diff --git a/test/mavros_posix_test_avoidance.test b/test/mavros_posix_test_avoidance.test
index 2410cbf394..a2d121029a 100644
--- a/test/mavros_posix_test_avoidance.test
+++ b/test/mavros_posix_test_avoidance.test
@@ -6,9 +6,9 @@
     <arg name="gui" default="false"/>
     <arg name="interactive" default="false"/>
     <arg name="mission" default="avoidance"/>
-    <arg name="sdf" default="$(find local_planner)/../sim/models/iris_depth_camera_3/iris_depth_camera.sdf"/>
+    <arg name="sdf" default="$(find avoidance)/sim/models/iris_depth_camera_3/iris_depth_camera.sdf"/>
     <arg name="vehicle" default="iris_obs_avoid"/>
-    <arg name="world" default="$(find local_planner)/../sim/worlds/boxes1.world"/>
+    <arg name="world" default="$(find avoidance)/sim/worlds/boxes1.world"/>
     <!-- PX4 SITL and Gazebo -->
     <include file="$(find px4)/launch/posix_sitl.launch">
         <arg name="est" value="$(arg est)"/>
@@ -23,7 +23,7 @@
     <!-- MAVROS -->
     <include file="$(find mavros)/launch/node.launch">
         <arg name="pluginlists_yaml" value="$(find mavros)/launch/px4_pluginlists.yaml"/>
-        <arg name="config_yaml" value="$(find local_planner)/resource/px4_config.yaml"/>
+        <arg name="config_yaml" value="$(find mavros)/launch/px4_config.yaml"/>
         <arg name="gcs_url" value=""/>
         <arg name="fcu_url" value="udp://:14540@localhost:14557"/>
         <arg name="tgt_system" value="1"/>
diff --git a/test/rostest_avoidance_run.sh b/test/rostest_avoidance_run.sh
index 067ded703a..9ab1ae29fe 100755
--- a/test/rostest_avoidance_run.sh
+++ b/test/rostest_avoidance_run.sh
@@ -6,7 +6,7 @@ PX4_SRC_DIR=${DIR}/..
 source /opt/ros/${ROS_DISTRO:-kinetic}/setup.bash
 mkdir -p ${PX4_SRC_DIR}/catkin_ws/src
 cd ${PX4_SRC_DIR}/catkin_ws/
-git clone -b '0.2.0' --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
+git clone -b 0.3.0 --single-branch --depth 1 https://github.com/PX4/avoidance.git src/avoidance
 
 catkin init
 catkin build local_planner --cmake-args -DCMAKE_BUILD_TYPE=Release
@@ -15,6 +15,6 @@ source ${PX4_SRC_DIR}/catkin_ws/devel/setup.bash
 source /usr/share/gazebo/setup.sh
 
 export CATKIN_SETUP_UTIL_ARGS=--extend
-export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${PX4_SRC_DIR}/catkin_ws/src/avoidance/sim/models
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${PX4_SRC_DIR}/catkin_ws/src/avoidance/avoidance/sim/models
 
 source $DIR/rostest_px4_run.sh "$@"