diff --git a/andino_description/README.md b/andino_description/README.md
index dd132b0e..8e59ab99 100644
--- a/andino_description/README.md
+++ b/andino_description/README.md
@@ -11,7 +11,7 @@ In the `urdf` folder you have the URDF files that contain the description of the
 
 In case you want to change the physical properties of some of the components of the robot, you can do it modifying the default YAML files inside the `config/andino` folder.
 
-You can even add your own configuration files in another directory in the `config` folder, and passing this directory to the main file using `yaml_config_dir` xacro argument inside the launch files.
+You can even add your own configuration files in another directory in the `config` folder, and pass this directory to the main file using the `yaml_config_dir` xacro argument on the launch files.
 
 ## Launch Files
 
diff --git a/andino_description/launch/andino_description.launch.py b/andino_description/launch/andino_description.launch.py
index 52093f22..396059d7 100644
--- a/andino_description/launch/andino_description.launch.py
+++ b/andino_description/launch/andino_description.launch.py
@@ -41,13 +41,13 @@
 
 def generate_launch_description():
 
-    # Obtains andino_description's share directory path.
-    pkg_andino_description = get_package_share_directory('andino_description')
-
     # Arguments
     rsp_argument = DeclareLaunchArgument('rsp', default_value='true',
                           description='Run robot state publisher node.')
 
+    # Obtains andino_description's share directory path.
+    pkg_andino_description = get_package_share_directory('andino_description')
+
     # Obtain urdf from xacro files.
     arguments = {'yaml_config_dir': os.path.join(pkg_andino_description, 'config', 'andino')}
     doc = xacro.process_file(os.path.join(pkg_andino_description, 'urdf', 'andino.urdf.xacro'), mappings = arguments)
diff --git a/andino_description/launch/view_andino.launch.py b/andino_description/launch/view_andino.launch.py
index 3c3ba484..396b8a16 100644
--- a/andino_description/launch/view_andino.launch.py
+++ b/andino_description/launch/view_andino.launch.py
@@ -41,9 +41,6 @@
 
 def generate_launch_description():
 
-    # Obtains andino_description's share directory path.
-    pkg_andino_description = get_package_share_directory('andino_description')
-
     # Arguments
     rviz_argument = DeclareLaunchArgument('rviz', default_value='true',
                           description='Open RViz.')
@@ -52,6 +49,9 @@ def generate_launch_description():
     jsp_argument = DeclareLaunchArgument('jsp', default_value='true',
                           description='Run joint state publisher node.')
 
+    # Obtains andino_description's share directory path.
+    pkg_andino_description = get_package_share_directory('andino_description')
+
     # Obtain urdf from xacro files.
     arguments = {'yaml_config_dir': os.path.join(pkg_andino_description, 'config', 'andino')}
     doc = xacro.process_file(os.path.join(pkg_andino_description, 'urdf', 'andino.urdf.xacro'), mappings = arguments)
diff --git a/andino_description/urdf/include/andino_control.urdf.xacro b/andino_description/urdf/include/andino_control.urdf.xacro
index 20699616..9aee0f29 100644
--- a/andino_description/urdf/include/andino_control.urdf.xacro
+++ b/andino_description/urdf/include/andino_control.urdf.xacro
@@ -17,7 +17,7 @@
         <param name="right_wheel_name">${hardware_props['right_wheel_name']}</param>
         <param name="serial_device">${hardware_props['serial_device']}</param>
         <param name="baud_rate">${hardware_props['baud_rate']}</param>
-        <param name="timeout">1${hardware_props['timeout']}</param>
+        <param name="timeout">${hardware_props['timeout']}</param>
         <param name="enc_ticks_per_rev">${hardware_props['enc_ticks_per_rev']}</param>
       </hardware>
       <joint name="left_wheel_joint">