diff --git a/orbbec_description/urdf/astra2.urdf.xarco b/orbbec_description/urdf/astra2.urdf.xacro
similarity index 100%
rename from orbbec_description/urdf/astra2.urdf.xarco
rename to orbbec_description/urdf/astra2.urdf.xacro
diff --git a/orbbec_description/urdf/gemini2.urdf.xarco b/orbbec_description/urdf/gemini2.urdf.xacro
similarity index 100%
rename from orbbec_description/urdf/gemini2.urdf.xarco
rename to orbbec_description/urdf/gemini2.urdf.xacro
diff --git a/orbbec_description/urdf/gemini2L.urdf.xarco b/orbbec_description/urdf/gemini2L.urdf.xacro
similarity index 100%
rename from orbbec_description/urdf/gemini2L.urdf.xarco
rename to orbbec_description/urdf/gemini2L.urdf.xacro
diff --git a/orbbec_description/urdf/gemini335L_336L.urdf.xarco b/orbbec_description/urdf/gemini335L_336L.urdf.xacro
similarity index 100%
rename from orbbec_description/urdf/gemini335L_336L.urdf.xarco
rename to orbbec_description/urdf/gemini335L_336L.urdf.xacro
diff --git a/orbbec_description/urdf/test_astra2.urdf.xarco b/orbbec_description/urdf/test_astra2.urdf.xacro
similarity index 93%
rename from orbbec_description/urdf/test_astra2.urdf.xarco
rename to orbbec_description/urdf/test_astra2.urdf.xacro
index 16a0f1c4..7f9e64ae 100644
--- a/orbbec_description/urdf/test_astra2.urdf.xarco
+++ b/orbbec_description/urdf/test_astra2.urdf.xacro
@@ -3,7 +3,7 @@
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot name="astra2" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="astra2.urdf.xarco"/>
+    <xacro:include filename="astra2.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>
 
diff --git a/orbbec_description/urdf/test_gemini2.urdf.xarco b/orbbec_description/urdf/test_gemini2.urdf.xacro
similarity index 93%
rename from orbbec_description/urdf/test_gemini2.urdf.xarco
rename to orbbec_description/urdf/test_gemini2.urdf.xacro
index 58b3e05d..06a9ff2c 100644
--- a/orbbec_description/urdf/test_gemini2.urdf.xarco
+++ b/orbbec_description/urdf/test_gemini2.urdf.xacro
@@ -3,7 +3,7 @@
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot name="gemini2" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="gemini2.urdf.xarco"/>
+    <xacro:include filename="gemini2.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>
 
diff --git a/orbbec_description/urdf/test_gemini2L.urdf.xarco b/orbbec_description/urdf/test_gemini2L.urdf.xacro
similarity index 92%
rename from orbbec_description/urdf/test_gemini2L.urdf.xarco
rename to orbbec_description/urdf/test_gemini2L.urdf.xacro
index 73a5524a..b8a63109 100644
--- a/orbbec_description/urdf/test_gemini2L.urdf.xarco
+++ b/orbbec_description/urdf/test_gemini2L.urdf.xacro
@@ -3,7 +3,7 @@
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot name="gemini2L" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="gemini2L.urdf.xarco"/>
+    <xacro:include filename="gemini2L.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>
 
diff --git a/orbbec_description/urdf/test_gemini335L.urdf.xarco b/orbbec_description/urdf/test_gemini335L.urdf.xacro
similarity index 92%
rename from orbbec_description/urdf/test_gemini335L.urdf.xarco
rename to orbbec_description/urdf/test_gemini335L.urdf.xacro
index 0982e0b6..a13b4f6e 100644
--- a/orbbec_description/urdf/test_gemini335L.urdf.xarco
+++ b/orbbec_description/urdf/test_gemini335L.urdf.xacro
@@ -3,7 +3,7 @@
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot name="gemini335L" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="gemini335L_336L.urdf.xarco"/>
+    <xacro:include filename="gemini335L_336L.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>
 
diff --git a/orbbec_description/urdf/test_gemini335Lg.urdf.xarco b/orbbec_description/urdf/test_gemini335Lg.urdf.xacro
similarity index 100%
rename from orbbec_description/urdf/test_gemini335Lg.urdf.xarco
rename to orbbec_description/urdf/test_gemini335Lg.urdf.xacro
diff --git a/orbbec_description/urdf/test_gemini336L.urdf.xarco b/orbbec_description/urdf/test_gemini336L.urdf.xacro
similarity index 92%
rename from orbbec_description/urdf/test_gemini336L.urdf.xarco
rename to orbbec_description/urdf/test_gemini336L.urdf.xacro
index 31a8dbbc..9a60faf0 100644
--- a/orbbec_description/urdf/test_gemini336L.urdf.xarco
+++ b/orbbec_description/urdf/test_gemini336L.urdf.xacro
@@ -3,7 +3,7 @@
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot name="gemini336L" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="gemini335L_336L.urdf.xarco"/>
+    <xacro:include filename="gemini335L_336L.urdf.xacro"/>
     <!-- Define a virtual root link -->
   <link name="base_link"/>
 
diff --git a/orbbec_description/urdf/test_gemini_335.urdf.xarco b/orbbec_description/urdf/test_gemini_335.urdf.xacro
similarity index 100%
rename from orbbec_description/urdf/test_gemini_335.urdf.xarco
rename to orbbec_description/urdf/test_gemini_335.urdf.xacro
diff --git a/orbbec_description/urdf/test_gemini_336.urdf.xarco b/orbbec_description/urdf/test_gemini_336.urdf.xacro
similarity index 100%
rename from orbbec_description/urdf/test_gemini_336.urdf.xarco
rename to orbbec_description/urdf/test_gemini_336.urdf.xacro