diff --git a/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro b/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro
index cb9ed0ba..c31f965c 100644
--- a/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro
+++ b/clearpath_platform_description/urdf/dd100/drivetrain/wheels.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="dd100_drivetrain_wheels">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="dd100_drivetrain_wheels">
 
   <xacro:macro name="dd100_drivetrain_wheels" params="front_wheels rear_wheels">
     <xacro:include filename="$(find clearpath_platform_description)/urdf/dd100/drivetrain/wheels/indoor.urdf.xacro"/>
diff --git a/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro b/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro
index 4654e8da..fa242293 100644
--- a/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro
+++ b/clearpath_platform_description/urdf/dd100/drivetrain/wheels/caster.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="dd100_caster_wheel">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="dd100_caster_wheel">
 
   <xacro:property name="dd100_caster_wheel_radius" value="0.01" />
   <xacro:property name="dd100_caster_wheel_mass" value="0.1" />
diff --git a/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro b/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro
index d2c46742..d066a442 100644
--- a/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro
+++ b/clearpath_platform_description/urdf/do100/drivetrain/wheels.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="do100_drivetrain_wheels">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="do100_drivetrain_wheels">
 
   <xacro:macro name="do100_drivetrain_wheels" params="front_wheels rear_wheels">
     <xacro:include filename="$(find clearpath_platform_description)/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro"/>
diff --git a/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro b/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro
index cbea74f9..a7e56118 100644
--- a/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro
+++ b/clearpath_platform_description/urdf/do100/drivetrain/wheels/mecanum.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="do100_mecanum_wheel">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="do100_mecanum_wheel">
 
   <xacro:property name="do100_mecanum_wheel_radius" value="0.050" />
   <xacro:property name="do100_mecanum_wheel_mass" value="0.4" />
@@ -47,7 +47,7 @@
             <ode>
               <mu>1.0</mu>
               <mu2>0.0</mu2>
-              <fdir1 ignition:expressed_in="base_link">1 ${side} 0</fdir1>
+              <fdir1 gz:expressed_in="base_link">1 ${side} 0</fdir1>
             </ode>
           </friction>
         </surface>
diff --git a/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro b/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro
index af664c50..5223dfd8 100644
--- a/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro
+++ b/clearpath_platform_description/urdf/generic/drivetrain/control/diff_4wd.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_4wd">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_4wd">
 
   <xacro:macro name="generic_drivetrain_control_diff_4wd" params="name hardware_plugin">
 
diff --git a/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro b/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro
index 1543891a..2b74f75e 100644
--- a/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro
+++ b/clearpath_platform_description/urdf/generic/drivetrain/control/diff_fwd.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_fwd">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_fwd">
 
   <xacro:macro name="generic_drivetrain_control_diff_fwd" params="name hardware_plugin">
 
diff --git a/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro b/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro
index 11d7239e..091ebdb6 100644
--- a/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro
+++ b/clearpath_platform_description/urdf/generic/drivetrain/control/diff_rwd.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_rwd">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_diff_rwd">
 
   <xacro:macro name="generic_drivetrain_control_diff_rwd" params="name hardware_plugin">
 
diff --git a/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro b/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro
index 2821525e..c6b4384a 100644
--- a/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro
+++ b/clearpath_platform_description/urdf/generic/drivetrain/control/omni_4wd.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain_control_omni_4wd">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain_control_omni_4wd">
 
   <xacro:macro name="generic_drivetrain_control_omni_4wd" params="name hardware_plugin">
 
diff --git a/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro b/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro
index fd217734..3d15a054 100644
--- a/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro
+++ b/clearpath_platform_description/urdf/generic/drivetrain/drivetrain.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="generic_drivetrain">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="generic_drivetrain">
 
   <xacro:macro name="generic_drivetrain" params="name control front_wheels rear_wheels hardware_plugin">
     <!-- Omni drivetrain -->
diff --git a/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro b/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro
index 9e05292f..6ed9a24f 100644
--- a/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro
+++ b/clearpath_platform_description/urdf/r100/drivetrain/wheels.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="r100_drivetrain_wheels">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="r100_drivetrain_wheels">
 
   <!-- Includes -->
   <xacro:include filename="$(find clearpath_platform_description)/urdf/r100/rocker.urdf.xacro"/>
diff --git a/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro b/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro
index 8a44df1c..4092887f 100644
--- a/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro
+++ b/clearpath_platform_description/urdf/r100/drivetrain/wheels/mecanum.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema" name="r100_wheel">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema" name="r100_wheel">
   <xacro:property name="r100_mecanum_wheel_radius" value="0.0759" />
   <xacro:property name="r100_mecanum_wheel_mass" value="2.5" />
   <xacro:property name="r100_mecanum_wheel_width" value="0.0790" />
@@ -47,7 +47,7 @@
             <ode>
               <mu>1.0</mu>
               <mu2>0.0</mu2>
-              <fdir1 ignition:expressed_in="base_link">1 ${side} 0</fdir1>
+              <fdir1 gz:expressed_in="base_link">1 ${side} 0</fdir1>
             </ode>
           </friction>
         </surface>