diff --git a/CMakeLists.txt b/CMakeLists.txt
index 36a8d13..c07fe79 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,12 +10,12 @@ install(
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
-  set(_pytest_tests
-    test/test_components_yaml_parse.py
+  set(pytest_tests
+    test/test_components_xacro.py
   )
-  foreach(_test_path ${_pytest_tests})
-    get_filename_component(_test_name ${_test_path} NAME_WE)
-    ament_add_pytest_test(${_test_name} ${_test_path}
+  foreach(test_path ${pytest_tests})
+    get_filename_component(test_name ${test_path} NAME_WE)
+    ament_add_pytest_test(${test_name} ${test_path}
       APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
       TIMEOUT 60
       WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
diff --git a/test/test_components_xacro.py b/test/test_components_xacro.py
new file mode 100644
index 0000000..75e1577
--- /dev/null
+++ b/test/test_components_xacro.py
@@ -0,0 +1,139 @@
+# Copyright 2024 Husarion sp. z o.o.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+import xml.dom
+import xml.dom.minidom
+import os
+import xacro
+import xml
+import yaml
+from ament_index_python.packages import get_package_share_directory
+
+ros_components_description = get_package_share_directory("ros_components_description")
+xacro_path = os.path.join(ros_components_description, "test/component.urdf.xacro")
+
+# Type: [model_link, sensor_link, sensor_name]
+components_types_with_names = {
+    "LDR01": ["slamtec_rplidar_s1", "laser", "slamtec_rplidar_s1_sensor"],
+    "LDR06": ["slamtec_rplidar_s3", "laser", "slamtec_rplidar_s3_sensor"],
+    "LDR13": ["ouster_os1_32", "os_lidar", "ouster_os1_32_sensor"],
+    "LDR20": ["velodyne_puck", "velodyne", "velodyne_puck_sensor"],
+    "CAM01": ["orbbec_astra", "orbbec_astra", "orbbec_astra_color"],
+}
+
+
+class ComponentsYamlParseUtils:
+    __test__ = False
+
+    def __init__(self, components_config_path: str) -> None:
+        self.components_config_path = components_config_path
+        self._urdf = xml.dom.minidom.Document()
+
+    def save_yaml(self, node: yaml.Node) -> None:
+        with open(self.components_config_path, mode="w", encoding="utf-8") as file:
+            yaml.dump(node, file, default_flow_style=False)
+
+    def create_component(
+        self,
+        type: str,
+        device_namespace: str,
+        parent_link="cover_link",
+        xyz="0.0 0.0 0.0",
+        rpy="0.0 0.0 0.0",
+    ) -> dict:
+        return {
+            "type": type,
+            "parent_link": parent_link,
+            "xyz": xyz,
+            "rpy": rpy,
+            "device_namespace": device_namespace,
+        }
+
+    def does_urdf_parse(self) -> bool:
+        try:
+            self._urdf = xacro.process_file(
+                xacro_path, mappings={"components_config_path": self.components_config_path}
+            )
+        except xacro.XacroException as e:
+            return False
+        return True
+
+    def does_link_exist(self, doc: xml.dom.minidom.Document, link_name: str) -> bool:
+        links = doc.getElementsByTagName('link')
+        for link in links:
+            if link.getAttribute('name') == link_name:
+                return True
+        return False
+
+    def does_sensor_name_exist(
+        self, doc: xml.dom.minidom.Document, link_name: str, sensor_name: str
+    ) -> bool:
+        gazebos_tags = doc.getElementsByTagName('gazebo')
+        for tag in gazebos_tags:
+            if tag.getAttribute('reference') == link_name:
+                sensors = doc.getElementsByTagName('sensor')
+                for sensor in sensors:
+                    if sensor.getAttribute('name') == sensor_name:
+                        return True
+
+        return False
+
+    def test_component(self, component: dict, expected_result: list, components_config_path: str):
+        names = components_types_with_names[component["type"]]
+        component_name = names[0]
+        sensor_reference = names[1]
+        sensor_name = names[2]
+
+        device_namespace = component["device_namespace"]
+        link_name = device_namespace + "_" + component_name + "_link"
+        sensor_name = device_namespace + "_" + sensor_name
+        sensor_link_name = device_namespace + "_" + sensor_reference
+
+        if self.does_urdf_parse() != expected_result[0]:
+            assert (
+                False
+            ), f"Expected prase result {expected_result[0]} with file {components_config_path} and component {component_name}."
+
+        if self.does_link_exist(self._urdf, link_name) != expected_result[1]:
+            assert (
+                False
+            ), f"Link name: {link_name}. Expected result {expected_result[1]} with file {components_config_path} and component {component_name}."
+
+        if (
+            self.does_sensor_name_exist(self._urdf, sensor_link_name, sensor_name)
+            != expected_result[2]
+        ):
+            assert (
+                False
+            ), f"Sensor name: {sensor_name}, sensor link name: {sensor_link_name}. Expected result {expected_result[2]} with file {components_config_path} and component {component_name}."
+
+
+def test_all_good_single_components(tmpdir_factory):
+    for type_name, value in components_types_with_names.items():
+        name = value[0]
+        dir = tmpdir_factory.mktemp(name)
+        components_config_path = dir.join(name + "_test_components.yaml")
+
+        utils = ComponentsYamlParseUtils(str(components_config_path))
+        components = {
+            "components": [utils.create_component(type_name, name)],
+        }
+
+        utils.save_yaml(components)
+
+        for component in components["components"]:
+            utils.test_component(component, [True, True, True], str(components_config_path))
+
+
diff --git a/test/test_components_yaml_parse.py b/test/test_components_yaml_parse.py
deleted file mode 100644
index ac11d1b..0000000
--- a/test/test_components_yaml_parse.py
+++ /dev/null
@@ -1,347 +0,0 @@
-# Copyright 2024 Husarion sp. z o.o.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-
-import xml.dom
-import xml.dom.minidom
-import os
-import xacro
-import xml
-import yaml
-from ament_index_python.packages import get_package_share_directory
-
-ros_components_description = get_package_share_directory("ros_components_description")
-xacro_path = os.path.join(ros_components_description, "test/component.urdf.xacro")
-
-
-class ComponentsYamlParseUtils:
-    __test__ = False
-
-    def __init__(self, components_config_path: str) -> None:
-        self.components_config_path = components_config_path
-
-    def save_yaml(self, node: yaml.Node) -> None:
-        with open(self.components_config_path, mode="w", encoding="utf-8") as file:
-            yaml.dump(node, file, default_flow_style=False)
-
-    def create_component(
-        self,
-        type: str,
-        tf_prefix: str,
-        namespace: str,
-        name="None",
-        parent_link="cover_link",
-        xyz="0.0 0.0 0.0",
-        rpy="0.0 0.0 0.0",
-    ) -> dict:
-        return {
-            "type": type,
-            "parent_link": parent_link,
-            "xyz": xyz,
-            "rpy": rpy,
-            "tf_prefix": tf_prefix,
-            "namespace": namespace,
-            "name": name,
-        }
-
-    def try_to_parse_wrong_and_test(self, log: str) -> None:
-        try:
-            xacro.process_file(
-                xacro_path, mappings={"components_config_path": self.components_config_path}
-            )
-            assert False, log
-        except xacro.XacroException as e:
-            f"{log} Error:\n{e}"
-            assert True
-
-    def try_to_parse_well_and_test(self, log: str) -> xml.dom.minidom.Document:
-        doc = xml.dom.minidom.Document()
-        try:
-            doc = xacro.process_file(
-                xacro_path, mappings={"components_config_path": self.components_config_path}
-            )
-            assert True
-        except xacro.XacroException as e:
-            assert False, f"{log}\nError:\n{e}"
-
-        return doc
-
-    def look_for_link_well_and_test(
-        self, doc: xml.dom.minidom.Document, link_name: str, log: str
-    ) -> None:
-        links = doc.getElementsByTagName('link')
-        for link in links:
-            if link.getAttribute('name') == link_name:
-                assert True
-                return
-        assert False, f"{log}"
-
-    def look_for_link_wrong_and_test(
-        self, doc: xml.dom.minidom.Document, link_name: str, log: str
-    ) -> None:
-        links = doc.getElementsByTagName('link')
-        for link in links:
-            if link.getAttribute('name') == link_name:
-                assert False, f"{log}"
-        assert True
-
-    def look_for_sensor_name_well(
-        self, doc: xml.dom.minidom.Document, link_name: str, sensor_name: str, log: str
-    ) -> None:
-        gazebos_tags = doc.getElementsByTagName('gazebo')
-        for tag in gazebos_tags:
-            if tag.getAttribute('reference') == link_name:
-                sensors = doc.getElementsByTagName('sensor')
-                for sensor in sensors:
-                    if sensor.getAttribute('name') == sensor_name:
-                        assert True
-                        return
-
-        assert False, f"{log}"
-
-    def test_lidar(self, doc: xml.dom.minidom.Document, tf_prefix: str, namespace: str) -> None:
-        link_name = "laser"
-        if tf_prefix != "None":
-            link_name = tf_prefix + "_" + link_name
-
-        sensor_name = "rplidar_s1_sensor"
-        if tf_prefix != "None":
-            sensor_name = tf_prefix + "_" + sensor_name
-        if namespace != "None":
-            sensor_name = namespace + "/" + sensor_name
-
-        self.look_for_link_well_and_test(doc, link_name, f"Could not find link: {link_name}")
-        self.look_for_sensor_name_well(
-            doc,
-            link_name,
-            sensor_name,
-            f"Could not find sensor: {sensor_name}, referencing to link: {link_name} with config {self.components_config_path}",
-        )
-
-    def test_camera(
-        self, doc: xml.dom.minidom.Document, tf_prefix: str, namespace: str, name: str
-    ) -> None:
-        link_name = name + "_orbbec_astra_link"
-        if tf_prefix != "None":
-            link_name = tf_prefix + "_" + link_name
-
-        sensor_name = name + "_orbbec_astra_color"
-        if tf_prefix != "None":
-            sensor_name = tf_prefix + "_" + sensor_name
-        if namespace != "None":
-            sensor_name = namespace + "/" + sensor_name
-
-        self.look_for_link_well_and_test(
-            doc,
-            link_name,
-            f"Could not find link: {link_name} with config {self.components_config_path}",
-        )
-
-        self.look_for_sensor_name_well(
-            doc,
-            link_name,
-            sensor_name,
-            f"Could not find sensor: {sensor_name}, referencing to link: {link_name} with config {self.components_config_path}",
-        )
-
-
-def test_wrong_config(tmpdir_factory):
-    dir = tmpdir_factory.mktemp("panther_bringup_test")
-    components_config_path = dir.join("test_wrong_config.yaml")
-
-    node = yaml.safe_load("a: 5")
-    utils = ComponentsYamlParseUtils(components_config_path)
-
-    utils.save_yaml(node)
-    utils.try_to_parse_wrong_and_test(f"Xacro should not parse well for this yaml file: {node}")
-
-
-def test_good_lidars_with_tf_prefix_and_namespace(tmpdir_factory):
-    dir = tmpdir_factory.mktemp("panther_bringup_test")
-    components_config_path = dir.join("test_good_lidars_with_tf_prefix_and_namespace.yaml")
-
-    tf_prefixes = ["main_lidar", "additional_lidar"]
-    namespaces = ["/main_lidar", "/additional_lidar"]
-
-    utils = ComponentsYamlParseUtils(str(components_config_path))
-
-    node = {
-        "components": [],
-    }
-    for i in range(len(tf_prefixes)):
-        node["components"].append(utils.create_component("LDR01", tf_prefixes[i], namespaces[i]))
-
-    utils.save_yaml(node)
-
-    doc = utils.try_to_parse_well_and_test(
-        f"Could not parse without namespace:\n\t{node}\nIn file {components_config_path} with config {components_config_path}"
-    )
-
-    for i in range(len(tf_prefixes)):
-        utils.test_lidar(doc, tf_prefixes[i], namespaces[i])
-
-
-def test_good_cameras_with_tf_prefix_and_namespace(tmpdir_factory):
-    dir = tmpdir_factory.mktemp("panther_bringup_test")
-    components_config_path = dir.join("test_good_cameras_with_tf_prefix_and_namespace.yaml")
-
-    tf_prefixes = ["main", "additional"]
-    namespaces = ["/main", "/additional"]
-    names = ["camera", "camera"]
-
-    utils = ComponentsYamlParseUtils(str(components_config_path))
-
-    node = {
-        "components": [],
-    }
-    for i in range(len(tf_prefixes)):
-        node["components"].append(
-            utils.create_component(
-                "CAM01",
-                tf_prefixes[i],
-                namespaces[i],
-                names[i],
-            )
-        )
-
-    utils.save_yaml(node)
-
-    doc = utils.try_to_parse_well_and_test(
-        f"Could not parse without namespace:\n\t{node}\nIn file {components_config_path}"
-    )
-
-    for i in range(len(tf_prefixes)):
-        utils.test_camera(doc, tf_prefixes[i], namespaces[i], names[i])
-
-
-def test_good_cameras_and_lidars_without_namespace_and_tf_prefix(tmpdir_factory):
-    dir = tmpdir_factory.mktemp("panther_bringup_test")
-    components_config_path = dir.join(
-        "test_good_cameras_and_lidars_without_namespace_and_tf_prefix.yaml"
-    )
-
-    utils = ComponentsYamlParseUtils(str(components_config_path))
-
-    names = ["camera_front", "camera_back"]
-    node = {
-        "components": [],
-    }
-    for i in range(len(names)):
-        node["components"].append(utils.create_component("CAM01", "None", "None", names[i]))
-
-    node["components"].append(utils.create_component("LDR01", "None", "None"))
-
-    utils.save_yaml(node)
-
-    doc = utils.try_to_parse_well_and_test(
-        f"Could not parse without namespace:\n\t{node}\nIn file {components_config_path}"
-    )
-
-    for i in range(len(names)):
-        utils.test_camera(doc, "None", "None", names[i])
-
-    utils.test_lidar(doc, "None", "None")
-
-
-def test_good_cameras_and_lidars_without_tf_prefix(tmpdir_factory):
-    dir = tmpdir_factory.mktemp("panther_bringup_test")
-    components_config_path = dir.join("test_good_cameras_and_lidars_without_tf_prefix.yaml")
-
-    utils = ComponentsYamlParseUtils(str(components_config_path))
-
-    names = ["camera_front", "camera_back"]
-    node = {
-        "components": [],
-    }
-    namespaces = ["/front", "/left"]
-    lidar_namespace = "/main_lidar"
-
-    for i in range(len(names)):
-        node["components"].append(utils.create_component("CAM01", "None", namespaces[i], names[i]))
-
-    node["components"].append(utils.create_component("LDR01", "None", lidar_namespace))
-
-    utils.save_yaml(node)
-
-    doc = utils.try_to_parse_well_and_test(
-        f"Could not parse without namespace:\n\t{node}\nIn file {components_config_path}"
-    )
-
-    for i in range(len(names)):
-        utils.test_camera(doc, "None", namespaces[i], names[i])
-
-    utils.test_lidar(doc, "None", lidar_namespace)
-
-
-def test_good_cameras_and_lidars_without_namespace(tmpdir_factory):
-    dir = tmpdir_factory.mktemp("panther_bringup_test")
-    components_config_path = dir.join("test_good_cameras_and_lidars_without_namespace.yaml")
-
-    utils = ComponentsYamlParseUtils(str(components_config_path))
-
-    names = ["camera_front", "camera_back"]
-    node = {
-        "components": [],
-    }
-    tf_prefixes = ["front", "left"]
-    lidar_tf_prefix = "main_lidar"
-
-    for i in range(len(names)):
-        node["components"].append(
-            utils.create_component(
-                "CAM01",
-                tf_prefixes[i],
-                "None",
-                names[i],
-            )
-        )
-
-    node["components"].append(utils.create_component("LDR01", lidar_tf_prefix, "None"))
-
-    utils.save_yaml(node)
-
-    doc = utils.try_to_parse_well_and_test(
-        f"Could not parse without namespace:\n\t{node}\nIn file {components_config_path}"
-    )
-
-    for i in range(len(names)):
-        utils.test_camera(doc, tf_prefixes[i], "None", names[i])
-
-    utils.test_lidar(doc, lidar_tf_prefix, "None")
-
-
-def test_good_without_any_component(tmpdir_factory):
-    dir = tmpdir_factory.mktemp("panther_bringup_test")
-    components_config_path = dir.join("test_wrong_unfilled_params.yaml")
-
-    utils = ComponentsYamlParseUtils(str(components_config_path))
-    node = {
-        "components": [],
-    }
-
-    utils.save_yaml(node)
-    utils.try_to_parse_well_and_test(
-        f"This configuration should be parsed :\n\t{node}\nIn file {components_config_path}"
-    )
-
-def test_wrong_empty_file(tmpdir_factory):
-    dir = tmpdir_factory.mktemp("panther_bringup_test")
-    components_config_path = dir.join("test_wrong_unfilled_params.yaml")
-
-    utils = ComponentsYamlParseUtils(str(components_config_path))
-    open(components_config_path, mode="w")
-
-    utils.try_to_parse_wrong_and_test(
-        f"This configuration should not be parsed.\nIn file {components_config_path}"
-    )
diff --git a/urdf/components.urdf.xacro b/urdf/components.urdf.xacro
index 6aa3035..ac3d727 100644
--- a/urdf/components.urdf.xacro
+++ b/urdf/components.urdf.xacro
@@ -28,7 +28,6 @@
       <xacro:property name="device_namespace" value="${component['device_namespace']}" scope="parent" />
 
       <xacro:if value="${type == 'CAM01'}">
-        <xacro:property name="camera_name" value="${component['name']}" scope="parent" />
         <xacro:include
           filename="$(find ros_components_description)/urdf/orbbec_astra.urdf.xacro"
           ns="camera" />
diff --git a/urdf/orbbec_astra.urdf.xacro b/urdf/orbbec_astra.urdf.xacro
index 2031595..866f122 100644
--- a/urdf/orbbec_astra.urdf.xacro
+++ b/urdf/orbbec_astra.urdf.xacro
@@ -26,7 +26,7 @@
       <child link="${device_namespace}_orbbec_astra_link" />
     </joint>
 
-    <link name="${device_namespace}_orbbec_astra_link">
+    <link name="${device_namespace}_orbbec_astra">
       <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
         <geometry>
diff --git a/urdf/slamtec_rplidar_a2.urdf.xacro b/urdf/slamtec_rplidar_a2.urdf.xacro
index df286d0..c99f7c0 100644
--- a/urdf/slamtec_rplidar_a2.urdf.xacro
+++ b/urdf/slamtec_rplidar_a2.urdf.xacro
@@ -94,7 +94,7 @@
     <gazebo reference="${prefix}laser">
       <!-- gpu_lidar has to be set, CPU lidar doesn't work in ignition -
       https://github.com/gazebosim/gz-sensors/issues/26 -->
-      <sensor type="gpu_lidar" name="${ns}${prefix}rplidar_a2_sensor">
+      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_a2_sensor">
 
         <topic>${ns}${device_ns}scan</topic>
         <frame_id>${ns}${prefix}laser</frame_id>
diff --git a/urdf/slamtec_rplidar_a3.urdf.xacro b/urdf/slamtec_rplidar_a3.urdf.xacro
index 9371050..223f8e9 100644
--- a/urdf/slamtec_rplidar_a3.urdf.xacro
+++ b/urdf/slamtec_rplidar_a3.urdf.xacro
@@ -69,7 +69,7 @@
     <gazebo reference="${prefix}laser">
       <!-- gpu_lidar has to be set, CPU lidar doesn't work in ignition -
       https://github.com/gazebosim/gz-sensors/issues/26 -->
-      <sensor type="gpu_lidar" name="${ns}${prefix}rplidar_a3_sensor">
+      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_a3_sensor">
 
         <topic>${ns}${device_ns}scan</topic>
         <frame_id>${ns}${prefix}laser</frame_id>
diff --git a/urdf/slamtec_rplidar_s1.urdf.xacro b/urdf/slamtec_rplidar_s1.urdf.xacro
index 9d5401d..baf3820 100644
--- a/urdf/slamtec_rplidar_s1.urdf.xacro
+++ b/urdf/slamtec_rplidar_s1.urdf.xacro
@@ -76,7 +76,7 @@
     <gazebo reference="${prefix}laser">
       <!-- gpu_lidar has to be set, CPU lidar doesn't work in ignition -
       https://github.com/gazebosim/gz-sensors/issues/26 -->
-      <sensor type="gpu_lidar" name="${ns}${prefix}rplidar_s1_sensor">
+      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_s1_sensor">
 
         <topic>${ns}${device_ns}scan</topic>
         <frame_id>${ns}${prefix}laser</frame_id>
diff --git a/urdf/slamtec_rplidar_s2.urdf.xacro b/urdf/slamtec_rplidar_s2.urdf.xacro
index e3b084a..b739e75 100644
--- a/urdf/slamtec_rplidar_s2.urdf.xacro
+++ b/urdf/slamtec_rplidar_s2.urdf.xacro
@@ -68,7 +68,7 @@
     <gazebo reference="${prefix}laser">
       <!-- gpu_lidar has to be set, CPU lidar doesn't work in ignition -
       https://github.com/gazebosim/gz-sensors/issues/26 -->
-      <sensor type="gpu_lidar" name="${ns}${prefix}rplidar_s2_sensor">
+      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_s2_sensor">
 
         <topic>${ns}${device_ns}scan</topic>
         <frame_id>${ns}${prefix}laser</frame_id>
diff --git a/urdf/slamtec_rplidar_s3.urdf.xacro b/urdf/slamtec_rplidar_s3.urdf.xacro
index 629e506..0c13a43 100644
--- a/urdf/slamtec_rplidar_s3.urdf.xacro
+++ b/urdf/slamtec_rplidar_s3.urdf.xacro
@@ -68,7 +68,7 @@
     <gazebo reference="${prefix}laser">
       <!-- gpu_lidar has to be set, CPU lidar doesn't work in ignition -
       https://github.com/gazebosim/gz-sensors/issues/26 -->
-      <sensor type="gpu_lidar" name="${ns}${prefix}rplidar_s3_sensor">
+      <sensor type="gpu_lidar" name="${ns}${prefix}slamtec_rplidar_s3_sensor">
 
         <topic>${ns}${device_ns}scan</topic>
         <frame_id>${ns}${prefix}laser</frame_id>