diff --git a/clearpath_generator_gz/clearpath_generator_gz/launch/sensors.py b/clearpath_generator_gz/clearpath_generator_gz/launch/sensors.py
index 4c0bc59..7046a50 100644
--- a/clearpath_generator_gz/clearpath_generator_gz/launch/sensors.py
+++ b/clearpath_generator_gz/clearpath_generator_gz/launch/sensors.py
@@ -31,7 +31,7 @@
 # of Clearpath Robotics.
 
 from clearpath_config.sensors.types.sensor import BaseSensor
-from clearpath_config.sensors.types.lidars_2d import BaseLidar2D, HokuyoUST10, SickLMS1XX
+from clearpath_config.sensors.types.lidars_2d import BaseLidar2D, HokuyoUST, SickLMS1XX
 from clearpath_config.sensors.types.lidars_3d import BaseLidar3D, VelodyneLidar
 from clearpath_config.sensors.types.cameras import BaseCamera, IntelRealsense
 from clearpath_config.sensors.types.imu import BaseIMU, Microstrain
@@ -255,7 +255,7 @@ def __init__(self,
             ]
 
     MODEL = {
-        HokuyoUST10.SENSOR_MODEL: Lidar2dLaunch,
+        HokuyoUST.SENSOR_MODEL: Lidar2dLaunch,
         SickLMS1XX.SENSOR_MODEL: Lidar2dLaunch,
         IntelRealsense.SENSOR_MODEL: IntelRealsenseLaunch,
         Microstrain.SENSOR_MODEL: ImuLaunch,
@@ -268,5 +268,5 @@ def __new__(cls,
                 robot_namespace: str,
                 launch_path: str,
                 param_path: str) -> BaseLaunch:
-        return SensorLaunch.MODEL[sensor.SENSOR_MODEL](
+        return SensorLaunch.MODEL.setdefault(sensor.SENSOR_MODEL, SensorLaunch.BaseLaunch)(
             sensor, robot_namespace, launch_path, param_path)
diff --git a/clearpath_generator_gz/clearpath_generator_gz/param/generator.py b/clearpath_generator_gz/clearpath_generator_gz/param/generator.py
index 1589eb0..c197ebc 100644
--- a/clearpath_generator_gz/clearpath_generator_gz/param/generator.py
+++ b/clearpath_generator_gz/clearpath_generator_gz/param/generator.py
@@ -41,7 +41,7 @@ def generate_sensors(self) -> None:
         pass
 
     def generate_platform(self) -> None:
-        for param in PlatformParam.PARAMETER:
+        for param in PlatformParam.PARAMETERS:
             platform_param = PlatformParam(
                 param,
                 self.clearpath_config,
diff --git a/clearpath_gz/launch/robot_spawn.launch.py b/clearpath_gz/launch/robot_spawn.launch.py
index ba4b5c2..37a9eca 100644
--- a/clearpath_gz/launch/robot_spawn.launch.py
+++ b/clearpath_gz/launch/robot_spawn.launch.py
@@ -36,6 +36,8 @@
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
+import os
+
 
 ARGUMENTS = [
     DeclareLaunchArgument('rviz', default_value='false',
@@ -67,7 +69,8 @@ def launch_setup(context, *args, **kwargs):
     yaw = LaunchConfiguration('yaw')
 
     # Parse robot YAML into config
-    clearpath_config = ClearpathConfig(str(setup_path.perform(context) + 'robot.yaml'))
+    clearpath_config = ClearpathConfig(os.path.join(
+        str(setup_path.perform(context)), 'robot.yaml'))
 
     namespace = clearpath_config.system.namespace
     if namespace in ('', '/'):