diff --git a/.gitmodules b/.gitmodules
index a706e75..418179e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
 [submodule "ros/newton_ros"]
-	path = ros/newton_ros
+	path = ros/pkgs/newton_ros
 	url = https://github.com/TheNewtonCapstone/newton-ros
 [submodule "ros/newton_sim_ros"]
-	path = ros/newton_sim_ros
+	path = ros/pkgs/newton_sim_ros
 	url = https://github.com/TheNewtonCapstone/newton-sim-ros
diff --git a/.idea/newton-isaac-sim.iml b/.idea/newton-isaac-sim.iml
index 46a8135..4e5a1cf 100644
--- a/.idea/newton-isaac-sim.iml
+++ b/.idea/newton-isaac-sim.iml
@@ -347,6 +347,8 @@
       <sourceFolder url="file://$MODULE_DIR$/_isaac_sim/extsPhysics/omni.usdphysics" isTestSource="false" />
       <sourceFolder url="file://$MODULE_DIR$/_isaac_sim/extscache/omni.timeline-1.0.10+10a4b5c0.lx64.r.cp310" isTestSource="false" />
       <sourceFolder url="file://$MODULE_DIR$/ros/newton_sim_ros/install/newton_sim_ros/lib/python3.10/site-packages" isTestSource="false" />
+      <sourceFolder url="file://$MODULE_DIR$/ros/install/newton_ros/lib/python3.10/site-packages" isTestSource="false" />
+      <sourceFolder url="file://$MODULE_DIR$/ros/install/newton_sim_ros/lib/python3.10/site-packages" isTestSource="false" />
       <sourceFolder url="file://$MODULE_DIR$/ros/newton_ros/install/newton_ros/lib/python3.10/site-packages" isTestSource="false" />
     </content>
     <orderEntry type="jdk" jdkName="isaac-sim" jdkType="Python SDK" />
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
index a5490c7..822b89f 100644
--- a/.idea/vcs.xml
+++ b/.idea/vcs.xml
@@ -2,7 +2,7 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/ros/newton_ros" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/ros/newton_sim_ros" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/ros/pkgs/newton_ros" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/ros/pkgs/newton_sim_ros" vcs="Git" />
   </component>
 </project>
\ No newline at end of file
diff --git a/ros/.gitignore b/ros/.gitignore
new file mode 100644
index 0000000..6bfdea6
--- /dev/null
+++ b/ros/.gitignore
@@ -0,0 +1,4 @@
+# ROS package-specifics
+build/
+install/
+log/
\ No newline at end of file
diff --git a/ros/build_pkgs.sh b/ros/build_pkgs.sh
index 9c415de..c35bbcd 100644
--- a/ros/build_pkgs.sh
+++ b/ros/build_pkgs.sh
@@ -9,18 +9,12 @@ if [ -z "$ROS_DISTRO" ]; then
     exit 1
 fi
 
-# Go in each package directory (within the "ros" directory) and build it
-shopt -s nullglob
 
-for dir in ./*/; do
-    cd "$dir" || exit
-
-    if [ -d "build" ]; then
-        echo "Cleaning previous build files in $dir ..."
-        rm -rf "build" "install" "log"
-    fi
+# Clean previous ROS2 packages builds
+if [ -d "build" ]; then
+    echo "Cleaning previous build files..."
+    rm -rf "build" "install" "log"
+fi
 
-    echo "Building package in $dir ..."
-    colcon build --cmake-args -DPython3_EXECUTABLE:INTERNAL="$(which python3)" -DPython3_FIND_STRATEGY=LOCATION -DPython3_FIND_UNVERSIONED_NAMES=FIRST
-    cd - || exit
-done
\ No newline at end of file
+# Build ROS2 packages
+colcon build --symlink-install --cmake-args -DPython3_EXECUTABLE:INTERNAL="$(which python3)" -DPython3_FIND_STRATEGY=LOCATION -DPython3_FIND_UNVERSIONED_NAMES=FIRST
diff --git a/ros/newton_ros b/ros/pkgs/newton_ros
similarity index 100%
rename from ros/newton_ros
rename to ros/pkgs/newton_ros
diff --git a/ros/newton_sim_ros b/ros/pkgs/newton_sim_ros
similarity index 100%
rename from ros/newton_sim_ros
rename to ros/pkgs/newton_sim_ros
diff --git a/ros/source_pkgs.sh b/ros/source_pkgs.sh
index f2b2811..fc099e0 100644
--- a/ros/source_pkgs.sh
+++ b/ros/source_pkgs.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 # Purpose
-# This script is used to build all ROS packages for Newton
+# This script is used to source all ROS packages for Newton
 
 # Check if ROS2 is sourced
 if [ -z "$ROS_DISTRO" ]; then
@@ -9,12 +9,5 @@ if [ -z "$ROS_DISTRO" ]; then
     exit 1
 fi
 
-# Go in each package directory (within the "ros" directory) and build it
-shopt -s nullglob
-
-for dir in ./*/; do
-    echo "Sourcing package in $dir ..."
-    cd "$dir" || exit
-    source install/setup.bash
-    cd - || exit
-done
\ No newline at end of file
+# Source ROS2 packages
+source install/local_setup.bash
\ No newline at end of file