diff --git a/README.md b/README.md
index 224e8da..14da1e0 100644
--- a/README.md
+++ b/README.md
@@ -31,4 +31,4 @@ The following launch file will start the driver with fake hardware, matching rob
 ros2 launch kuka_kr_moveit_config moveit_planning_fake_hardware.launch.py 
 ```
 
-The robot_manager lifecycle node must be configured and activated to be able to see the robot in rviz, afterwards the server will be able to accept planning requests. (An example how to create such a request can be found in the (kuka_drivers/kuka_driver_examples)/eci_demo package.)
+The robot_manager lifecycle node must be configured and activated to be able to see the robot in rviz, afterwards the server will be able to accept planning requests. (An example how to create such a request can be found in the (kuka_drivers/examples)/iiqka_moveit_example package.)
diff --git a/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro b/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro
index 9fa975c..7787b63 100644
--- a/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro
+++ b/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro
@@ -10,12 +10,12 @@
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
           <!-- Read parameters from rsi_config  -->
-          <xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
+          <xacro:property name="rsi_config" value="$(find kuka_kss_rsi_driver)/config/rsi_config.yaml" />
           <xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
           <xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
           <xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
 
-          <plugin>kuka_rsi_hw_interface::KukaRSIHardwareInterface</plugin>
+          <plugin>kuka_kss_rsi_driver::KukaRSIHardwareInterface</plugin>
           <param name="client_ip">${client_ip}</param>
           <param name="client_port">${client_port}</param>
         </xacro:unless>
diff --git a/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro b/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro
index 8765fad..046fe57 100644
--- a/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro
+++ b/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro
@@ -10,12 +10,12 @@
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
           <!-- Read parameters from rsi_config  -->
-          <xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
+          <xacro:property name="rsi_config" value="$(find kuka_kss_rsi_driver)/config/rsi_config.yaml" />
           <xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
           <xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
           <xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
 
-          <plugin>kuka_rsi_hw_interface::KukaRSIHardwareInterface</plugin>
+          <plugin>kuka_kss_rsi_driver::KukaRSIHardwareInterface</plugin>
           <param name="client_ip">${client_ip}</param>
           <param name="client_port">${client_port}</param>
         </xacro:unless>
diff --git a/kuka_kr_moveit_config/launch/moveit_planning_fake_hardware.launch.py b/kuka_kr_moveit_config/launch/moveit_planning_fake_hardware.launch.py
index d1bef81..65d2a50 100644
--- a/kuka_kr_moveit_config/launch/moveit_planning_fake_hardware.launch.py
+++ b/kuka_kr_moveit_config/launch/moveit_planning_fake_hardware.launch.py
@@ -48,7 +48,7 @@ def launch_setup(context, *args, **kwargs):
         'kuka_kr_moveit_config') + "/config/urdf_planning_scene.rviz"
 
     startup_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource(
-        [get_package_share_directory('kuka_rsi_hw_interface'), '/launch/startup.launch.py']),
+        [get_package_share_directory('kuka_kss_rsi_driver'), '/launch/startup.launch.py']),
         launch_arguments={'robot_model': "{}".format(robot_model.perform(context)),
                           'use_fake_hardware': "true"}.items())
 
diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro
index fc8a4f5..2b764a2 100644
--- a/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro
+++ b/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro
@@ -10,14 +10,14 @@
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
           <!-- Read parameters from eci_config  -->
-          <xacro:property name="eci_config" value="$(find kuka_rox_hw_interface)/config/eci_config.yaml" />
+          <xacro:property name="eci_config" value="$(find kuka_iiqka_eac_driver)/config/eci_config.yaml" />
           <xacro:property name="eci_config_dict" value="${xacro.load_yaml(eci_config)}"/>
           <xacro:property name="control_mode" value="${eci_config_dict['robot_manager']['ros__parameters']['control_mode']}" />
           <xacro:property name="client_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['client_ip']}" />
           <xacro:property name="controller_ip" value="${eci_config_dict['robot_manager']['ros__parameters']['controller_ip']}" />
 
           <!-- Read QoS profile parameters  -->
-          <xacro:property name="qos_config" value="$(find kuka_rox_hw_interface)/config/qos_profiles.yaml" />
+          <xacro:property name="qos_config" value="$(find kuka_iiqka_eac_driver)/config/qos_profiles.yaml" />
           <xacro:property name="qos_config_dict" value="${xacro.load_yaml(qos_config)}"/>
           <xacro:property name="consequent_lost_packets" value="${qos_config_dict['rt_packet_loss_profile']['consequent_lost_packets']}" />
           <xacro:property name="lost_packets_in_timeframe" value="${qos_config_dict['rt_packet_loss_profile']['lost_packets_in_timeframe']}" />
diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro
index b195c23..ea60ee1 100644
--- a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro
+++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro
@@ -9,7 +9,7 @@
           <param name="state_following_offset">0.0</param>
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
-          <plugin>kuka_sunrise::KUKAFRIHardwareInterface</plugin>
+          <plugin>kuka_sunrise_fri_driver::KUKAFRIHardwareInterface</plugin>
         </xacro:unless>
       </hardware>
       <!-- define joints and command/state interfaces for each joint -->
@@ -65,7 +65,7 @@
       <!-- TODO(Svastits): update GPIO list from config file-->
       <xacro:unless value="${use_fake_hardware}">
         <xacro:if value="${io_access}">
-          <xacro:include filename="$(find kuka_sunrise)/config/gpio_config.xacro" />
+          <xacro:include filename="$(find kuka_sunrise_fri_driver)/config/gpio_config.xacro" />
           <xacro:fri_gpio_config/>
         </xacro:if>
         <xacro:unless value="${io_access}">
diff --git a/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro b/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro
index f41f20b..69acc1d 100644
--- a/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro
+++ b/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro
@@ -10,12 +10,12 @@
         </xacro:if>
         <xacro:unless value="${use_fake_hardware}">
           <!-- Read parameters from rsi_config  -->
-          <xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
+          <xacro:property name="rsi_config" value="$(find kuka_kss_rsi_driver)/config/rsi_config.yaml" />
           <xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
           <xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
           <xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
 
-          <plugin>kuka_rsi_hw_interface::KukaRSIHardwareInterface</plugin>
+          <plugin>kuka_kss_rsi_driver::KukaRSIHardwareInterface</plugin>
           <param name="client_ip">${client_ip}</param>
           <param name="client_port">${client_port}</param>
         </xacro:unless>