diff --git a/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp b/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp
index 0fa446ab57..74fd7ee166 100644
--- a/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp
+++ b/moveit_setup_assistant/moveit_setup_core_plugins/src/start_screen_widget.cpp
@@ -305,8 +305,16 @@ void StartScreenWidget::onPackagePathChanged(const QString& /*path*/)
 
 void StartScreenWidget::onUrdfPathChanged(const QString& path)
 {
-  setup_step_.loadURDFFile(path.toStdString(), urdf_file_->getArgs().toStdString());
-  urdf_file_->setArgsEnabled(setup_step_.isXacroFile());
+  try
+  {
+    setup_step_.loadURDFFile(path.toStdString(), urdf_file_->getArgs().toStdString());
+    urdf_file_->setArgsEnabled(setup_step_.isXacroFile());
+  }
+  catch (const std::runtime_error& e)
+  {
+    RCLCPP_ERROR(setup_step_.getLogger(), "Error Loading URDF Path. %s", e.what());
+    QMessageBox::warning(this, "Error Loading URDF Path", QString(e.what()));
+  }
 }
 
 bool StartScreenWidget::loadPackageSettings(bool show_warnings)
@@ -343,8 +351,8 @@ bool StartScreenWidget::loadExistingFiles()
   }
   catch (const std::runtime_error& e)
   {
+    RCLCPP_ERROR(setup_step_.getLogger(), "Error Loading SRDF. %s", e.what());
     QMessageBox::warning(this, "Error Loading SRDF", QString(e.what()));
-    RCLCPP_ERROR(setup_step_.getLogger(), "%s", e.what());
     return false;
   }
 
diff --git a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp
index 3fc15b301f..ace3237c6b 100644
--- a/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp
+++ b/moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/utilities.hpp
@@ -36,6 +36,7 @@
 
 #pragma once
 
+#include <ament_index_cpp/get_package_prefix.hpp>
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #include <filesystem>
 #include <string>
@@ -49,7 +50,14 @@ namespace moveit_setup
  */
 inline std::filesystem::path getSharePath(const std::string& package_name)
 {
-  return std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name));
+  try
+  {
+    return std::filesystem::path(ament_index_cpp::get_package_share_directory(package_name));
+  }
+  catch (const std::runtime_error& e)
+  {
+    return std::filesystem::path();
+  }
 }
 
 /**
diff --git a/moveit_setup_assistant/moveit_setup_framework/src/urdf_config.cpp b/moveit_setup_assistant/moveit_setup_framework/src/urdf_config.cpp
index 290c9e8a2a..164c7817c9 100644
--- a/moveit_setup_assistant/moveit_setup_framework/src/urdf_config.cpp
+++ b/moveit_setup_assistant/moveit_setup_framework/src/urdf_config.cpp
@@ -98,18 +98,15 @@ void URDFConfig::setPackageName()
     urdf_pkg_name_ = "";
     urdf_pkg_relative_path_ = urdf_path_;  // just the absolute path
   }
-  else
+  // Check that ROS can find the package
+  const std::filesystem::path robot_desc_pkg_path = getSharePath(urdf_pkg_name_);
+
+  if (robot_desc_pkg_path.empty())
   {
-    // Check that ROS can find the package
-    const std::filesystem::path robot_desc_pkg_path = getSharePath(urdf_pkg_name_);
-
-    if (robot_desc_pkg_path.empty())
-    {
-      RCLCPP_WARN(*logger_,
-                  "Package Not Found In ROS Workspace. ROS was unable to find the package name '%s'"
-                  " within the ROS workspace. This may cause issues later.",
-                  urdf_pkg_name_.c_str());
-    }
+    RCLCPP_WARN(*logger_,
+                "Package Not Found In ROS Workspace. ROS was unable to find the package name '%s'"
+                " within the ROS workspace. This may cause issues later.",
+                urdf_pkg_name_.c_str());
   }
 }
 
@@ -134,6 +131,11 @@ void URDFConfig::load()
     throw std::runtime_error("URDF/COLLADA file not found: " + urdf_path_.string());
   }
 
+  if (urdf_pkg_name_.empty())
+  {
+    throw std::runtime_error("URDF/COLLADA package not found for file path: " + urdf_path_.string());
+  }
+
   if (urdf_string_.empty() && rdf_loader::RDFLoader::isXacroFile(urdf_path_))
   {
     throw std::runtime_error("Running xacro failed.\nPlease check console for errors.");
diff --git a/moveit_setup_assistant/moveit_setup_framework/src/utilities.cpp b/moveit_setup_assistant/moveit_setup_framework/src/utilities.cpp
index de0c0c3857..3625d94594 100644
--- a/moveit_setup_assistant/moveit_setup_framework/src/utilities.cpp
+++ b/moveit_setup_assistant/moveit_setup_framework/src/utilities.cpp
@@ -53,7 +53,8 @@ bool extractPackageNameFromPath(const std::filesystem::path& path, std::string&
   }
 
   // truncate path step by step and check if it contains a package.xml
-  while (!sub_path.empty())
+  // This runs until the path is either empty "" or at the root "/" or "C:\\"
+  while (!sub_path.empty() && sub_path != sub_path.root_path())
   {
     if (std::filesystem::is_regular_file(sub_path / "package.xml"))
     {