diff --git a/firmware/ros2_ws/src/openneato_driver/resource/openneato_driver b/firmware/ros2_ws/src/openneato_driver/resource/openneato_driver
new file mode 100644
index 0000000..e69de29
diff --git a/firmware/ros2_ws/src/openneato_driver/setup.cfg b/firmware/ros2_ws/src/openneato_driver/setup.cfg
index e69de29..d19b1b6 100644
--- a/firmware/ros2_ws/src/openneato_driver/setup.cfg
+++ b/firmware/ros2_ws/src/openneato_driver/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/openneato_driver
+[install]
+install_scripts=$base/lib/openneato_driver
diff --git a/firmware/ros2_ws/src/openneato_nav/resource/openneato_nav b/firmware/ros2_ws/src/openneato_nav/resource/openneato_nav
new file mode 100644
index 0000000..e69de29
diff --git a/firmware/ros2_ws/src/openneato_nav/setup.cfg b/firmware/ros2_ws/src/openneato_nav/setup.cfg
new file mode 100644
index 0000000..4bbf7bd
--- /dev/null
+++ b/firmware/ros2_ws/src/openneato_nav/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/openneato_nav
+[install]
+install_scripts=$base/lib/openneato_nav
diff --git a/firmware/ros2_ws/src/openneato_nav/setup.py b/firmware/ros2_ws/src/openneato_nav/setup.py
index a662dc3..57ae4ee 100644
--- a/firmware/ros2_ws/src/openneato_nav/setup.py
+++ b/firmware/ros2_ws/src/openneato_nav/setup.py
@@ -13,9 +13,11 @@
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
         # Installa tutti i file launch
-        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*launch.py')),
         # Installa tutti i file di configurazione (params)
         (os.path.join('share', package_name, 'params'), glob('params/*.yaml')),
+	# Install the urdf descriptor of Neato
+        (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -27,4 +29,4 @@
     entry_points={
         'console_scripts': [],
     },
-)
\ No newline at end of file
+)
diff --git a/firmware/ros2_ws/src/openneato_nav/urdf/neato.urdf b/firmware/ros2_ws/src/openneato_nav/urdf/neato.urdf
new file mode 100644
index 0000000..826f062
--- /dev/null
+++ b/firmware/ros2_ws/src/openneato_nav/urdf/neato.urdf
@@ -0,0 +1,10 @@
+<robot name="ryans_neato">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder radius="0.18" length="0.2"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+</robot>
diff --git a/installer/install.sh b/installer/install.sh
old mode 100644
new mode 100755
index 50476d1..71fcb07
--- a/installer/install.sh
+++ b/installer/install.sh
@@ -78,6 +78,14 @@ do_install() {
     whiptail --title "Building ROS 2 Workspace" --infobox "Compiling OpenNeato firmware (this may take a while)..." 8 78
     cd "$INSTALL_DIR/firmware/ros2_ws"
     
+    # Source Virtual Python environment just created above
+    if [ -f "$INSTALL_DIR/venv/bin/activate" ]; then
+        source $INSTALL_DIR/venv/bin/activate
+    else
+        echo "Error: Could not source the python virtual environment $INSTALL_DIR/venv/bin/activate"
+        exit 1
+    fi
+
     # Source ROS 2 Jazzy
     if [ -f "/opt/ros/jazzy/setup.bash" ]; then
         source /opt/ros/jazzy/setup.bash
@@ -139,4 +147,4 @@ do_uninstall() {
 case $CHOICE in
     "1") do_install ;;
     "2") do_uninstall ;;
-esac
\ No newline at end of file
+esac