diff --git a/universal_robots/package.xml b/universal_robots/package.xml
index 26caecd0c..0593da5df 100644
--- a/universal_robots/package.xml
+++ b/universal_robots/package.xml
@@ -24,7 +24,7 @@
   <exec_depend>ur10_moveit_config</exec_depend>
   <exec_depend>ur3e_moveit_config</exec_depend>
   <exec_depend>ur3_moveit_config</exec_depend>
-  <exec_depend>ur5_e_moveit_config</exec_depend>
+  <exec_depend>ur5e_moveit_config</exec_depend>
   <exec_depend>ur5_moveit_config</exec_depend>
   <exec_depend>ur_description</exec_depend>
   <exec_depend>ur_gazebo</exec_depend>
diff --git a/ur5_e_moveit_config/.setup_assistant b/ur5_e_moveit_config/.setup_assistant
deleted file mode 100644
index dd22d1333..000000000
--- a/ur5_e_moveit_config/.setup_assistant
+++ /dev/null
@@ -1,8 +0,0 @@
-moveit_setup_assistant_config:
-  URDF:
-    package: ur_e_description
-    relative_path: urdf/ur5e_robot.urdf.xacro
-  SRDF:
-    relative_path: config/ur5e.srdf
-  CONFIG:
-    generated_timestamp: 1413877529
diff --git a/ur5_e_moveit_config/config/controllers.yaml b/ur5_e_moveit_config/config/controllers.yaml
deleted file mode 100644
index bf2252cb2..000000000
--- a/ur5_e_moveit_config/config/controllers.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-controller_list:
-  - name: ""
-    action_ns: follow_joint_trajectory
-    type: FollowJointTrajectory
-    joints:
-      - shoulder_pan_joint
-      - shoulder_lift_joint
-      - elbow_joint
-      - wrist_1_joint
-      - wrist_2_joint
-      - wrist_3_joint
diff --git a/ur5_e_moveit_config/config/ompl_planning.yaml b/ur5_e_moveit_config/config/ompl_planning.yaml
deleted file mode 100644
index 191879b4e..000000000
--- a/ur5_e_moveit_config/config/ompl_planning.yaml
+++ /dev/null
@@ -1,84 +0,0 @@
-planner_configs:
-  SBLkConfigDefault:
-    type: geometric::SBL
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  ESTkConfigDefault:
-    type: geometric::EST
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
-  LBKPIECEkConfigDefault:
-    type: geometric::LBKPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  BKPIECEkConfigDefault:
-    type: geometric::BKPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
-    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  KPIECEkConfigDefault:
-    type: geometric::KPIECE
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05 
-    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
-    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
-    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
-  RRTkConfigDefault:
-    type: geometric::RRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-  RRTConnectkConfigDefault:
-    type: geometric::RRTConnect
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-  RRTstarkConfigDefault:
-    type: geometric::RRTstar
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
-  TRRTkConfigDefault:
-    type: geometric::TRRT
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
-    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
-    max_states_failed: 10  # when to start increasing temp. default: 10
-    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
-    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
-    init_temperature: 10e-6  # initial temperature. default: 10e-6
-    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() 
-    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
-    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
-  PRMkConfigDefault:
-    type: geometric::PRM
-    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
-  PRMstarkConfigDefault:
-    type: geometric::PRMstar
-manipulator:
-  default_planner_config: RRTConnectkConfigDefault
-  planner_configs:
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
-  ##Note: commenting the following line lets moveit chose RRTConnect as default planner rather than LBKPIECE
-  #projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
-  longest_valid_segment_fraction: 0.01
-endeffector:
-  planner_configs:
-    - SBLkConfigDefault
-    - ESTkConfigDefault
-    - LBKPIECEkConfigDefault
-    - BKPIECEkConfigDefault
-    - KPIECEkConfigDefault
-    - RRTkConfigDefault
-    - RRTConnectkConfigDefault
-    - RRTstarkConfigDefault
-    - TRRTkConfigDefault
-    - PRMkConfigDefault
-    - PRMstarkConfigDefault
diff --git a/ur5_e_moveit_config/launch/default_warehouse_db.launch b/ur5_e_moveit_config/launch/default_warehouse_db.launch
deleted file mode 100644
index 626b22f68..000000000
--- a/ur5_e_moveit_config/launch/default_warehouse_db.launch
+++ /dev/null
@@ -1,13 +0,0 @@
-<launch>
-
-  <arg name="reset" default="false"/>
-
-  <!-- Launch the warehouse with a default database location -->  
-  <include file="$(find ur5_e_moveit_config)/launch/warehouse.launch">
-    <arg name="moveit_warehouse_database_path" value="$(find ur5_e_moveit_config)/default_warehouse_mongo_db" />
-  </include>
-
-  <!-- If we want to reset the database, run this node -->
-  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
-
-</launch>
diff --git a/ur5_e_moveit_config/launch/demo.launch b/ur5_e_moveit_config/launch/demo.launch
deleted file mode 100644
index dd23ff7d8..000000000
--- a/ur5_e_moveit_config/launch/demo.launch
+++ /dev/null
@@ -1,46 +0,0 @@
-<launch>
-
-  <!-- By default, we do not start a database (it can be large) -->
-  <arg name="db" default="false" />
-
-  <!-- By default, we are not in debug mode -->
-  <arg name="debug" default="false" />
-  
-  <arg name="limited" default="false"/>
-
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find ur5_e_moveit_config)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-    <arg name="limited" value="$(arg limited)"/>
-  </include>
-
-  <!-- If needed, broadcast static tf for robot root -->
-  
-
-  <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="/use_gui" value="false"/> 
-    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
-  </node>
-  
-  <!-- Given the published joint states, publish tf for the robot links -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
-
-  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
-  <include file="$(find ur5_e_moveit_config)/launch/move_group.launch">
-    <arg name="allow_trajectory_execution" value="true"/>  
-    <arg name="fake_execution" value="true"/>
-    <arg name="info" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-  </include>
-
-  <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(find ur5_e_moveit_config)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-  </include>
-
-  <!-- If database loading was enabled, start mongodb as well -->
-  <include file="$(find ur5_e_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"/>
-
-</launch>
diff --git a/ur5_e_moveit_config/launch/moveit.rviz b/ur5_e_moveit_config/launch/moveit.rviz
deleted file mode 100644
index c7540069f..000000000
--- a/ur5_e_moveit_config/launch/moveit.rviz
+++ /dev/null
@@ -1,290 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 75
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /MotionPlanning1
-      Splitter Ratio: 0.5
-    Tree Height: 299
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.03
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: moveit_rviz_plugin/MotionPlanning
-      Enabled: true
-      Move Group Namespace: ""
-      MoveIt_Goal_Tolerance: 0
-      MoveIt_Planning_Attempts: 10
-      MoveIt_Planning_Time: 5
-      MoveIt_Use_Constraint_Aware_IK: true
-      MoveIt_Warehouse_Host: 127.0.0.1
-      MoveIt_Warehouse_Port: 33829
-      MoveIt_Workspace:
-        Center:
-          X: 0
-          Y: 0
-          Z: 0
-        Size:
-          X: 2
-          Y: 2
-          Z: 2
-      Name: MotionPlanning
-      Planned Path:
-        Color Enabled: false
-        Interrupt Display: false
-        Links:
-          All Links Enabled: true
-          Expand Joint Details: false
-          Expand Link Details: false
-          Expand Tree: false
-          Link Tree Style: Links in Alphabetic Order
-          base:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          base_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          ee_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          forearm_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          shoulder_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          tool0:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          upper_arm_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          world:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          wrist_1_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          wrist_2_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          wrist_3_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-        Loop Animation: false
-        Robot Alpha: 0.5
-        Robot Color: 150; 50; 150
-        Show Robot Collision: false
-        Show Robot Visual: true
-        Show Trail: false
-        State Display Time: 0.05 s
-        Trajectory Topic: /move_group/display_planned_path
-      Planning Metrics:
-        Payload: 1
-        Show Joint Torques: false
-        Show Manipulability: false
-        Show Manipulability Index: false
-        Show Weight Limit: false
-        TextHeight: 0.08
-      Planning Request:
-        Colliding Link Color: 255; 0; 0
-        Goal State Alpha: 1
-        Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0.15
-        Joint Violation Color: 255; 0; 255
-        Planning Group: manipulator
-        Query Goal State: true
-        Query Start State: false
-        Show Workspace: false
-        Start State Alpha: 1
-        Start State Color: 0; 255; 0
-      Planning Scene Topic: move_group/monitored_planning_scene
-      Robot Description: robot_description
-      Scene Geometry:
-        Scene Alpha: 0.9
-        Scene Color: 50; 230; 50
-        Scene Display Time: 0.2
-        Show Scene Geometry: true
-        Voxel Coloring: Z-Axis
-        Voxel Rendering: Occupied Voxels
-      Scene Robot:
-        Attached Body Color: 150; 50; 150
-        Links:
-          All Links Enabled: true
-          Expand Joint Details: false
-          Expand Link Details: false
-          Expand Tree: false
-          Link Tree Style: Links in Alphabetic Order
-          base:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          base_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          ee_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          forearm_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          shoulder_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          tool0:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          upper_arm_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          world:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          wrist_1_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          wrist_2_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          wrist_3_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-        Robot Alpha: 1
-        Show Robot Collision: false
-        Show Robot Visual: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: world
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 2.82854
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0.044143
-        Y: -0.0136969
-        Z: 0.0199439
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.465398
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.9954
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 997
-  Hide Left Dock: false
-  Hide Right Dock: true
-  Motion Planning:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000027e0000038afc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001b9000000d900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001fc000001cb000001c000ffffff000000010000010f000002affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002af000000af00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650000000000000004b00000022a00fffffffb0000000800540069006d006501000000000000045000000000000000000000040c0000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: true
-  Width: 1680
-  X: -10
-  Y: 21
diff --git a/ur5_e_moveit_config/launch/moveit_rviz.launch b/ur5_e_moveit_config/launch/moveit_rviz.launch
deleted file mode 100644
index a1cb30986..000000000
--- a/ur5_e_moveit_config/launch/moveit_rviz.launch
+++ /dev/null
@@ -1,16 +0,0 @@
-<launch>
-
-  <arg name="debug" default="false" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
-
-  <arg name="config" default="false" />
-  <arg unless="$(arg config)" name="command_args" value="" />
-  <arg     if="$(arg config)" name="command_args" value="-d $(find ur5_e_moveit_config)/launch/moveit.rviz" />
-  
-  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
-	args="$(arg command_args)" output="screen">
-    <rosparam command="load" file="$(find ur5_e_moveit_config)/config/kinematics.yaml"/>
-  </node>
-
-</launch>
diff --git a/ur5_e_moveit_config/tests/moveit_planning_execution.xml b/ur5_e_moveit_config/tests/moveit_planning_execution.xml
deleted file mode 100644
index 53f6e391f..000000000
--- a/ur5_e_moveit_config/tests/moveit_planning_execution.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="robot_ip" value="127.0.0.1" />
-
-  <group>
-    <include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch">
-      <arg name="sim" value="false" />
-    </include>
-  </group>
-
-  <group ns="sim">
-    <include file="$(find ur5_e_moveit_config)/launch/ur5_e_moveit_planning_execution.launch">
-      <arg name="sim" value="true" />
-    </include>
-  </group>
-
-</launch>
-
diff --git a/ur5e_moveit_config/.setup_assistant b/ur5e_moveit_config/.setup_assistant
new file mode 100644
index 000000000..3fae5acd7
--- /dev/null
+++ b/ur5e_moveit_config/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: ur_description
+    relative_path: urdf/ur5e.xacro
+    xacro_args: ""
+  SRDF:
+    relative_path: config/ur5e.srdf
+  CONFIG:
+    author_name: Felix Exner
+    author_email: felix@fexner.de
+    generated_timestamp: 1611154369
\ No newline at end of file
diff --git a/ur5e_moveit_config/CHANGELOG.rst b/ur5e_moveit_config/CHANGELOG.rst
new file mode 100644
index 000000000..28eb11545
--- /dev/null
+++ b/ur5e_moveit_config/CHANGELOG.rst
@@ -0,0 +1,63 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ur5e_moveit_config
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.2.5 (2019-04-05)
+------------------
+* Update maintainer listing: add Miguel (`#410 <https://github.com/ros-industrial/universal_robot/issues/410>`_)
+* MoveGroupExecuteService is Deprecated by MoveIt! (`#391 <https://github.com/ros-industrial/universal_robot/issues/391>`_)
+* Update maintainer and author information.
+* Add roslaunch tests (`#362 <https://github.com/ros-industrial/universal_robot/issues/362>`_)
+* Contributors: gavanderhoorn, Nadia Hammoudeh García, 薯片半价
+
+1.2.1 (2018-01-06)
+------------------
+* Reduce longest valid segment fraction to accomodate non-limited version of the UR5 (`#266 <https://github.com//ros-industrial/universal_robot/issues/266>`_)
+* Contributors: Scott Paulin
+
+1.2.0 (2017-08-04)
+------------------
+* Fix Deprecated warning in MoveIt: parameter moved into namespace 'trajectory_execution'
+* Contributors: Dave Coleman
+
+1.1.9 (2017-01-02)
+------------------
+* use '--inorder' for jade+ xacro as well.
+* make RViz load MoveIt display by default.
+* Contributors: gavanderhoorn
+
+1.1.8 (2016-12-30)
+------------------
+* all: update maintainers.
+* Contributors: gavanderhoorn
+
+1.1.7 (2016-12-29)
+------------------
+* Don't depend on moveit_plugins metapackage
+* Fix xacro warnings in Jade
+* Contributors: Dave Coleman, Jon Binney
+
+1.1.6 (2016-04-01)
+------------------
+* add missing dependency for moveit_simple_controller_manager
+* Merge branch 'indigo-devel' of github.com:ros-industrial/universal_robot into ur3_moveit_config
+* apply latest setup assistant changes to ur5 and ur5e
+* Adding comment explaining the choice of default planning algorithm
+* Use RRTConnect by default for UR10
+  Fixes bug `#193 <https://github.com/ros-industrial/universal_robot/issues/193>`_ about slow planning on Indigo
+  LBKPIECE1 (the previous default) looks to be the wrong planning algorithm for the robot
+  See https://groups.google.com/forum/#!topic/moveit-users/M71T-GaUNgg
+* crop ik solutions wrt joint_limits
+* set planning time to 0
+* reduce planning attempts in moveit rviz plugin
+* Contributors: Marco Esposito, ipa-fxm
+
+1.0.2 (2014-03-31)
+------------------
+
+1.0.1 (2014-03-31)
+------------------
+* changes due to file renaming
+* update moveit_configs: include ee_link and handle limited robot
+* new moveit_configs for ur5 and ur5e
+* Contributors: ipa-fxm
diff --git a/ur5_e_moveit_config/CMakeLists.txt b/ur5e_moveit_config/CMakeLists.txt
similarity index 92%
rename from ur5_e_moveit_config/CMakeLists.txt
rename to ur5e_moveit_config/CMakeLists.txt
index 9bb160b82..3934cf1c7 100644
--- a/ur5_e_moveit_config/CMakeLists.txt
+++ b/ur5e_moveit_config/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(ur5_e_moveit_config)
+project(ur5e_moveit_config)
 
 find_package(catkin REQUIRED)
 
diff --git a/ur5e_moveit_config/config/chomp_planning.yaml b/ur5e_moveit_config/config/chomp_planning.yaml
new file mode 100644
index 000000000..75258e53e
--- /dev/null
+++ b/ur5e_moveit_config/config/chomp_planning.yaml
@@ -0,0 +1,18 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.01
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearence: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: true
+max_recovery_attempts: 5
\ No newline at end of file
diff --git a/ur5_e_moveit_config/config/fake_controllers.yaml b/ur5e_moveit_config/config/fake_controllers.yaml
similarity index 75%
rename from ur5_e_moveit_config/config/fake_controllers.yaml
rename to ur5e_moveit_config/config/fake_controllers.yaml
index 5e24f9451..e328e94d4 100644
--- a/ur5_e_moveit_config/config/fake_controllers.yaml
+++ b/ur5e_moveit_config/config/fake_controllers.yaml
@@ -9,4 +9,7 @@ controller_list:
       - wrist_3_joint
   - name: fake_endeffector_controller
     joints:
-      []
\ No newline at end of file
+      []
+initial:  # Define initial robot poses.
+  - group: manipulator
+    pose: home
\ No newline at end of file
diff --git a/ur5_e_moveit_config/config/joint_limits.yaml b/ur5e_moveit_config/config/joint_limits.yaml
similarity index 51%
rename from ur5_e_moveit_config/config/joint_limits.yaml
rename to ur5e_moveit_config/config/joint_limits.yaml
index 991719a66..633b7bbce 100644
--- a/ur5_e_moveit_config/config/joint_limits.yaml
+++ b/ur5e_moveit_config/config/joint_limits.yaml
@@ -2,33 +2,33 @@
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
-  shoulder_pan_joint:
+  elbow_joint:
     has_velocity_limits: true
-    max_velocity: 3.14
-    has_acceleration_limits: true
-    max_acceleration: 3.14
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
   shoulder_lift_joint:
     has_velocity_limits: true
-    max_velocity: 3.14
-    has_acceleration_limits: true
-    max_acceleration: 3.14
-  elbow_joint:
+    max_velocity: 2.0943951023931953
+    has_acceleration_limits: false
+    max_acceleration: 0
+  shoulder_pan_joint:
     has_velocity_limits: true
-    max_velocity: 3.14
-    has_acceleration_limits: true
-    max_acceleration: 3.14
+    max_velocity: 2.0943951023931953
+    has_acceleration_limits: false
+    max_acceleration: 0
   wrist_1_joint:
     has_velocity_limits: true
-    max_velocity: 6.28
-    has_acceleration_limits: true
-    max_acceleration: 3.14
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
   wrist_2_joint:
     has_velocity_limits: true
-    max_velocity: 6.28
-    has_acceleration_limits: true
-    max_acceleration: 3.14
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
   wrist_3_joint:
     has_velocity_limits: true
-    max_velocity: 6.28
-    has_acceleration_limits: true
-    max_acceleration: 3.14
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/ur5_e_moveit_config/config/kinematics.yaml b/ur5e_moveit_config/config/kinematics.yaml
similarity index 50%
rename from ur5_e_moveit_config/config/kinematics.yaml
rename to ur5e_moveit_config/config/kinematics.yaml
index 5d492ac1f..e37d336c3 100644
--- a/ur5_e_moveit_config/config/kinematics.yaml
+++ b/ur5e_moveit_config/config/kinematics.yaml
@@ -1,3 +1,8 @@
+#manipulator:
+#  kinematics_solver: ur_kinematics/UR10KinematicsPlugin
+#  kinematics_solver_search_resolution: 0.005
+#  kinematics_solver_timeout: 0.005
+#  kinematics_solver_attempts: 3
 manipulator:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
diff --git a/ur5e_moveit_config/config/ompl_planning.yaml b/ur5e_moveit_config/config/ompl_planning.yaml
new file mode 100644
index 000000000..acbf6bd9b
--- /dev/null
+++ b/ur5e_moveit_config/config/ompl_planning.yaml
@@ -0,0 +1,172 @@
+planner_configs:
+  SBL:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  EST:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECE:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECE:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECE:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRT:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnect:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstar:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRT:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRM:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstar:
+    type: geometric::PRMstar
+  FMT:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMT:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDST:
+    type: geometric::PDST
+  STRIDE:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRT:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRT:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiEST:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjEST:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LazyPRM:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstar:
+    type: geometric::LazyPRMstar
+  SPARS:
+    type: geometric::SPARS
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwo:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+manipulator:
+  planner_configs:
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
+endeffector:
+  planner_configs:
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
diff --git a/ur5e_moveit_config/config/ros_controllers.yaml b/ur5e_moveit_config/config/ros_controllers.yaml
new file mode 100644
index 000000000..0ecf90959
--- /dev/null
+++ b/ur5e_moveit_config/config/ros_controllers.yaml
@@ -0,0 +1,34 @@
+# Simulation settings for using moveit_sim_controllers
+moveit_sim_hw_interface:
+  joint_model_group: manipulator
+  joint_model_group_pose: home
+# Settings for ros_control_boilerplate control loop
+generic_hw_control_loop:
+  loop_hz: 300
+  cycle_time_error_threshold: 0.01
+# Settings for ros_control hardware interface
+hardware_interface:
+  joints:
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
+  sim_control_mode: 1  # 0: position, 1: velocity
+# Publish all joint states
+# Creates the /joint_states topic necessary in ROS
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+- name: "scaled_pos_joint_traj_controller"
+  action_ns: follow_joint_trajectory
+  type: FollowJointTrajectory
+  joints:
+    - shoulder_pan_joint
+    - shoulder_lift_joint
+    - elbow_joint
+    - wrist_1_joint
+    - wrist_2_joint
+    - wrist_3_joint
diff --git a/ur5_e_moveit_config/config/ur5e.srdf b/ur5e_moveit_config/config/ur5e.srdf
similarity index 83%
rename from ur5_e_moveit_config/config/ur5e.srdf
rename to ur5e_moveit_config/config/ur5e.srdf
index bb009a906..76bc9d0b8 100644
--- a/ur5_e_moveit_config/config/ur5e.srdf
+++ b/ur5e_moveit_config/config/ur5e.srdf
@@ -3,17 +3,17 @@
     This is a format for representing semantic information about the robot structure.
     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
 -->
-<robot name="ur5e">
+<robot name="ur5e_robot">
     <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
     <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="manipulator">
-        <chain base_link="base_link" tip_link="ee_link" />
+        <chain base_link="base_link" tip_link="tool0" />
     </group>
     <group name="endeffector">
-        <link name="ee_link" />
+        <link name="tool0" />
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="home" group="manipulator">
@@ -33,17 +33,18 @@
         <joint name="wrist_3_joint" value="0" />
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="moveit_ee" parent_link="ee_link" group="endeffector" />
+    <end_effector name="moveit_ee" parent_link="tool0" group="endeffector" />
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
-    <disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never" />
-    <disable_collisions link1="ee_link" link2="wrist_2_link" reason="Never" />
-    <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent" />
+    <disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never" />
+    <disable_collisions link1="base_link_inertia" link2="wrist_1_link" reason="Never" />
     <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
     <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
     <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
+    <disable_collisions link1="shoulder_link" link2="wrist_1_link" reason="Never" />
+    <disable_collisions link1="shoulder_link" link2="wrist_2_link" reason="Never" />
     <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent" />
     <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never" />
     <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />
diff --git a/ur5e_moveit_config/launch/chomp_planning_pipeline.launch.xml b/ur5e_moveit_config/launch/chomp_planning_pipeline.launch.xml
new file mode 100644
index 000000000..ed0bc619d
--- /dev/null
+++ b/ur5e_moveit_config/launch/chomp_planning_pipeline.launch.xml
@@ -0,0 +1,20 @@
+<launch>
+   <!-- CHOMP Plugin for MoveIt! -->
+   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+   <arg name="start_state_max_bounds_error" value="0.1" />
+   <!-- The request adapters (plugins) used when planning.
+        ORDER MATTERS -->
+   <arg name="planning_adapters"
+        value="default_planner_request_adapters/AddTimeParameterization
+               default_planner_request_adapters/FixWorkspaceBounds
+               default_planner_request_adapters/FixStartStateBounds
+               default_planner_request_adapters/FixStartStateCollision
+               default_planner_request_adapters/FixStartStatePathConstraints"
+               />
+
+   <param name="planning_plugin" value="$(arg planning_plugin)" />
+   <param name="request_adapters" value="$(arg planning_adapters)" />
+   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+   <rosparam command="load" file="$(find ur5e_moveit_config)/config/chomp_planning.yaml" />
+</launch>
diff --git a/ur5e_moveit_config/launch/default_warehouse_db.launch b/ur5e_moveit_config/launch/default_warehouse_db.launch
new file mode 100644
index 000000000..c4baf5d47
--- /dev/null
+++ b/ur5e_moveit_config/launch/default_warehouse_db.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find ur5e_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find ur5e_moveit_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/ur5e_moveit_config/launch/demo.launch b/ur5e_moveit_config/launch/demo.launch
new file mode 100644
index 000000000..d00d93522
--- /dev/null
+++ b/ur5e_moveit_config/launch/demo.launch
@@ -0,0 +1,63 @@
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find ur5e_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!--
+  By default, hide joint_state_publisher's GUI
+
+  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  The latter one maintains and publishes the current joint configuration of the simulated robot.
+  It also provides a GUI to move the simulated robot around "manually".
+  This corresponds to moving around the real robot without the use of MoveIt.
+  -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+  </node>
+  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find ur5e_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find ur5e_moveit_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(find ur5e_moveit_config)/launch/moveit.rviz"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find ur5e_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml
similarity index 78%
rename from ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml
rename to ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml
index 8a8e020d7..0e7d73907 100644
--- a/ur5_e_moveit_config/launch/fake_moveit_controller_manager.launch.xml
+++ b/ur5e_moveit_config/launch/fake_moveit_controller_manager.launch.xml
@@ -4,6 +4,6 @@
   <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
 
   <!-- The rest of the params are specific to this plugin -->
-  <rosparam file="$(find ur5_e_moveit_config)/config/fake_controllers.yaml"/>
+  <rosparam file="$(find ur5e_moveit_config)/config/fake_controllers.yaml"/>
 
 </launch>
diff --git a/ur5_e_moveit_config/launch/move_group.launch b/ur5e_moveit_config/launch/move_group.launch
similarity index 54%
rename from ur5_e_moveit_config/launch/move_group.launch
rename to ur5e_moveit_config/launch/move_group.launch
index d39c94716..764c400bf 100644
--- a/ur5_e_moveit_config/launch/move_group.launch
+++ b/ur5e_moveit_config/launch/move_group.launch
@@ -1,14 +1,10 @@
 <launch>
-  <arg name="limited" default="false"/>
-
-  <include file="$(find ur5_e_moveit_config)/launch/planning_context.launch">
-    <arg name="limited" value="$(arg limited)" />
-  </include>
 
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+           value="gdb -x $(find ur5e_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
 
   <!-- Verbose Mode Option -->
   <arg name="info" default="$(arg debug)" />
@@ -16,27 +12,52 @@
   <arg     if="$(arg info)" name="command_args" value="--debug" />
 
   <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
   <arg name="allow_trajectory_execution" default="true"/>
   <arg name="fake_execution" default="false"/>
   <arg name="max_safe_path_cost" default="1"/>
   <arg name="jiggle_fraction" default="0.05" />
   <arg name="publish_monitored_planning_scene" default="true"/>
 
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <arg name="load_robot_description" default="true" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(find ur5e_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
+  </include>
+
   <!-- Planning Functionality -->
-  <include ns="move_group" file="$(find ur5_e_moveit_config)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="ompl" />
+  <include ns="move_group" file="$(find ur5e_moveit_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="$(arg pipeline)" />
   </include>
 
   <!-- Trajectory Execution Functionality -->
-  <include ns="move_group" file="$(find ur5_e_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+  <include ns="move_group" file="$(find ur5e_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_manage_controllers" value="true" />
-    <arg name="moveit_controller_manager" value="ur5_e" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="ur5e" unless="$(arg fake_execution)"/>
     <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
   </include>
 
   <!-- Sensors Functionality -->
-  <include ns="move_group" file="$(find ur5_e_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
-    <arg name="moveit_sensor_manager" value="ur5_e" /> 
+  <include ns="move_group" file="$(find ur5e_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="ur5e" />
   </include>
 
   <!-- Start the actual move_group node/action server -->
@@ -47,19 +68,9 @@
     <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
     <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
     <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+    <param name="capabilities" value="$(arg capabilities)"/>
+    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>
 
-    <!-- MoveGroup capabilities to load -->
-    <param name="capabilities" value="move_group/MoveGroupCartesianPathService
-				      move_group/MoveGroupExecuteService
-				      move_group/MoveGroupKinematicsService
-				      move_group/MoveGroupMoveAction
-				      move_group/MoveGroupPickPlaceAction
-				      move_group/MoveGroupPlanService
-				      move_group/MoveGroupQueryPlannersService
-				      move_group/MoveGroupStateValidationService
-				      move_group/MoveGroupGetPlanningSceneService
-				      move_group/ClearOctomapService
-				      " />
 
     <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
     <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
diff --git a/ur5e_moveit_config/launch/moveit.rviz b/ur5e_moveit_config/launch/moveit.rviz
new file mode 100644
index 000000000..b431b2a03
--- /dev/null
+++ b/ur5e_moveit_config/launch/moveit.rviz
@@ -0,0 +1,689 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+      Splitter Ratio: 0.74256
+    Tree Height: 664
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      MoveIt_Goal_Tolerance: 0
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      Name: MotionPlanning
+      Planned Path:
+        Links:
+          base_bellow_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          double_stereo_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_ir_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_rgb_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_prosilica_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_plate_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_tilt_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          laser_tilt_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          sensor_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          torso_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trajectory Topic: move_group/display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: left_arm
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: move_group/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.2
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          base_bellow_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          double_stereo_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_ir_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_rgb_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_prosilica_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_plate_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_tilt_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          laser_tilt_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          sensor_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          torso_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Scene Robot: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 2.9965
+      Focal Point:
+        X: 0.113567
+        Y: 0.10592
+        Z: 2.23518e-07
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.509797
+      Target Frame: /base_link
+      Value: XYOrbit (rviz)
+      Yaw: 5.65995
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1337
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Motion Planning:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1828
+  X: 459
+  Y: -243
diff --git a/ur5e_moveit_config/launch/moveit_rviz.launch b/ur5e_moveit_config/launch/moveit_rviz.launch
new file mode 100644
index 000000000..a4605c037
--- /dev/null
+++ b/ur5e_moveit_config/launch/moveit_rviz.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+        args="$(arg command_args)" output="screen">
+  </node>
+
+</launch>
diff --git a/ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml b/ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml
similarity index 90%
rename from ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml
rename to ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml
index eb0ef8926..7ec6880f1 100644
--- a/ur5_e_moveit_config/launch/ompl_planning_pipeline.launch.xml
+++ b/ur5e_moveit_config/launch/ompl_planning_pipeline.launch.xml
@@ -3,7 +3,7 @@
   <!-- OMPL Plugin for MoveIt! -->
   <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
 
-  <!-- The request adapters (plugins) used when planning with OMPL. 
+  <!-- The request adapters (plugins) used when planning with OMPL.
        ORDER MATTERS -->
   <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
 				       default_planner_request_adapters/FixWorkspaceBounds
@@ -17,6 +17,6 @@
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
 
-  <rosparam command="load" file="$(find ur5_e_moveit_config)/config/ompl_planning.yaml"/>
+  <rosparam command="load" file="$(find ur5e_moveit_config)/config/ompl_planning.yaml"/>
 
 </launch>
diff --git a/ur5_e_moveit_config/launch/planning_context.launch b/ur5e_moveit_config/launch/planning_context.launch
similarity index 55%
rename from ur5_e_moveit_config/launch/planning_context.launch
rename to ur5e_moveit_config/launch/planning_context.launch
index 63109be0a..9052fd96f 100644
--- a/ur5_e_moveit_config/launch/planning_context.launch
+++ b/ur5e_moveit_config/launch/planning_context.launch
@@ -1,28 +1,25 @@
 <launch>
   <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
   <arg name="load_robot_description" default="false"/>
-  <arg name="limited" default="false"/>
 
   <!-- The name of the parameter under which the URDF is loaded -->
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <group if="$(arg load_robot_description)">
-    <param unless="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro'" />
-    <param if="$(arg limited)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro'" />
-  </group>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find ur_description)/urdf/ur5e.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" textfile="$(find ur5_e_moveit_config)/config/ur5e.srdf" />
-  
+  <param name="$(arg robot_description)_semantic" textfile="$(find ur5e_moveit_config)/config/ur5e.srdf" />
+
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find ur5_e_moveit_config)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find ur5e_moveit_config)/config/joint_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
   <group ns="$(arg robot_description)_kinematics">
-    <rosparam command="load" file="$(find ur5_e_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find ur5e_moveit_config)/config/kinematics.yaml"/>
+
   </group>
-  
+
 </launch>
diff --git a/ur5_e_moveit_config/launch/planning_pipeline.launch.xml b/ur5e_moveit_config/launch/planning_pipeline.launch.xml
similarity index 57%
rename from ur5_e_moveit_config/launch/planning_pipeline.launch.xml
rename to ur5e_moveit_config/launch/planning_pipeline.launch.xml
index 12211f9d8..caf1be307 100644
--- a/ur5_e_moveit_config/launch/planning_pipeline.launch.xml
+++ b/ur5e_moveit_config/launch/planning_pipeline.launch.xml
@@ -1,10 +1,10 @@
 <launch>
 
-  <!-- This file makes it easy to include different planning pipelines; 
-       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->  
+  <!-- This file makes it easy to include different planning pipelines;
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
 
   <arg name="pipeline" default="ompl" />
 
-  <include file="$(find ur5_e_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+  <include file="$(find ur5e_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
 
 </launch>
diff --git a/ur5e_moveit_config/launch/ros_controllers.launch b/ur5e_moveit_config/launch/ros_controllers.launch
new file mode 100644
index 000000000..d71e18a0d
--- /dev/null
+++ b/ur5e_moveit_config/launch/ros_controllers.launch
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find ur5e_moveit_config)/config/ros_controllers.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args=""/>
+
+</launch>
diff --git a/ur5_e_moveit_config/launch/run_benchmark_ompl.launch b/ur5e_moveit_config/launch/run_benchmark_ompl.launch
similarity index 63%
rename from ur5_e_moveit_config/launch/run_benchmark_ompl.launch
rename to ur5e_moveit_config/launch/run_benchmark_ompl.launch
index d37513d82..757bc9c52 100644
--- a/ur5_e_moveit_config/launch/run_benchmark_ompl.launch
+++ b/ur5e_moveit_config/launch/run_benchmark_ompl.launch
@@ -4,19 +4,19 @@
   <arg name="cfg" />
 
   <!-- Load URDF -->
-  <include file="$(find ur5_e_moveit_config)/launch/planning_context.launch">
+  <include file="$(find ur5e_moveit_config)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Start the database -->
-  <include file="$(find ur5_e_moveit_config)/launch/warehouse.launch">
+  <include file="$(find ur5e_moveit_config)/launch/warehouse.launch">
     <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
   </include>  
 
   <!-- Start Benchmark Executable -->
   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
-    <rosparam command="load" file="$(find ur5_e_moveit_config)/config/kinematics.yaml"/>
-    <rosparam command="load" file="$(find ur5_e_moveit_config)/config/ompl_planning.yaml"/>
+    <rosparam command="load" file="$(find ur5e_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find ur5e_moveit_config)/config/ompl_planning.yaml"/>
   </node>
 
 </launch>
diff --git a/ur5_e_moveit_config/launch/sensor_manager.launch.xml b/ur5e_moveit_config/launch/sensor_manager.launch.xml
similarity index 73%
rename from ur5_e_moveit_config/launch/sensor_manager.launch.xml
rename to ur5e_moveit_config/launch/sensor_manager.launch.xml
index 172eb87be..97df2bd8f 100644
--- a/ur5_e_moveit_config/launch/sensor_manager.launch.xml
+++ b/ur5e_moveit_config/launch/sensor_manager.launch.xml
@@ -8,7 +8,7 @@
   <param name="max_range" type="double" value="5.0" />
 
   <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
-  <arg name="moveit_sensor_manager" default="ur5_e" />
-  <include file="$(find ur5_e_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+  <arg name="moveit_sensor_manager" default="ur5e" />
+  <include file="$(find ur5e_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
   
 </launch>
diff --git a/ur5_e_moveit_config/launch/setup_assistant.launch b/ur5e_moveit_config/launch/setup_assistant.launch
similarity index 60%
rename from ur5_e_moveit_config/launch/setup_assistant.launch
rename to ur5e_moveit_config/launch/setup_assistant.launch
index 3d712d563..6e0054587 100644
--- a/ur5_e_moveit_config/launch/setup_assistant.launch
+++ b/ur5e_moveit_config/launch/setup_assistant.launch
@@ -1,4 +1,4 @@
-<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
+<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
 <launch>
 
   <!-- Debug Info -->
@@ -7,9 +7,9 @@
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
   <!-- Run -->
-  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" 
-	args="--config_pkg=ur5_e_moveit_config"
-	launch-prefix="$(arg launch_prefix)"
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
+        args="--config_pkg=ur5e_moveit_config"
+        launch-prefix="$(arg launch_prefix)"
         output="screen" />
 
 </launch>
diff --git a/ur5_e_moveit_config/launch/trajectory_execution.launch.xml b/ur5e_moveit_config/launch/trajectory_execution.launch.xml
similarity index 80%
rename from ur5_e_moveit_config/launch/trajectory_execution.launch.xml
rename to ur5e_moveit_config/launch/trajectory_execution.launch.xml
index 3513753a6..bbad585bf 100644
--- a/ur5_e_moveit_config/launch/trajectory_execution.launch.xml
+++ b/ur5e_moveit_config/launch/trajectory_execution.launch.xml
@@ -1,6 +1,6 @@
 <launch>
 
-  <!-- This file makes it easy to include the settings for trajectory execution  -->
+  <!-- This file makes it easy to include the settings for trajectory execution  -->  
 
   <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
   <arg name="moveit_manage_controllers" default="true"/>
@@ -10,9 +10,9 @@
   <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
   <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
   <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
-
+  
   <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
-  <arg name="moveit_controller_manager" default="ur5_e" />
-  <include file="$(find ur5_e_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
-
+  <arg name="moveit_controller_manager" default="ur5e" />
+  <include file="$(find ur5e_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+  
 </launch>
diff --git a/ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_moveit_controller_manager.launch.xml
similarity index 78%
rename from ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml
rename to ur5e_moveit_config/launch/ur5e_moveit_controller_manager.launch.xml
index 6bc194070..5558a06b9 100644
--- a/ur5_e_moveit_config/launch/ur5_e_moveit_controller_manager.launch.xml
+++ b/ur5e_moveit_config/launch/ur5e_moveit_controller_manager.launch.xml
@@ -1,5 +1,5 @@
 <launch>
-  <rosparam file="$(find ur5_e_moveit_config)/config/controllers.yaml"/>
+  <rosparam file="$(find ur5e_moveit_config)/config/ros_controllers.yaml"/>
   <param name="use_controller_manager" value="false"/>
   <param name="trajectory_execution/execution_duration_monitoring" value="false"/>
   <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
diff --git a/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch b/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch
similarity index 65%
rename from ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch
rename to ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch
index 148c40e4b..e73b32cc3 100644
--- a/ur5_e_moveit_config/launch/ur5_e_moveit_planning_execution.launch
+++ b/ur5e_moveit_config/launch/ur5e_moveit_planning_execution.launch
@@ -1,14 +1,12 @@
 <launch>
   <arg name="sim" default="false" />
-  <arg name="limited" default="false"/>
   <arg name="debug" default="false" />
-    
+
   <!-- Remap follow_joint_trajectory -->
   <remap if="$(arg sim)" from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
-  
+
   <!-- Launch moveit -->
-  <include file="$(find ur5_e_moveit_config)/launch/move_group.launch">
-    <arg name="limited" default="$(arg limited)"/>
+  <include file="$(find ur5e_moveit_config)/launch/move_group.launch">
     <arg name="debug" default="$(arg debug)" />
   </include>
 </launch>
diff --git a/ur5_e_moveit_config/launch/ur5_e_moveit_sensor_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml
similarity index 100%
rename from ur5_e_moveit_config/launch/ur5_e_moveit_sensor_manager.launch.xml
rename to ur5e_moveit_config/launch/ur5e_moveit_sensor_manager.launch.xml
diff --git a/ur5e_moveit_config/launch/ur5e_robot_moveit_controller_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_robot_moveit_controller_manager.launch.xml
new file mode 100644
index 000000000..58e68a4ab
--- /dev/null
+++ b/ur5e_moveit_config/launch/ur5e_robot_moveit_controller_manager.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
+    if no argument is passed, moveit_simple_controller_manager will be set -->
+  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+
+  <!-- loads ros_controllers to the param server -->
+  <rosparam file="$(find ur5e_moveit_config)/config/ros_controllers.yaml"/>
+</launch>
diff --git a/ur5e_moveit_config/launch/ur5e_robot_moveit_sensor_manager.launch.xml b/ur5e_moveit_config/launch/ur5e_robot_moveit_sensor_manager.launch.xml
new file mode 100644
index 000000000..5d02698d7
--- /dev/null
+++ b/ur5e_moveit_config/launch/ur5e_robot_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/ur5_e_moveit_config/launch/warehouse.launch b/ur5e_moveit_config/launch/warehouse.launch
similarity index 67%
rename from ur5_e_moveit_config/launch/warehouse.launch
rename to ur5e_moveit_config/launch/warehouse.launch
index 3ac1ddf6a..4ec8b7786 100644
--- a/ur5_e_moveit_config/launch/warehouse.launch
+++ b/ur5e_moveit_config/launch/warehouse.launch
@@ -1,13 +1,13 @@
 <launch>
-  
+
   <!-- The path to the database must be specified -->
   <arg name="moveit_warehouse_database_path" />
 
-  <!-- Load warehouse parameters -->  
-  <include file="$(find ur5_e_moveit_config)/launch/warehouse_settings.launch.xml" />
+  <!-- Load warehouse parameters -->
+  <include file="$(find ur5e_moveit_config)/launch/warehouse_settings.launch.xml" />
 
   <!-- Run the DB server -->
-  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros">
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
     <param name="overwrite" value="false"/>
     <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
   </node>
diff --git a/ur5_e_moveit_config/launch/warehouse_settings.launch.xml b/ur5e_moveit_config/launch/warehouse_settings.launch.xml
similarity index 64%
rename from ur5_e_moveit_config/launch/warehouse_settings.launch.xml
rename to ur5e_moveit_config/launch/warehouse_settings.launch.xml
index d11aaeb21..e473b083b 100644
--- a/ur5_e_moveit_config/launch/warehouse_settings.launch.xml
+++ b/ur5e_moveit_config/launch/warehouse_settings.launch.xml
@@ -1,15 +1,16 @@
 <launch>
   <!-- Set the parameters for the warehouse and run the mongodb server. -->
 
-  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->  
-  <arg name="moveit_warehouse_port" default="33829" /> 
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
 
   <!-- The default DB host for moveit -->
-  <arg name="moveit_warehouse_host" default="localhost" /> 
-  
+  <arg name="moveit_warehouse_host" default="localhost" />
+
   <!-- Set parameters for the warehouse -->
   <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
   <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
   <param name="warehouse_exec" value="mongod" />
+  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
 
 </launch>
diff --git a/ur5_e_moveit_config/package.xml b/ur5e_moveit_config/package.xml
similarity index 94%
rename from ur5_e_moveit_config/package.xml
rename to ur5e_moveit_config/package.xml
index f81c4cc1d..f1087d6e0 100644
--- a/ur5_e_moveit_config/package.xml
+++ b/ur5e_moveit_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
 
-  <name>ur5_e_moveit_config</name>
+  <name>ur5e_moveit_config</name>
   <version>1.2.5</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the ur5e with the MoveIt Motion Planning Framework
@@ -10,7 +10,7 @@
   <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn</maintainer>
   <maintainer email="miguel.prada@tecnalia.com">Miguel Prada Sarasola</maintainer>
   <maintainer email="nhg@ipa.fhg.de">Nadia Hammoudeh Garcia</maintainer>
-
+  
   <license>BSD</license>
 
   <url type="website">http://moveit.ros.org/</url>
@@ -24,10 +24,11 @@
   <exec_depend>moveit_simple_controller_manager</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
   <exec_depend>xacro</exec_depend>
   <depend>ur_description</depend>
 
   <test_depend>roslaunch</test_depend>
   <buildtool_depend>catkin</buildtool_depend>
-
+  
 </package>
diff --git a/ur5e_moveit_config/tests/moveit_planning_execution.xml b/ur5e_moveit_config/tests/moveit_planning_execution.xml
new file mode 100644
index 000000000..34976b996
--- /dev/null
+++ b/ur5e_moveit_config/tests/moveit_planning_execution.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<launch>
+
+  <group>
+    <include file="$(find ur5e_moveit_config)/launch/move_group.launch">
+    </include>
+  </group>
+
+  <group ns="sim">
+    <remap from="/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>
+    <include file="$(find ur5e_moveit_config)/launch/move_group.launch">
+    </include>
+  </group>
+
+</launch>
+