diff --git a/nav2_minimal_tb3_sim/urdf/turtlebot3_waffle.urdf b/nav2_minimal_tb3_sim/urdf/turtlebot3_waffle.urdf
index 61041a7..635717f 100644
--- a/nav2_minimal_tb3_sim/urdf/turtlebot3_waffle.urdf
+++ b/nav2_minimal_tb3_sim/urdf/turtlebot3_waffle.urdf
@@ -60,7 +60,7 @@
     <visual>
       <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://nav2_minimal_tb3_sim/models/waffle_base.dae" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/waffle_base.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="light_black"/>
     </visual>
@@ -92,7 +92,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="1.57 0 0"/>
       <geometry>
-        <mesh filename="package://nav2_minimal_tb3_sim/models/tire.dae" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/tire.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dark"/>
     </visual>
@@ -124,7 +124,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="1.57 0 0"/>
       <geometry>
-        <mesh filename="package://nav2_minimal_tb3_sim/models/tire.dae" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/tire.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dark"/>
     </visual>
@@ -209,7 +209,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://nav2_minimal_tb3_sim/models/lds.dae" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/lds.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dark"/>
     </visual>
@@ -240,7 +240,7 @@
     <visual>
      <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
       <geometry>
-        <mesh filename="package://nav2_minimal_tb3_sim/models/r200.dae" />
+        <mesh filename="package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/r200.dae" />
       </geometry>
     </visual>
     <collision>
diff --git a/nav2_minimal_tb3_sim/urdf/turtlebot3_waffle_gps.urdf b/nav2_minimal_tb3_sim/urdf/turtlebot3_waffle_gps.urdf
index 444b194..64da595 100644
--- a/nav2_minimal_tb3_sim/urdf/turtlebot3_waffle_gps.urdf
+++ b/nav2_minimal_tb3_sim/urdf/turtlebot3_waffle_gps.urdf
@@ -60,7 +60,7 @@
     <visual>
       <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://nav2_minimal_tb3_sim/models/waffle_base.dae" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/waffle_base.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="light_black"/>
     </visual>
@@ -92,7 +92,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="1.57 0 0"/>
       <geometry>
-        <mesh filename="package://nav2_minimal_tb3_sim/models/tire.dae" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/tire.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dark"/>
     </visual>
@@ -124,7 +124,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="1.57 0 0"/>
       <geometry>
-        <mesh filename="package://nav2_minimal_tb3_sim/models/tire.dae" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/tire.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dark"/>
     </visual>
@@ -216,7 +216,7 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="package://nav2_minimal_tb3_sim/models/lds.dae" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/lds.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dark"/>
     </visual>
@@ -247,7 +247,7 @@
     <visual>
      <origin xyz="0 0 0" rpy="1.57 0 1.57"/>
       <geometry>
-        <mesh filename="package://nav2_minimal_tb3_sim/models/r200.dae" />
+        <mesh filename="package://nav2_minimal_tb3_sim/models/turtlebot3_model/meshes/r200.dae" />
       </geometry>
     </visual>
     <collision>