diff --git a/.github/workflows/pycram-ci.yml b/.github/workflows/pycram-ci.yml
index 7d2250e2a..7a941de7f 100644
--- a/.github/workflows/pycram-ci.yml
+++ b/.github/workflows/pycram-ci.yml
@@ -89,7 +89,7 @@ jobs:
           sudo pip3 install --upgrade numpy
       - name: start roscore
         run: |
-              roslaunch pycram ci_setup.launch &
+              roslaunch pycram ik_and_description.launch &
       - name: Run Tests
         run: |
           roscd pycram
diff --git a/launch/ik_and_description.launch b/launch/ik_and_description.launch
index 61f2315da..dc88f54bb 100644
--- a/launch/ik_and_description.launch
+++ b/launch/ik_and_description.launch
@@ -8,9 +8,8 @@
   <group if="$(eval robot == 'pr2')">
     <include file="$(find pr2_arm_kinematics)/launch/pr2_ik_larm_node.launch"/>
     <include file="$(find pr2_arm_kinematics)/launch/pr2_ik_rarm_node.launch"/>
-    <param name="robot_description"
-           command="$(find xacro)/xacro
-                    '$(find pr2_description)/robots/pr2.urdf.xacro'"/>
+     <param name="robot_description"
+        textfile="$(find pycram)/resources/pr2.urdf"/>
   </group>
   <!-- Boxy -->
   <group if="$(eval robot == 'boxy')">