diff --git a/README.md b/README.md
index 321806b23..463920ce4 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,7 @@ This is one of the very first ROS2 manipulator drivers. Some of the new features
 
 This driver is developed on top of [Universal_Robots_Client_Library](https://github.com/UniversalRobots/Universal_Robots_Client_Library) and support some key cobot functionalities like; pause at emergency stop, safeguard stop, automatic speed scaling to avoid violate the safety setting and manually speed scaling from the teach pendant. In addition the externalControl URCap makes it possible to include ROS2 behaviors in the robot program.
 
-The driver is compatible across the entire line of UR robots -- from 3 kg payload to 30 kg payload and includes all robots from the CB3 series and newer.
+The driver is compatible across the entire line of UR robots -- from 3 kg payload to 30 kg payload and includes all robots with PolyScope X, PolyScope 5 or CB3 controller.
 
 
 Check also [presentations and videos](ur_robot_driver/doc/resources/README.md) about this driver.
diff --git a/ur_calibration/package.xml b/ur_calibration/package.xml
index 48aa3a4f8..2a227aa5e 100644
--- a/ur_calibration/package.xml
+++ b/ur_calibration/package.xml
@@ -10,6 +10,8 @@
 
   <license>BSD-3-Clause</license>
 
+  <url type="website">https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/</url>
+
   <author email="wilbrandt@fzi.de">Robert Wilbrandt</author>
   <author email="lovro.ivanov@gmail.com">Lovro Ivanov</author>
 
diff --git a/ur_controllers/package.xml b/ur_controllers/package.xml
index f30248ea4..b797628ec 100644
--- a/ur_controllers/package.xml
+++ b/ur_controllers/package.xml
@@ -13,6 +13,7 @@
 
   <url type="bugtracker">https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues</url>
   <url type="repository">https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver</url>
+  <url type="website">https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/</url>
 
   <author email="denis@stoglrobotics.de">Denis Stogl</author>
   <author email="wilbrandt@fzi.de">Robert Wilbrandt</author>
diff --git a/ur_dashboard_msgs/package.xml b/ur_dashboard_msgs/package.xml
index 4bacdcd9e..0bccb2332 100644
--- a/ur_dashboard_msgs/package.xml
+++ b/ur_dashboard_msgs/package.xml
@@ -13,6 +13,7 @@
 
   <url type="bugtracker">https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues</url>
   <url type="repository">https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver</url>
+  <url type="website">https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/</url>
 
   <author email="wilbrandt@fzi.de">Robert Wilbrandt</author>
   <author email="denis@stoglrobotics.de">Denis Stogl</author>
diff --git a/ur_moveit_config/package.xml b/ur_moveit_config/package.xml
index f7a1e96de..15585b491 100644
--- a/ur_moveit_config/package.xml
+++ b/ur_moveit_config/package.xml
@@ -12,6 +12,8 @@
 
   <license>Apache2.0</license>
 
+  <url type="website">https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/</url>
+
   <author email="wilbrandt@fzi.de">Robert Wilbrandt</author>
   <author email="denis@stoglrobotics.de">Denis Stogl</author>
   <author email="lovro.ivanov@gmail.com">Lovro Ivanov</author>
diff --git a/ur_robot_driver/doc/usage/simulation.rst b/ur_robot_driver/doc/usage/simulation.rst
index 5cf69efdb..1bd3e59bb 100644
--- a/ur_robot_driver/doc/usage/simulation.rst
+++ b/ur_robot_driver/doc/usage/simulation.rst
@@ -18,8 +18,8 @@ Usage with official UR simulator
 The easiest way to use URSim is the Docker
 image provided by Universal Robots. There is an image for each software generation:
 
-- `PolyScope 5 <https://hub.docker.com/r/universalrobots/ursim_e-series>`_
 - `PolyScope X <https://hub.docker.com/r/universalrobots/ursim_polyscopex>`_
+- `PolyScope 5 <https://hub.docker.com/r/universalrobots/ursim_e-series>`_
 - `CB3 <https://hub.docker.com/r/universalrobots/ursim_cb3>`_
 
 We have prepared a script to unify the startup of the simulator independent of the software
diff --git a/ur_robot_driver/package.xml b/ur_robot_driver/package.xml
index 40b3890d4..b7061e3c1 100644
--- a/ur_robot_driver/package.xml
+++ b/ur_robot_driver/package.xml
@@ -3,7 +3,11 @@
 <package format="3">
   <name>ur_robot_driver</name>
   <version>4.3.0</version>
-  <description>The new driver for Universal Robots UR3, UR5 and UR10 robots with CB3 controllers and the e-series.</description>
+    <description>
+      The ROS 2 driver for Universal Robots manipulators. This driver supports all robot
+      models as listed in the documentation. For robot controllers, PolyScope X, PolyScope 5 and
+      CB3 controllers are supported.
+    </description>
 
   <maintainer email="feex@universal-robots.com">Felix Exner</maintainer>
   <maintainer email="rsk@universal-robots.com">Rune Søe-Knudsen</maintainer>
@@ -13,6 +17,7 @@
 
   <url type="bugtracker">https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/issues</url>
   <url type="repository">https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver</url>
+  <url type="website">https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/</url>
 
   <author email="denis@stoglrobotics.de">Denis Stogl</author>
   <author email="wilbrandt@fzi.de">Robert Wilbrandt</author>