diff --git a/package.xml b/package.xml
index 84939e0..31d3290 100644
--- a/package.xml
+++ b/package.xml
@@ -3,14 +3,12 @@
 <package format="3">
   <name>urdf_tutorial</name>
   <version>1.0.0</version>
-
   <description>This package contains a number of URDF tutorials.</description>
-  <author email="davidvlu@gmail.com">David V. Lu!!</author>
-
   <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
 
-  <license>BSD</license>
+  <license>BSD 3-clause</license>
   <url>http://ros.org/wiki/urdf_tutorial</url>
+  <author email="davidvlu@gmail.com">David V. Lu!!</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <exec_depend>joint_state_publisher</exec_depend>
@@ -23,5 +21,6 @@
 
   <export>
     <build_type>ament_cmake</build_type>
+    <gazebo_ros gazebo_model_path="${prefix}/.."/>
   </export>
 </package>
diff --git a/rviz/urdf.rviz b/rviz/urdf.rviz
index deddb48..4f6bfcd 100644
--- a/rviz/urdf.rviz
+++ b/rviz/urdf.rviz
@@ -4,17 +4,14 @@ Panels:
   - Class: rviz_common/Views
     Name: Views
 Visualization Manager:
-  Class: ""
   Displays:
     - Class: rviz_default_plugins/Grid
       Name: Grid
       Value: true
     - Alpha: 0.8
       Class: rviz_default_plugins/RobotModel
-      Description Source: Topic
       Description Topic:
         Value: /robot_description
-      Enabled: true
       Name: RobotModel
       Value: true
     - Class: rviz_default_plugins/TF
@@ -22,8 +19,6 @@ Visualization Manager:
       Value: true
   Global Options:
     Fixed Frame: base_link
-    Frame Rate: 30
-  Name: root
   Tools:
     - Class: rviz_default_plugins/MoveCamera
   Value: true