacement);
diff --git a/tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json b/tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json
index cee94b0a..3b5463ba 100644
--- a/tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json
+++ b/tutorials/pick_and_place/PickAndPlaceProject/Packages/manifest.json
@@ -1,11 +1,10 @@
 {
   "dependencies": {
-    "com.unity.collab-proxy": "1.5.7",
     "com.unity.ide.rider": "2.0.7",
     "com.unity.ide.visualstudio": "2.0.8",
     "com.unity.ide.vscode": "1.2.3",
     "com.unity.robotics.ros-tcp-connector": "https://github.com/Unity-Technologies/ROS-TCP-Connector.git?path=/com.unity.robotics.ros-tcp-connector#dev",
-    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#stl-package-import-fix",
+    "com.unity.robotics.urdf-importer": "https://github.com/Unity-Technologies/URDF-Importer.git?path=/com.unity.robotics.urdf-importer#dev",
     "com.unity.test-framework": "1.1.24",
     "com.unity.textmeshpro": "3.0.6",
     "com.unity.timeline": "1.4.8",