diff --git a/spot_ros2_control/xacro/spot_interfaces.ros2_control.xacro b/spot_description/urdf/spot.ros2_control.xacro
similarity index 66%
rename from spot_ros2_control/xacro/spot_interfaces.ros2_control.xacro
rename to spot_description/urdf/spot.ros2_control.xacro
index 1978c31c3..d8b5de3fa 100644
--- a/spot_ros2_control/xacro/spot_interfaces.ros2_control.xacro
+++ b/spot_description/urdf/spot.ros2_control.xacro
@@ -65,4 +65,33 @@
 
     </xacro:macro>
 
+    <xacro:macro name="spot_ros2_control" params="interface_type has_arm hostname username password tf_prefix">
+        <!-- Currently implements a simple system interface that covers all joints of the robot.
+        In the future, we could make different hardware interfaces for the body, arm, etc. -->
+        <ros2_control name="SpotSystem" type="system">
+            <hardware>
+            <xacro:if value="${interface_type == 'mock'}">
+                <plugin>mock_components/GenericSystem</plugin>
+                <param name="mock_sensor_commands">false</param>
+                <param name="state_following_offset">0.0</param>
+            </xacro:if>
+            <xacro:if value="${interface_type == 'robot'}">
+                <plugin>spot_ros2_control/SpotHardware</plugin>
+                <param name="hostname">$(optenv SPOT_IP ${hostname})</param>
+                <param name="username">$(optenv BOSDYN_CLIENT_USERNAME ${username})</param>
+                <param name="password">$(optenv BOSDYN_CLIENT_PASSWORD ${password})</param>
+            </xacro:if>
+            </hardware>
+            <!-- Add the legs -->
+            <xacro:leg front_or_rear="front" left_or_right="left" tf_prefix="${tf_prefix}" />
+            <xacro:leg front_or_rear="front" left_or_right="right" tf_prefix="${tf_prefix}" />
+            <xacro:leg front_or_rear="rear" left_or_right="left" tf_prefix="${tf_prefix}" />
+            <xacro:leg front_or_rear="rear" left_or_right="right" tf_prefix="${tf_prefix}" />
+            <!-- Add the arm + the gripper if the robot has an arm -->
+            <xacro:if value="${has_arm}">
+                <xacro:arm tf_prefix="${tf_prefix}" />
+            </xacro:if>
+        </ros2_control>
+    </xacro:macro>
+
 </robot>
diff --git a/spot_description/urdf/spot.urdf.xacro b/spot_description/urdf/spot.urdf.xacro
index 5d58172e8..ed0ad8faa 100644
--- a/spot_description/urdf/spot.urdf.xacro
+++ b/spot_description/urdf/spot.urdf.xacro
@@ -1,17 +1,38 @@
 <?xml version="1.0" ?>
 <robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
+  <!-- Macro for loading Spot -->
   <xacro:include filename="$(find spot_description)/urdf/spot_macro.xacro" />
+  <!-- Macros for loading the ROS 2 control tags -->
+  <xacro:include filename="$(find spot_description)/urdf/spot.ros2_control.xacro" />
 
-  <!-- Parameters -->
+  <!-- General parameters -->
   <xacro:arg name="arm" default="false" />
   <xacro:arg name="feet" default="false" />
   <xacro:arg name="tf_prefix" default="" />
 
+  <!-- Parameters for ROS 2 control -->
+  <xacro:arg name="add_ros2_control_tag" default="false" />
+  <xacro:arg name="hardware_interface_type" default="mock" />
+  <xacro:arg name="tf_prefix" default="" />
+  <xacro:arg name="hostname" default="10.0.0.3" />
+  <xacro:arg name="username" default="username" />
+  <xacro:arg name="password" default="password" />
+
   <!-- Load Spot -->
   <xacro:load_spot
     arm="$(arg arm)"
     feet="$(arg feet)"
     tf_prefix="$(arg tf_prefix)" />
 
+  <!-- Adding the ROS 2 control tags -->
+  <xacro:if value="$(arg add_ros2_control_tag)">
+      <xacro:spot_ros2_control interface_type="$(arg hardware_interface_type)" 
+                               has_arm="$(arg arm)" 
+                               hostname="$(arg hostname)" 
+                               username="$(arg username)" 
+                               password="$(arg password)" 
+                               tf_prefix="$(arg tf_prefix)" />
+  </xacro:if>
+
 </robot>
diff --git a/spot_ros2_control/CMakeLists.txt b/spot_ros2_control/CMakeLists.txt
index 39a5f79e7..eb51cfd4e 100644
--- a/spot_ros2_control/CMakeLists.txt
+++ b/spot_ros2_control/CMakeLists.txt
@@ -90,7 +90,7 @@ install(
 )
 
 install(
-  DIRECTORY xacro launch config rviz
+  DIRECTORY launch config rviz
   DESTINATION share/${PROJECT_NAME}
 )
 
diff --git a/spot_ros2_control/hardware/src/spot_hardware_interface.cpp b/spot_ros2_control/hardware/src/spot_hardware_interface.cpp
index b11149c1b..e5106dcd1 100644
--- a/spot_ros2_control/hardware/src/spot_hardware_interface.cpp
+++ b/spot_ros2_control/hardware/src/spot_hardware_interface.cpp
@@ -339,7 +339,7 @@ bool SpotHardware::get_lease() {
   }
   lease_client_ = lease_client_resp.response;
   // Then acquire the lease for the body.
-  const auto lease_res = lease_client_->AcquireLease("body");
+  const auto lease_res = lease_client_->TakeLease("body");
   if (!lease_res) {
     RCLCPP_ERROR(rclcpp::get_logger("SpotHardware"), "Could not acquire body lease");
     return false;
diff --git a/spot_ros2_control/launch/spot_ros2_control.launch.py b/spot_ros2_control/launch/spot_ros2_control.launch.py
index 5ed0c9e71..abecbd79d 100644
--- a/spot_ros2_control/launch/spot_ros2_control.launch.py
+++ b/spot_ros2_control/launch/spot_ros2_control.launch.py
@@ -93,17 +93,17 @@ def create_rviz_config(spot_name: str) -> str:
 def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
     hardware_interface: str = LaunchConfiguration("hardware_interface").perform(context)
     controllers_config: str = LaunchConfiguration("controllers_config").perform(context)
-    mock_has_arm: bool = IfCondition(LaunchConfiguration("mock_has_arm")).evaluate(context)
+    mock_arm: bool = IfCondition(LaunchConfiguration("mock_arm")).evaluate(context)
     spot_name: str = LaunchConfiguration("spot_name").perform(context)
 
-    # If connected to a physical robot, query if it has an arm. Otherwise, use the value in mock_has_arm.
+    # If connected to a physical robot, query if it has an arm. Otherwise, use the value in mock_arm.
     if hardware_interface == "robot":
         config_file = LaunchConfiguration("config_file").perform(context)
-        has_arm = spot_has_arm(config_file_path=config_file, spot_name="")
+        arm = spot_has_arm(config_file_path=config_file, spot_name="")
         username, password, hostname = get_login_parameters(config_file)[:3]
         login_params = f" hostname:={hostname} username:={username} password:={password}"
     else:
-        has_arm = mock_has_arm
+        arm = mock_arm
         login_params = ""
 
     tf_prefix = f"{spot_name}/" if spot_name else ""
@@ -113,9 +113,9 @@ def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
             " ",
-            PathJoinSubstitution([FindPackageShare(THIS_PACKAGE), "xacro", "spot.urdf.xacro"]),
-            " has_arm:=",
-            str(has_arm),
+            PathJoinSubstitution([FindPackageShare("spot_description"), "urdf", "spot.urdf.xacro"]),
+            " add_ros2_control_tag:=True arm:=",
+            str(arm),
             " tf_prefix:=",
             tf_prefix,
             " hardware_interface_type:=",
@@ -128,8 +128,8 @@ def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
     # If no controller config file is selected, use the appropriate default. Else, just use the yaml that is passed in.
     if controllers_config == "":
         # Generate spot_default_controllers.yaml depending on namespace and whether the robot has an arm.
-        create_controllers_config(spot_name, has_arm)
-        controllers_config = create_controllers_config(spot_name, has_arm)
+        create_controllers_config(spot_name, arm)
+        controllers_config = create_controllers_config(spot_name, arm)
 
     # Add nodes
     ld.add_action(
@@ -217,7 +217,7 @@ def generate_launch_description():
                 description="Robot controller to start. Must match an entry in controller_config.",
             ),
             DeclareLaunchArgument(
-                "mock_has_arm",
+                "mock_arm",
                 default_value="false",
                 choices=["True", "true", "False", "false"],
                 description="If in hardware_interface:=mock mode, whether or not the mocked robot has an arm.",
diff --git a/spot_ros2_control/xacro/spot.ros2_control.xacro b/spot_ros2_control/xacro/spot.ros2_control.xacro
deleted file mode 100644
index 3bca56910..000000000
--- a/spot_ros2_control/xacro/spot.ros2_control.xacro
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:macro name="spot_ros2_control" params="interface_type has_arm hostname username password tf_prefix">
-        <!-- Currently implements a simple system interface that covers all joints of the robot.
-        In the future, we could make different hardware interfaces for the body, arm, etc. -->
-        <ros2_control name="SpotSystem" type="system">
-            <hardware>
-            <xacro:if value="${interface_type == 'mock'}">
-                <plugin>mock_components/GenericSystem</plugin>
-                <param name="mock_sensor_commands">false</param>
-                <param name="state_following_offset">0.0</param>
-            </xacro:if>
-            <xacro:if value="${interface_type == 'robot'}">
-                <plugin>spot_ros2_control/SpotHardware</plugin>
-                <param name="hostname">$(optenv SPOT_IP ${hostname})</param>
-                <param name="username">$(optenv BOSDYN_CLIENT_USERNAME ${username})</param>
-                <param name="password">$(optenv BOSDYN_CLIENT_PASSWORD ${password})</param>
-            </xacro:if>
-            </hardware>
-            <!-- Add the legs -->
-            <xacro:leg front_or_rear="front" left_or_right="left" tf_prefix="${tf_prefix}" />
-            <xacro:leg front_or_rear="front" left_or_right="right" tf_prefix="${tf_prefix}" />
-            <xacro:leg front_or_rear="rear" left_or_right="left" tf_prefix="${tf_prefix}" />
-            <xacro:leg front_or_rear="rear" left_or_right="right" tf_prefix="${tf_prefix}" />
-            <!-- Add the arm + the gripper if the robot has an arm -->
-            <xacro:if value="${has_arm}">
-                <xacro:arm tf_prefix="${tf_prefix}" />
-            </xacro:if>
-        </ros2_control>
-    </xacro:macro>
-
-</robot>
diff --git a/spot_ros2_control/xacro/spot.urdf.xacro b/spot_ros2_control/xacro/spot.urdf.xacro
deleted file mode 100644
index 3f36be7e2..000000000
--- a/spot_ros2_control/xacro/spot.urdf.xacro
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="spot" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:arg name="has_arm" default="false" />
-    <xacro:arg name="add_ros2_control_tag" default="true" />
-    <xacro:arg name="hardware_interface_type" default="mock" />
-    <xacro:arg name="tf_prefix" default="" />
-    <xacro:arg name="hostname" default="10.0.0.3" />
-    <xacro:arg name="username" default="username" />
-    <xacro:arg name="password" default="password" />
-
-    <!-- Macro containing the URDF for Spot -->
-    <xacro:include filename="$(find spot_description)/urdf/spot_macro.xacro" />
-    <!-- Macros for loading the ROS 2 control tags -->
-    <xacro:include filename="$(find spot_ros2_control)/xacro/spot_interfaces.ros2_control.xacro" />
-    <xacro:include filename="$(find spot_ros2_control)/xacro/spot.ros2_control.xacro" />
-
-    <!-- Adding Spot-->
-    <xacro:load_spot arm="$(arg has_arm)" tf_prefix="$(arg tf_prefix)"/>
-    <!-- Adding the ROS 2 control tags -->
-    <xacro:if value="$(arg add_ros2_control_tag)">
-        <xacro:spot_ros2_control interface_type="$(arg hardware_interface_type)" 
-                                 has_arm="$(arg has_arm)" 
-                                 hostname="$(arg hostname)" 
-                                 username="$(arg username)" 
-                                 password="$(arg password)" 
-                                 tf_prefix="$(arg tf_prefix)" />
-    </xacro:if>
-
-</robot>