diff --git a/nav2_bringup/bringup/launch/spawn_tb3_launch.py b/nav2_bringup/bringup/launch/spawn_tb3_launch.py
index a1da901b5b768de0dbefd01349cf6abdce4241de..08cab9c788b2f0ab691b45f48696deeb2d49387c 100644
--- a/nav2_bringup/bringup/launch/spawn_tb3_launch.py
+++ b/nav2_bringup/bringup/launch/spawn_tb3_launch.py
@@ -23,8 +23,8 @@ def generate_launch_description():
     return LaunchDescription([
         # TODO(orduno) might not be necessary to have it's own package
         launch_ros.actions.Node(
-            package='spawn_robot',
-            node_executable='spawn_robot',
+            package='nav2_gazebo_spawner',
+            node_executable='nav2_gazebo_spawner',
             output='screen',
             arguments=[
                 '--robot_name', launch.substitutions.LaunchConfiguration('robot_name'),
diff --git a/nav2_bringup/spawn_robot/spawn_robot/__init__.py b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/__init__.py
similarity index 100%
rename from nav2_bringup/spawn_robot/spawn_robot/__init__.py
rename to nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/__init__.py
diff --git a/nav2_bringup/spawn_robot/spawn_robot/spawn_robot.py b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py
similarity index 99%
rename from nav2_bringup/spawn_robot/spawn_robot/spawn_robot.py
rename to nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py
index 194a272c80c2a1811665fd18d8f09b82ada69c63..bfe1897ebf11559ab4deb5605cc11812fdd8fedd 100644
--- a/nav2_bringup/spawn_robot/spawn_robot/spawn_robot.py
+++ b/nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py
@@ -25,7 +25,7 @@ import rclpy
 
 def main():
     # Get input arguments from user
-    parser = argparse.ArgumentParser(description='Spawn Robot into Gazebo')
+    parser = argparse.ArgumentParser(description='Spawn Robot into Gazebo with navigation2')
     parser.add_argument('-n', '--robot_name', type=str, default='robot',
                         help='Name of the robot to spawn')
     parser.add_argument('-ns', '--robot_namespace', type=str, default='robot',
diff --git a/nav2_bringup/spawn_robot/package.xml b/nav2_bringup/nav2_gazebo_spawner/package.xml
similarity index 84%
rename from nav2_bringup/spawn_robot/package.xml
rename to nav2_bringup/nav2_gazebo_spawner/package.xml
index 377292d5156ad3ee91e8cd36ad0216a934bb0604..2e37bba034280ae80af89771a63f39d2b35b0aac 100644
--- a/nav2_bringup/spawn_robot/package.xml
+++ b/nav2_bringup/nav2_gazebo_spawner/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>spawn_robot</name>
+  <name>nav2_gazebo_spawner</name>
   <version>0.2.4</version>
-  <description>Package for spawning a robot model into Gazebo</description>
+  <description>Package for spawning a robot model into Gazebo for navigation2</description>
   <maintainer email="carlos.orduno@intel.com">lkumarbe</maintainer>
   <maintainer email="lalit.kumar.begani@intel.com">lkumarbe</maintainer>
   <license>Apache-2.0</license>
diff --git a/nav2_bringup/spawn_robot/resource/spawn_robot b/nav2_bringup/nav2_gazebo_spawner/resource/nav2_gazebo_spawner
similarity index 100%
rename from nav2_bringup/spawn_robot/resource/spawn_robot
rename to nav2_bringup/nav2_gazebo_spawner/resource/nav2_gazebo_spawner
diff --git a/nav2_bringup/nav2_gazebo_spawner/setup.cfg b/nav2_bringup/nav2_gazebo_spawner/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..598b7c2d6d8c9c1344f714ae2a75e97ee28ec90d
--- /dev/null
+++ b/nav2_bringup/nav2_gazebo_spawner/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/nav2_gazebo_spawner
+[install]
+install-scripts=$base/lib/nav2_gazebo_spawner
diff --git a/nav2_bringup/spawn_robot/setup.py b/nav2_bringup/nav2_gazebo_spawner/setup.py
similarity index 78%
rename from nav2_bringup/spawn_robot/setup.py
rename to nav2_bringup/nav2_gazebo_spawner/setup.py
index 7744636aa11399fd6f3fd9221a9bf122bf1c6353..640a2f1edf7de81a1f264e727ed59a8498b732f3 100644
--- a/nav2_bringup/spawn_robot/setup.py
+++ b/nav2_bringup/nav2_gazebo_spawner/setup.py
@@ -1,6 +1,6 @@
 from setuptools import setup
 
-PACKAGE_NAME = 'spawn_robot'
+PACKAGE_NAME = 'nav2_gazebo_spawner'
 
 setup(
     name=PACKAGE_NAME,
@@ -16,7 +16,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'spawn_robot = spawn_robot.spawn_robot:main',
+            'nav2_gazebo_spawner = nav2_gazebo_spawner.nav2_gazebo_spawner:main',
         ],
     },
 )
diff --git a/nav2_bringup/spawn_robot/setup.cfg b/nav2_bringup/spawn_robot/setup.cfg
deleted file mode 100644
index a8bf2e6ba15bd97641bff3f367fa0039ede9b28d..0000000000000000000000000000000000000000
--- a/nav2_bringup/spawn_robot/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script-dir=$base/lib/spawn_robot
-[install]
-install-scripts=$base/lib/spawn_robot
diff --git a/nav2_system_tests/src/system/test_multi_robot_launch.py b/nav2_system_tests/src/system/test_multi_robot_launch.py
index dc8270a79a4b81bd733dfd491a528b87e09244f7..36beb4c0b6e67906180ea35d5725fde27e88f66f 100755
--- a/nav2_system_tests/src/system/test_multi_robot_launch.py
+++ b/nav2_system_tests/src/system/test_multi_robot_launch.py
@@ -61,8 +61,8 @@ def generate_launch_description():
     for robot in robots:
         spawn_robots_cmds.append(
             Node(
-                package='spawn_robot',
-                node_executable='spawn_robot',
+                package='nav2_gazebo_spawner',
+                node_executable='nav2_gazebo_spawner',
                 output='screen',
                 arguments=[
                     '--robot_name', TextSubstitution(text=robot['name']),