diff --git a/launch_ROS2/msg_HAP_launch.py b/launch_ROS2/msg_HAP_launch.py
index 2ff3d66a..877e681e 100644
--- a/launch_ROS2/msg_HAP_launch.py
+++ b/launch_ROS2/msg_HAP_launch.py
@@ -3,6 +3,8 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 import launch
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 
 ################### user configure parameters for ros2 start ###################
 xfer_format   = 1    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
@@ -14,10 +16,16 @@
 lvx_file_path = '/home/livox/livox_test.lvx'
 cmdline_bd_code = 'livox0000000001'
 
-cur_path = os.path.split(os.path.realpath(__file__))[0] + '/'
-cur_config_path = cur_path + '../config'
-rviz_config_path = os.path.join(cur_config_path, 'livox_lidar.rviz')
-user_config_path = os.path.join(cur_config_path, 'HAP_config.json')
+rviz_config_path = PathJoinSubstitution([
+                    FindPackageShare('livox_ros_driver2'),
+                    "config",
+                    "livox_lidar.rviz"
+                ])
+user_config_path = PathJoinSubstitution([
+                    FindPackageShare('livox_ros_driver2'),
+                    "config",
+                    "HAP_config.json"
+                ])
 ################### user configure parameters for ros2 end #####################
 
 livox_ros2_params = [
diff --git a/launch_ROS2/msg_MID360_launch.py b/launch_ROS2/msg_MID360_launch.py
index 8492c495..0161f003 100644
--- a/launch_ROS2/msg_MID360_launch.py
+++ b/launch_ROS2/msg_MID360_launch.py
@@ -3,6 +3,8 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 import launch
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 
 ################### user configure parameters for ros2 start ###################
 xfer_format   = 1    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
@@ -14,9 +16,11 @@
 lvx_file_path = '/home/livox/livox_test.lvx'
 cmdline_bd_code = 'livox0000000001'
 
-cur_path = os.path.split(os.path.realpath(__file__))[0] + '/'
-cur_config_path = cur_path + '../config'
-user_config_path = os.path.join(cur_config_path, 'MID360_config.json')
+user_config_path = PathJoinSubstitution([
+                    FindPackageShare('livox_ros_driver2'),
+                    "config",
+                    "MID360_config.json"
+                ])
 ################### user configure parameters for ros2 end #####################
 
 livox_ros2_params = [
diff --git a/launch_ROS2/rviz_HAP_launch.py b/launch_ROS2/rviz_HAP_launch.py
index 834a5452..96b85cce 100644
--- a/launch_ROS2/rviz_HAP_launch.py
+++ b/launch_ROS2/rviz_HAP_launch.py
@@ -3,6 +3,8 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 import launch
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 
 ################### user configure parameters for ros2 start ###################
 xfer_format   = 0    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
@@ -14,10 +16,16 @@
 lvx_file_path = '/home/livox/livox_test.lvx'
 cmdline_bd_code = 'livox0000000001'
 
-cur_path = os.path.split(os.path.realpath(__file__))[0] + '/'
-cur_config_path = cur_path + '../config'
-rviz_config_path = os.path.join(cur_config_path, 'display_point_cloud_ROS2.rviz')
-user_config_path = os.path.join(cur_config_path, 'HAP_config.json')
+rviz_config_path = PathJoinSubstitution([
+                    FindPackageShare('livox_ros_driver2'),
+                    "config",
+                    "display_point_cloud_ROS2.rviz"
+                ])
+user_config_path = PathJoinSubstitution([
+                    FindPackageShare('livox_ros_driver2'),
+                    "config",
+                    "HAP_config.json"
+                ])
 ################### user configure parameters for ros2 end #####################
 
 livox_ros2_params = [
diff --git a/launch_ROS2/rviz_MID360_launch.py b/launch_ROS2/rviz_MID360_launch.py
index 31d3480b..f8361047 100644
--- a/launch_ROS2/rviz_MID360_launch.py
+++ b/launch_ROS2/rviz_MID360_launch.py
@@ -3,6 +3,8 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 import launch
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 
 ################### user configure parameters for ros2 start ###################
 xfer_format   = 0    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
@@ -14,10 +16,17 @@
 lvx_file_path = '/home/livox/livox_test.lvx'
 cmdline_bd_code = 'livox0000000001'
 
-cur_path = os.path.split(os.path.realpath(__file__))[0] + '/'
-cur_config_path = cur_path + '../config'
-rviz_config_path = os.path.join(cur_config_path, 'display_point_cloud_ROS2.rviz')
-user_config_path = os.path.join(cur_config_path, 'MID360_config.json')
+rviz_config_path = PathJoinSubstitution([
+                    FindPackageShare('livox_ros_driver2'),
+                    "config",
+                    "display_point_cloud_ROS2.rviz"
+                ])
+user_config_path = PathJoinSubstitution([
+                    FindPackageShare('livox_ros_driver2'),
+                    "config",
+                    "MID360_config.json"
+                ])
+
 ################### user configure parameters for ros2 end #####################
 
 livox_ros2_params = [
diff --git a/launch_ROS2/rviz_mixed.py b/launch_ROS2/rviz_mixed.py
index 46a39c79..aacf188d 100644
--- a/launch_ROS2/rviz_mixed.py
+++ b/launch_ROS2/rviz_mixed.py
@@ -3,6 +3,8 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 import launch
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 
 ################### user configure parameters for ros2 start ###################
 xfer_format   = 0    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
@@ -14,10 +16,16 @@
 lvx_file_path = '/home/livox/livox_test.lvx'
 cmdline_bd_code = 'livox0000000001'
 
-cur_path = os.path.split(os.path.realpath(__file__))[0] + '/'
-cur_config_path = cur_path + '../config'
-rviz_config_path = os.path.join(cur_config_path, 'display_point_cloud_ROS2.rviz')
-user_config_path = os.path.join(cur_config_path, 'mixed_HAP_MID360_config.json')
+rviz_config_path = PathJoinSubstitution([
+                    FindPackageShare('livox_ros_driver2'),
+                    "config",
+                    "display_point_cloud_ROS2.rviz"
+                ])
+user_config_path = PathJoinSubstitution([
+                    FindPackageShare('livox_ros_driver2'),
+                    "config",
+                    "mixed_HAP_MID360_config.json"
+                ])
 ################### user configure parameters for ros2 end #####################
 
 livox_ros2_params = [