diff --git a/README.md b/README.md
index 00a8ae8..91e8137 100644
--- a/README.md
+++ b/README.md
@@ -24,8 +24,8 @@ This repository contains the ROS wrapper of Sparks's driver plus various ROS app
 
 ### Prequirement
 
-* System:	Ubantu 14.04
-* ROS Version:	Indigo(Desktop-Full Install) 
+* System:	Ubantu 18.04
+* ROS Version:	Melodic(Desktop-Full Install) 
 
 ### Compile
 
@@ -36,7 +36,7 @@ mkdir -p sparkws/src
 cd sparkws/src
 git clone https://github.com/NXROBO/spark.git
 cd spark
-git checkout spark-05
+git checkout melodic-devel
 
 #install dependence package
 cd ../..
diff --git a/doc/install.sh b/doc/install.sh
index 62e746e..4032780 100755
--- a/doc/install.sh
+++ b/doc/install.sh
@@ -8,10 +8,10 @@ sudo udevadm trigger
 
 echo 'Installing required libs'
 sudo apt-get update
-sudo apt-get install ros-indigo-ecl ros-indigo-ecl-threads ros-indigo-rgbd-launch 
-sudo apt-get install ros-indigo-image-common
-sudo apt-get install ros-indigo-move-base-* 
-sudo apt-get install ros-indigo-depthimage-to-laserscan ros-indigo-map-server ros-indigo-amcl ros-indigo-gmapping ros-indigo-navigation*
+sudo apt-get install ros-melodic-ecl ros-melodic-ecl-threads ros-melodic-rgbd-launch 
+sudo apt-get install ros-melodic-image-common
+sudo apt-get install ros-melodic-move-base-* 
+sudo apt-get install ros-melodic-depthimage-to-laserscan ros-melodic-map-server ros-melodic-amcl ros-melodic-gmapping ros-melodic-navigation*
 sudo apt-get install libasound2-dev mplayer
 echo 'Spark driver is installed'
 
diff --git a/spark_v05/spark/spark_description/urdf/base/spark_base.urdf b/spark_v05/spark/spark_description/urdf/base/spark_base.urdf
index b4db112..af0eda7 100644
--- a/spark_v05/spark/spark_description/urdf/base/spark_base.urdf
+++ b/spark_v05/spark/spark_description/urdf/base/spark_base.urdf
@@ -38,7 +38,7 @@
 		    rpy="0 0 0" />
 		  <geometry>
 		    <mesh
-		      filename="package://spark_description/meshes/spark/base/spark_base.DAE" />
+		      filename="package://spark_description/meshes/spark/base/spark_base.DAE" scale="0.001 0.001 0.001" />
 		  </geometry>
 		  
 		</visual>
@@ -48,7 +48,7 @@
 		    rpy="0 0 0" />
 		  <geometry>
 		    <mesh
-		      filename="package://spark_description/meshes/spark/base/spark_base.DAE" />
+		      filename="package://spark_description/meshes/spark/base/spark_base.DAE" scale="0.001 0.001 0.001" />
 		  </geometry>
 		</collision>	
 	</link>	
@@ -82,7 +82,7 @@
 		    rpy="0 0 0" />
 		  <geometry>
 		    <mesh
-		      filename="package://spark_description/meshes/spark/base/left_wheel.DAE" />
+		      filename="package://spark_description/meshes/spark/base/left_wheel.DAE" scale="0.001 0.001 0.001" />
 		  </geometry>
 		  
 		</visual>
@@ -92,7 +92,7 @@
 		    rpy="0 0 0" />
 		  <geometry>
 		    <mesh
-		      filename="package://spark_description/meshes/spark/base/left_wheel.DAE" />
+		      filename="package://spark_description/meshes/spark/base/left_wheel.DAE" scale="0.001 0.001 0.001" />
 		  </geometry>
 		</collision>	
 	</link>  
@@ -127,7 +127,7 @@
 		    rpy="0 0 0" />
 		  <geometry>
 		    <mesh
-		      filename="package://spark_description/meshes/spark/base/right_wheel.DAE" />
+		      filename="package://spark_description/meshes/spark/base/right_wheel.DAE" scale="0.001 0.001 0.001" />
 		  </geometry>
 		  
 		</visual>
@@ -137,7 +137,7 @@
 		    rpy="0 0 0" />
 		  <geometry>
 		    <mesh
-		      filename="package://spark_description/meshes/spark/base/right_wheel.DAE" />
+		      filename="package://spark_description/meshes/spark/base/right_wheel.DAE" scale="0.001 0.001 0.001" />
 		  </geometry>
 		</collision>	
 	</link>   
diff --git a/spark_v05/spark/spark_description/urdf/sensors/spark_camera.urdf b/spark_v05/spark/spark_description/urdf/sensors/spark_camera.urdf
index 73d71aa..f6b1a74 100644
--- a/spark_v05/spark/spark_description/urdf/sensors/spark_camera.urdf
+++ b/spark_v05/spark/spark_description/urdf/sensors/spark_camera.urdf
@@ -26,7 +26,7 @@
       	xyz="0 0 0" 
       	rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://spark_description/meshes/spark/sensors/spark_camera.DAE" />
+        <mesh filename="package://spark_description/meshes/spark/sensors/spark_camera.DAE" scale="0.001 0.001 0.001" />
       </geometry>
     </visual>
     <collision>
@@ -34,7 +34,7 @@
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://spark_description/meshes/spark/sensors/spark_camera.DAE" />
+        <mesh filename="package://spark_description/meshes/spark/sensors/spark_camera.DAE" scale="0.001 0.001 0.001" />
       </geometry>
     </collision>
 
diff --git a/spark_v05/spark/spark_description/urdf/stack/spark_stack.urdf b/spark_v05/spark/spark_description/urdf/stack/spark_stack.urdf
index 0722d8c..057fea1 100644
--- a/spark_v05/spark/spark_description/urdf/stack/spark_stack.urdf
+++ b/spark_v05/spark/spark_description/urdf/stack/spark_stack.urdf
@@ -27,7 +27,7 @@
       	xyz="0 0 0" 
       	rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://spark_description/meshes/spark/stack/spark_stack.DAE" />
+        <mesh filename="package://spark_description/meshes/spark/stack/spark_stack.DAE" scale="0.001 0.001 0.001" />
       </geometry>
       
     </visual>
@@ -36,7 +36,7 @@
         xyz="0 0 0"
         rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://spark_description/meshes/spark/stack/spark_stack.DAE" />
+        <mesh filename="package://spark_description/meshes/spark/stack/spark_stack.DAE" scale="0.001 0.001 0.001" />
       </geometry>
     </collision>
 
diff --git a/spark_v05/spark_driver/camera/ros_astra_camera/ros/astra_camera_nodelet.cpp b/spark_v05/spark_driver/camera/ros_astra_camera/ros/astra_camera_nodelet.cpp
index c1b9262..504e7da 100644
--- a/spark_v05/spark_driver/camera/ros_astra_camera/ros/astra_camera_nodelet.cpp
+++ b/spark_v05/spark_driver/camera/ros_astra_camera/ros/astra_camera_nodelet.cpp
@@ -55,4 +55,4 @@ class AstraDriverNodelet : public nodelet::Nodelet
 }
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_DECLARE_CLASS(astra_camera, AstraDriverNodelet, astra_camera::AstraDriverNodelet, nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS(astra_camera::AstraDriverNodelet, nodelet::Nodelet);