diff --git a/ackermann_vehicle_description/launch/ackermann_vehicle.launch b/ackermann_vehicle_description/launch/ackermann_vehicle.launch
index 8815a37..ef938d3 100644
--- a/ackermann_vehicle_description/launch/ackermann_vehicle.launch
+++ b/ackermann_vehicle_description/launch/ackermann_vehicle.launch
@@ -26,7 +26,7 @@ limitations under the License.
   <group ns="$(arg namespace)">
     <!-- robot_description is used by nodes that publish to joint_states. -->
     <param name="robot_description"
-           command="$(find xacro)/xacro.py $(find ackermann_vehicle_description)/urdf/em_3905.urdf.xacro"/>
+           command="$(find xacro)/xacro $(find ackermann_vehicle_description)/urdf/em_3905.urdf.xacro"/>
 
     <!-- Read joint positions from joint_states, then publish the vehicle's
          state to tf. -->
diff --git a/ackermann_vehicle_description/urdf/em_3905.urdf.xacro b/ackermann_vehicle_description/urdf/em_3905.urdf.xacro
index ccc7832..1ebfd03 100644
--- a/ackermann_vehicle_description/urdf/em_3905.urdf.xacro
+++ b/ackermann_vehicle_description/urdf/em_3905.urdf.xacro
@@ -232,9 +232,11 @@ limitations under the License.
     </joint>
     <transmission name="${lr_prefix}_${fr_prefix}_shock_trans">
       <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${lr_prefix}_${fr_prefix}_shock"/>
+      <joint name="${lr_prefix}_${fr_prefix}_shock">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      </joint>
       <actuator name="${lr_prefix}_${fr_prefix}_shock_act">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
         <mechanicalReduction>1</mechanicalReduction>
       </actuator>
     </transmission>
@@ -257,9 +259,11 @@ limitations under the License.
     </joint>
     <transmission name="${lr_prefix}_${fr_prefix}_axle_trans">
       <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${lr_prefix}_${fr_prefix}_axle"/>
+      <joint name="${lr_prefix}_${fr_prefix}_axle">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      </joint>
       <actuator name="${lr_prefix}_${fr_prefix}_axle_act">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
         <mechanicalReduction>1</mechanicalReduction>
       </actuator>
     </transmission>
@@ -316,9 +320,11 @@ limitations under the License.
     </joint>
     <transmission name="${lr_prefix}_steering_trans">
       <type>transmission_interface/SimpleTransmission</type>
-      <joint name="${lr_prefix}_steering_joint"/>
+      <joint name="${lr_prefix}_steering_joint">
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      </joint>
       <actuator name="${lr_prefix}_steering_act">
-        <hardwareInterface>EffortJointInterface</hardwareInterface>
+        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
         <mechanicalReduction>1</mechanicalReduction>
       </actuator>
     </transmission>
diff --git a/ackermann_vehicle_gazebo/CMakeLists.txt b/ackermann_vehicle_gazebo/CMakeLists.txt
index 8052497..cad0d77 100644
--- a/ackermann_vehicle_gazebo/CMakeLists.txt
+++ b/ackermann_vehicle_gazebo/CMakeLists.txt
@@ -2,3 +2,4 @@ cmake_minimum_required(VERSION 2.8.3)
 project(ackermann_vehicle_gazebo)
 find_package(catkin REQUIRED)
 catkin_package()
+catkin_install_python(PROGRAMS nodes/ackermann_controller.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
\ No newline at end of file
diff --git a/ackermann_vehicle_gazebo/nodes/ackermann_controller.py b/ackermann_vehicle_gazebo/nodes/ackermann_controller.py
index 0eb930b..561564e 100755
--- a/ackermann_vehicle_gazebo/nodes/ackermann_controller.py
+++ b/ackermann_vehicle_gazebo/nodes/ackermann_controller.py
@@ -176,7 +176,7 @@ def __init__(self):
                     continue
 
                 pub = rospy.Publisher(ctrlr_name + "/command", Float64,
-                                      latch=True)
+                                      queue_size=10, latch=True)
                 _wait_for_ctrlr(list_ctrlrs, ctrlr_name)
                 pub.publish(eq_pos)
                 self._shock_pubs.append(pub)
@@ -484,7 +484,7 @@ def _create_axle_cmd_pub(list_ctrlrs, axle_ctrlr_name):
 def _create_cmd_pub(list_ctrlrs, ctrlr_name):
     # Create a command publisher.
     _wait_for_ctrlr(list_ctrlrs, ctrlr_name)
-    return rospy.Publisher(ctrlr_name + "/command", Float64)
+    return rospy.Publisher(ctrlr_name + "/command", Float64, queue_size=10)
 
 
 def _get_steer_ang(phi):
diff --git a/ackermann_vehicle_gazebo/package.xml b/ackermann_vehicle_gazebo/package.xml
index ee10354..a6659dd 100644
--- a/ackermann_vehicle_gazebo/package.xml
+++ b/ackermann_vehicle_gazebo/package.xml
@@ -37,6 +37,7 @@
   <run_depend>ackermann_msgs</run_depend>
   <run_depend>ackermann_vehicle_description</run_depend>
   <run_depend>controller_manager</run_depend>
+  <run_depend>ros_controllers</run_depend>
   <run_depend>gazebo_ros</run_depend>
   <run_depend>gazebo_ros_control</run_depend>
   <run_depend>rospy</run_depend>