diff --git a/launch/mrs_drone_spawner.launch.py b/launch/mrs_drone_spawner.launch.py
index 4cf5430..80397ac 100755
--- a/launch/mrs_drone_spawner.launch.py
+++ b/launch/mrs_drone_spawner.launch.py
@@ -3,8 +3,8 @@
 import launch
 import os
 
-from launch_ros.actions import Node 
-from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, LogInfo
 from launch.substitutions import LaunchConfiguration, IfElseSubstitution, PythonExpression, PathJoinSubstitution, EnvironmentVariable
 
 from ament_index_python.packages import get_package_share_directory
@@ -19,36 +19,35 @@ def generate_launch_description():
     # Launch arguments declaration
     ld.add_action(DeclareLaunchArgument(
         'custom_config',
-        default_value="",
+        default_value = "",
         description="Path to the custom configuration file. The path can be absolute, starting with '/' or relative to the current working directory",
-        ))
+    ))
 
     ld.add_action(DeclareLaunchArgument(
-        'spawner_params',
+        'default_spawner_config',
         default_value = PathJoinSubstitution([
             pkg_mrs_uav_gazebo_simulator, 'config', 'spawner_params.yaml'
         ]),
         description='Path to the default spawner configuration file. The path can be absolute, starting with "/" or relative to the current working directory',
     ))
 
+
     ld.add_action(DeclareLaunchArgument(
         'debug', default_value = 'false',
         description='Run spawner with debug log level'
     ))
 
-    # This logic correctly creates a substitution that resolves to an absolute path.
-    custom_config_path = IfElseSubstitution(
-            condition=PythonExpression(['"', LaunchConfiguration('custom_config'), '" != "" and ', 'not "', LaunchConfiguration('custom_config'), '".startswith("/")']),
-            if_value=PathJoinSubstitution([EnvironmentVariable('PWD'), LaunchConfiguration('custom_config')]),
-            else_value=LaunchConfiguration('custom_config')
-            )
-
-    
     # Conditionally set the log level using PythonExpression
     log_level = PythonExpression([
         "'debug' if '", LaunchConfiguration('debug'), "' == 'true' else 'info'"
     ])
 
+    log_config_args = LogInfo(msg=[
+        '\n[mrs_drone_spawner.launch.py] Custom config file: ', LaunchConfiguration('custom_config'),
+        '\n[mrs_drone_spawner.launch.py] Default config file: ', LaunchConfiguration('default_spawner_config')
+    ])
+    ld.add_action(log_config_args)
+
     ld.add_action(
             Node(
                 name='mrs_drone_spawner',
@@ -57,9 +56,8 @@ def generate_launch_description():
                 output="screen",
                 arguments=['--ros-args', '--log-level', log_level],
                 parameters=[
-                    # This passes the custom_config path as a parameter named 'custom_config'
-                    {'custom_config': custom_config_path},
-                    LaunchConfiguration('spawner_params'),
+                    LaunchConfiguration('default_spawner_config'),
+                    LaunchConfiguration('custom_config')
                     ],
 
                 remappings=[
diff --git a/launch/simulation.launch.py b/launch/simulation.launch.py
index 4a6f99a..6371095 100755
--- a/launch/simulation.launch.py
+++ b/launch/simulation.launch.py
@@ -28,9 +28,7 @@ def generate_launch_description():
 
     declare_spawner_config_arg = DeclareLaunchArgument(
         'spawner_config',
-        default_value = PathJoinSubstitution([
-                pkg_mrs_uav_gazebo_simulator, 'config', 'spawner_params.yaml'
-            ]),
+        default_value = "",
         description='Configuration file for the custom spawner.'
     )
 
@@ -127,7 +125,7 @@ def generate_launch_description():
             ])
         ),
         launch_arguments={
-            'spawner_config': LaunchConfiguration('spawner_config'),
+            'custom_config': LaunchConfiguration('spawner_config'),
             'debug': LaunchConfiguration('spawner_debug'),
         }.items()
     )
diff --git a/mrs_uav_gazebo_simulator/mrs_drone_spawner.py b/mrs_uav_gazebo_simulator/mrs_drone_spawner.py
index b9fcd0c..ced7653 100755
--- a/mrs_uav_gazebo_simulator/mrs_drone_spawner.py
+++ b/mrs_uav_gazebo_simulator/mrs_drone_spawner.py
@@ -128,7 +128,8 @@ def __init__(self):
 
         self.declare_parameter('firmware_launch_delay', 0.0)
 
-        self.declare_parameter('extra_resource_paths', [])
+        self.declare_parameter('extra_resource_paths', [""])
+
 
         # Get all parameters
         try:
@@ -141,6 +142,7 @@ def __init__(self):
 
             self.firmware_launch_delay = float(self.get_parameter('firmware_launch_delay').value)
 
+
         except rclpy.exceptions.ParameterNotDeclaredException as e:
             self.get_logger().error(f'Could not load required param. {e}')
             raise RuntimeError(f'Could not load required param. {e}')
@@ -217,7 +219,6 @@ def __init__(self):
 
     # #{ launch_px4_firmware(self, robot_params)
     def launch_px4_firmware(self, robot_params):
-
         if self.firmware_launch_delay > 0:
             self.get_logger().info(f'Waiting for {self.firmware_launch_delay} s before launching firmware')
             time.sleep(self.firmware_launch_delay)
@@ -227,7 +228,10 @@ def launch_px4_firmware(self, robot_params):
 
         package_name = self.jinja_templates[robot_params['model']].package_name
         package_path = get_package_share_directory(package_name)
+
         romfs_path = os.path.join(str(package_path), 'ROMFS')
+
+
         if not os.path.exists(romfs_path) or not os.path.isdir(romfs_path):
             self.get_logger().error(f'Could not start PX4 firmware for {name}. ROMFS folder not found')
             raise CouldNotLaunch('ROMFS folder not found')