diff --git a/.setup_assistant b/.setup_assistant
index f54adbf..37da26c 100644
--- a/.setup_assistant
+++ b/.setup_assistant
@@ -1,7 +1,7 @@
 moveit_setup_assistant_config:
   URDF:
     package: franka_description
-    relative_path: robots/panda/panda.urdf.xacro
+    relative_path: robots/panda/panda_arm.urdf.xacro
     xacro_args: hand:=true
   SRDF:
     relative_path: config/panda.srdf.xacro
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3439afe..c69be73 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,10 +1,7 @@
-cmake_minimum_required(VERSION 3.22)
+cmake_minimum_required(VERSION 3.10.2)
 project(panda_moveit_config)
-
 find_package(ament_cmake REQUIRED)
 
 ament_package()
 
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}
-  PATTERN "setup_assistant.launch" EXCLUDE)
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
diff --git a/config/stomp_planning.yaml b/config/stomp_planning.yaml
deleted file mode 100644
index 7084f2f..0000000
--- a/config/stomp_planning.yaml
+++ /dev/null
@@ -1,37 +0,0 @@
-optimization:
-  num_timesteps: 60
-  num_iterations: 40
-  num_iterations_after_valid: 0
-  num_rollouts: 30
-  max_rollouts: 30
-  initialization_method: 1 #[1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
-  control_cost_weight: 0.0
-task:
-  noise_generator:
-    - class: stomp_moveit/NormalDistributionSampling
-      stddev: [0.05, 0.8, 1.0, 0.8, 0.4, 0.4, 0.4]
-  cost_functions:
-    - class: stomp_moveit/CollisionCheck
-      collision_penalty: 1.0
-      cost_weight: 1.0
-      kernel_window_percentage: 0.2
-      longest_valid_joint_move: 0.05
-  noisy_filters:
-    - class: stomp_moveit/JointLimits
-      lock_start: True
-      lock_goal: True
-    - class: stomp_moveit/MultiTrajectoryVisualization
-      line_width: 0.02
-      rgb: [255, 255, 0]
-      marker_array_topic: stomp_trajectories
-      marker_namespace: noisy
-  update_filters:
-    - class: stomp_moveit/PolynomialSmoother
-      poly_order: 6
-    - class: stomp_moveit/TrajectoryVisualization
-      line_width: 0.05
-      rgb: [0, 191, 255]
-      error_rgb: [255, 0, 0]
-      publish_intermediate: True
-      marker_topic: stomp_trajectory
-      marker_namespace: optimized
diff --git a/launch/.gitkeep b/launch/.gitkeep
new file mode 100644
index 0000000..e69de29
diff --git a/launch/chomp_planning_pipeline.launch.xml b/launch/chomp_planning_pipeline.launch.xml
deleted file mode 100644
index 39e645f..0000000
--- a/launch/chomp_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<launch>
-  <arg name="start_state_max_bounds_error" default="0.1" />
-  <arg name="jiggle_fraction" default="0.05" />
-  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
-  <arg name="planning_adapters"
-       default="default_planner_request_adapters/AddTimeParameterization
-                default_planner_request_adapters/ResolveConstraintFrames
-                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="chomp_interface/CHOMPPlanner" />
-  <param name="request_adapters" value="$(arg planning_adapters)" />
-  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
-  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-
-  <!-- Add MoveGroup capabilities specific to this pipeline -->
-  <!-- <param name="capabilities" value="" /> -->
-
-  <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml" />
-</launch>
diff --git a/launch/default_warehouse_db.launch b/launch/default_warehouse_db.launch
deleted file mode 100644
index dc1aea7..0000000
--- a/launch/default_warehouse_db.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-
-  <arg name="reset" default="false"/>
-  <!-- If not specified, we'll use a default database location -->
-  <arg name="moveit_warehouse_database_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
-
-  <!-- Launch the warehouse with the configured database location -->
-  <include file="$(dirname)/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="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
-
-</launch>
diff --git a/launch/demo.launch b/launch/demo.launch
deleted file mode 100644
index 543cb19..0000000
--- a/launch/demo.launch
+++ /dev/null
@@ -1,73 +0,0 @@
-<launch>
-  <arg name="arm_id" default="panda" />
-
-  <!-- specify the planning pipeline -->
-  <arg name="pipeline" default="ompl" />
-
-  <!-- By default, we do not start a database (it can be large) -->
-  <arg name="db" default="false" />
-  <!-- Allow user to specify database location -->
-  <arg name="db_path" default="$(find panda_moveit_config)/default_warehouse_mongo_db" />
-
-  <!-- By default, we are not in debug mode -->
-  <arg name="debug" default="false" />
-
-  <!-- By default we will load the gripper -->
-  <arg name="load_gripper" default="true" />
-
-  <!-- By default, we will load or override the robot_description -->
-  <arg name="load_robot_description" default="true"/>
-
-  <!-- Choose controller manager: fake, simple, or ros_control -->
-  <arg name="moveit_controller_manager" default="fake" />
-  <!-- Set execution mode for fake execution controllers -->
-  <arg name="fake_execution_type" default="interpolate" />
-  <!-- Transmission used for joint control: position, velocity, or effort -->
-  <arg name="transmission" />
-
-  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
-  <arg name="use_gui" default="false" />
-  <arg name="use_rviz" default="true" />
-  <!-- Use rviz config for MoveIt tutorial -->
-  <arg name="rviz_tutorial" default="false" />
-
-  <!-- If needed, broadcast static tf for robot root -->
-  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world $(arg arm_id)_link0" />
-
-
-
-  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
-    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
-         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
-    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-    </node>
-    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
-         This corresponds to moving around the real robot without the use of MoveIt. -->
-    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(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" />
-  </group>
-
-  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
-  <include file="$(dirname)/move_group.launch" pass_all_args="true">
-    <arg name="allow_trajectory_execution" value="true" />
-    <arg name="info" value="true" />
-  </include>
-
-  <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
-    <arg name="rviz_tutorial" value="$(arg rviz_tutorial)"/>
-    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
-    <arg name="debug" value="$(arg debug)"/>
-  </include>
-
-  <!-- If database loading was enabled, start mongodb as well -->
-  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
-    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-  </include>
-
-</launch>
diff --git a/launch/demo_chomp.launch b/launch/demo_chomp.launch
deleted file mode 100644
index a3051a8..0000000
--- a/launch/demo_chomp.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-  <include file="$(dirname)/demo.launch">
-    <arg name="pipeline" value="chomp"/>
-  </include>
-</launch>
diff --git a/launch/demo_gazebo.launch b/launch/demo_gazebo.launch
deleted file mode 100644
index 2907f8f..0000000
--- a/launch/demo_gazebo.launch
+++ /dev/null
@@ -1,27 +0,0 @@
-<launch>
-  <!-- specify the planning pipeline -->
-  <arg name="pipeline" default="ompl" />
-
-  <!-- Panda specific options -->
-  <arg name="load_gripper" default="true" />
-  <arg name="transmission" default="effort" />
-
-  <!-- Gazebo specific options -->
-  <arg name="gazebo_gui" default="true" />
-  <arg name="paused" default="false" />
-
-  <!-- Launch the gazebo simulator and spawn the robot -->
-  <include file="$(find franka_gazebo)/launch/panda.launch" pass_all_args="true">
-    <arg name="headless" value="$(eval not arg('gazebo_gui'))" />
-    <arg name="use_gripper" default="$(arg load_gripper)" />
-    <arg name="controller" default="$(arg transmission)_joint_trajectory_controller" />
-  </include>
-
-  <include file="$(dirname)/demo.launch" pass_all_args="true">
-    <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
-    <arg name="load_robot_description" value="false" />
-    <!-- MoveItSimpleControllerManager provides ros_control's JointTrajectory controllers
-         as well as GripperCommand actions -->
-    <arg name="moveit_controller_manager" value="simple" />
-  </include>
-</launch>
diff --git a/launch/demo_lerp.launch b/launch/demo_lerp.launch
deleted file mode 100644
index d5d8355..0000000
--- a/launch/demo_lerp.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-
-<launch>
-  <include file="$(dirname)/demo.launch">
-    <arg name="pipeline" value="lerp"/>
-  </include>
-</launch>
\ No newline at end of file
diff --git a/launch/demo_stomp.launch b/launch/demo_stomp.launch
deleted file mode 100644
index 0ae0551..0000000
--- a/launch/demo_stomp.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-  <include file="$(dirname)/demo.launch">
-    <arg name="pipeline" value="stomp"/>
-  </include>
-</launch>
diff --git a/launch/fake_moveit_controller_manager.launch.xml b/launch/fake_moveit_controller_manager.launch.xml
deleted file mode 100644
index 53811ba..0000000
--- a/launch/fake_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<launch>
-
-  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
-  <arg name="fake_execution_type" default="interpolate" />
-
-  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
-  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
-
-  <!-- The rest of the params are specific to this plugin -->
-  <rosparam subst_value="true" file="$(find panda_moveit_config)/config/fake_controllers.yaml"/>
-
-</launch>
diff --git a/launch/franka_control.launch b/launch/franka_control.launch
deleted file mode 100644
index d3e9023..0000000
--- a/launch/franka_control.launch
+++ /dev/null
@@ -1,22 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="robot_ip" />
-  <arg name="load_gripper" />
-
-  <!-- Launch real-robot control -->
-  <include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true" />
-
-  <!-- By default use joint position controllers -->
-  <arg name="transmission" default="position" />
-  <!-- Start ROS controllers -->
-  <include file="$(dirname)/ros_controllers.launch" pass_all_args="true" />
-
-  <!-- as well as MoveIt demo -->
-  <include file="$(dirname)/demo.launch" pass_all_args="true">
-    <!-- robot description is loaded by franka_control.launch -->
-    <arg name="load_robot_description" value="false" />
-    <!-- MoveItSimpleControllerManager provides ros_control's JointTrajectory controllers
-         as well as GripperCommand actions -->
-    <arg name="moveit_controller_manager" value="simple" />
-  </include>
-</launch>
diff --git a/launch/joystick_control.launch b/launch/joystick_control.launch
deleted file mode 100644
index 9411f6e..0000000
--- a/launch/joystick_control.launch
+++ /dev/null
@@ -1,17 +0,0 @@
-<launch>
-  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
-
-  <arg name="dev" default="/dev/input/js0" />
-
-  <!-- Launch joy node -->
-  <node pkg="joy" type="joy_node" name="joy">
-    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
-    <param name="deadzone" value="0.2" />
-    <param name="autorepeat_rate" value="40" />
-    <param name="coalesce_interval" value="0.025" />
-  </node>
-
-  <!-- Launch python interface -->
-  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
-
-</launch>
diff --git a/launch/lerp_planning_pipeline.launch.xml b/launch/lerp_planning_pipeline.launch.xml
deleted file mode 100644
index c119357..0000000
--- a/launch/lerp_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,22 +0,0 @@
-<launch>
-
-  <!-- LERP Plugin for MoveIt! -->
-  <arg name="planning_plugin" value="lerp_interface/LERPPlanner" />
-
-  <!-- The request adapters (plugins) used when planning with TrajOpt.
-       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" />
-
-  <arg name="start_state_max_bounds_error" value="0.1" />
-
-  <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 panda_moveit_config)/config/lerp_planning.yaml"/>
-
-</launch>
diff --git a/launch/move_group.launch b/launch/move_group.launch
deleted file mode 100644
index 7d511f3..0000000
--- a/launch/move_group.launch
+++ /dev/null
@@ -1,111 +0,0 @@
-<launch>
-
-  <!-- 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 -x $(dirname)/gdb_settings.gdb --ex run --args" />
-
-  <!-- Verbose Mode Option -->
-  <arg name="info" default="$(arg debug)" />
-  <arg unless="$(arg info)" name="command_args" value="" />
-  <arg     if="$(arg info)" name="command_args" value="--debug" />
-
-  <!-- move_group settings -->
-  <arg name="pipeline" default="ompl" />
-  <arg name="allow_trajectory_execution" default="true"/>
-  <arg name="moveit_controller_manager" default="simple" />
-  <arg name="fake_execution_type" default="interpolate"/>
-  <arg name="max_safe_path_cost" default="1"/>
-  <arg name="publish_monitored_planning_scene" default="true"/>
-
-  <arg name="capabilities" default=""/>
-  <arg name="disable_capabilities" default=""/>
-
-  <!--Other settings-->
-  <arg name="load_gripper" default="true" />
-  <arg name="transmission" default="effort" />
-  <arg name="arm_id" default="panda" />
-
-  <!-- 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="$(dirname)/planning_context.launch">
-    <arg name="load_robot_description" value="$(arg load_robot_description)" />
-    <arg name="load_gripper" value="$(arg load_gripper)" />
-    <arg name="arm_id" value="$(arg arm_id)" />
-  </include>
-
-  <!-- Planning Pipelines -->
-  <group ns="move_group/planning_pipelines">
-
-    <!-- OMPL -->
-    <include file="$(dirname)/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="ompl" />
-      <arg name="arm_id" value="$(arg arm_id)" />
-    </include>
-
-    <!-- CHOMP -->
-    <include file="$(dirname)/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="chomp" />
-      <arg name="arm_id" value="$(arg arm_id)" />
-    </include>
-
-    <!-- Pilz Industrial Motion -->
-    <include file="$(dirname)/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="pilz_industrial_motion_planner" />
-      <arg name="arm_id" value="$(arg arm_id)" />
-    </include>
-
-    <!-- Support custom planning pipeline -->
-    <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
-             file="$(dirname)/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="$(arg pipeline)" />
-      <arg name="arm_id" value="$(arg arm_id)" />
-    </include>
-  </group>
-
-  <!-- Trajectory Execution Functionality -->
-  <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" pass_all_args="true" if="$(arg allow_trajectory_execution)">
-    <arg name="moveit_manage_controllers" value="true" />
-  </include>
-
-  <!-- Sensors Functionality -->
-  <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
-    <arg name="moveit_sensor_manager" value="panda" />
-  </include>
-
-  <!-- Start the actual move_group node/action server -->
-  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
-    <!-- Set the display variable, in case OpenGL code is used internally -->
-    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
-
-    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
-    <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
-    <param name="default_planning_pipeline" value="$(arg pipeline)" />
-    <param name="capabilities" value="$(arg capabilities)" />
-    <param name="disable_capabilities" value="$(arg disable_capabilities)" />
-
-    <!-- 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="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
-  </node>
-
-</launch>
diff --git a/launch/moveit.rviz b/launch/moveit.rviz
deleted file mode 100644
index 82d21c7..0000000
--- a/launch/moveit.rviz
+++ /dev/null
@@ -1,131 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 84
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /MotionPlanning1
-      Splitter Ratio: 0.5
-    Tree Height: 226
-  - 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
-      Name: MotionPlanning
-      Planned Path:
-        Links: ~
-        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
-        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
-        Show Scene Geometry: true
-        Voxel Coloring: Z-Axis
-        Voxel Rendering: Occupied Voxels
-      Scene Robot:
-        Attached Body Color: 150; 50; 150
-        Links: ~
-        Robot Alpha: 0.5
-        Show Scene Robot: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: panda_link0
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 2.0
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Field of View: 0.75
-      Focal Point:
-        X: -0.1
-        Y: 0.25
-        Z: 0.30
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.5
-      Target Frame: panda_link0
-      Yaw: -0.6232355833053589
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 848
-  Help:
-    collapsed: false
-  Hide Left Dock: false
-  Hide Right Dock: false
-  MotionPlanning:
-    collapsed: false
-  MotionPlanning - Trajectory Slider:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000173000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Views:
-    collapsed: false
-  Width: 1291
-  X: 454
-  Y: 25
diff --git a/launch/moveit_empty.rviz b/launch/moveit_empty.rviz
deleted file mode 100644
index 9014d11..0000000
--- a/launch/moveit_empty.rviz
+++ /dev/null
@@ -1,99 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 84
-    Name: Displays
-    Property Tree Widget:
-      Expanded: ~
-      Splitter Ratio: 0.5
-    Tree Height: 613
-  - Class: rviz/Help
-    Name: Help
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        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: rviz/MarkerArray
-      Enabled: true
-      Marker Topic: rviz_visual_tools
-      Name: MarkerArray
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: panda_link0
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz_visual_tools/KeyTool
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 2
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Field of View: 0.75
-      Focal Point:
-        X: -0.10000000149011612
-        Y: 0.25
-        Z: 0.30000001192092896
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5
-      Target Frame: panda_link0
-      Yaw: -0.6232355833053589
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 848
-  Help:
-    collapsed: false
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc020000000afb000000100044006900730070006c006100790073010000003d000002f6000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001ab000001880000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006900000002f2000000410000000000000000fb0000003c005400720061006a006500630074006f007200790020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff000000000000000000000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Views:
-    collapsed: false
-  Width: 1291
-  X: 444
-  Y: 25
diff --git a/launch/moveit_rviz.launch b/launch/moveit_rviz.launch
deleted file mode 100644
index 89e0db9..0000000
--- a/launch/moveit_rviz.launch
+++ /dev/null
@@ -1,19 +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" />
-
-  <!--Retrieve the right rviz config file-->
-  <arg name="rviz_tutorial" default="false" />
-  <arg name="rviz_config" default="$(dirname)/moveit.rviz" />
-
-  <arg if="$(eval rviz_config=='')" name="command_args" value="" />
-  <arg if="$(eval rviz_config!='' and not rviz_tutorial)" name="command_args" value="-d $(arg rviz_config)" />
-  <arg if="$(eval rviz_tutorial)" name="command_args" value="-d $(dirname)/moveit_empty.rviz" />
-
-  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
-        args="$(arg command_args)" output="screen">
-  </node>
-
-</launch>
diff --git a/launch/moveit_scene.rviz b/launch/moveit_scene.rviz
deleted file mode 100644
index b9e16ad..0000000
--- a/launch/moveit_scene.rviz
+++ /dev/null
@@ -1,138 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 84
-    Name: Displays
-    Property Tree Widget:
-      Expanded: ~
-      Splitter Ratio: 0.5
-    Tree Height: 542
-  - Class: rviz/Help
-    Name: Help
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz_visual_tools/RvizVisualToolsGui
-    Name: RvizVisualToolsGui
-Preferences:
-  PromptSaveOnExit: true
-Toolbars:
-  toolButtonStyle: 2
-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: rviz/MarkerArray
-      Enabled: true
-      Marker Topic: rviz_visual_tools
-      Name: MarkerArray
-      Namespaces:
-        {}
-      Queue Size: 100
-      Value: true
-    - Class: moveit_rviz_plugin/Trajectory
-      Color Enabled: false
-      Enabled: true
-      Interrupt Display: false
-      Links: ~
-      Loop Animation: false
-      Name: Trajectory
-      Robot Alpha: 0.5
-      Show Robot Collision: false
-      Show Robot Visual: true
-      Show Trail: false
-      State Display Time: 3x
-      Trail Step Size: 1
-      Trajectory Topic: move_group/display_planned_path
-      Value: true
-    - Class: moveit_rviz_plugin/PlanningScene
-      Enabled: true
-      Move Group Namespace: ""
-      Name: PlanningScene
-      Planning Scene Topic: move_group/monitored_planning_scene
-      Robot Description: robot_description
-      Scene Geometry:
-        Scene Alpha: 0.9
-        Show Scene Geometry: true
-        Voxel Coloring: Z-Axis
-        Voxel Rendering: Occupied Voxels
-      Scene Robot:
-        Attached Body Color: 150; 50; 150
-        Links: ~
-        Robot Alpha: 1
-        Show Robot Collision: false
-        Show Robot Visual: true
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: panda_link0
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz_visual_tools/KeyTool
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 2.0
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Field of View: 0.75
-      Focal Point:
-        X: -0.1
-        Y: 0.25
-        Z: 0.30
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.5
-      Target Frame: panda_link0
-      Yaw: -0.6232355833053589
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 848
-  Help:
-    collapsed: false
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000009fb000000100044006900730070006c006100790073010000003d000002af000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006700000001ab000001880000000000000000fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb00000024005200760069007a00560069007300750061006c0054006f006f006c007300470075006901000002f2000000410000004100ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  RvizVisualToolsGui:
-    collapsed: false
-  Trajectory - Slider:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1291
-  X: 449
-  Y: 25
diff --git a/launch/ompl-chomp_planning_pipeline.launch.xml b/launch/ompl-chomp_planning_pipeline.launch.xml
deleted file mode 100644
index 178d2be..0000000
--- a/launch/ompl-chomp_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<launch>
-  <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
-  <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
-    <arg name="planning_adapters" value="
-       default_planner_request_adapters/AddTimeParameterization
-       default_planner_request_adapters/FixWorkspaceBounds
-       default_planner_request_adapters/FixStartStateBounds
-       default_planner_request_adapters/FixStartStateCollision
-       default_planner_request_adapters/FixStartStatePathConstraints
-       chomp/OptimizerAdapter"
-       />
-  </include>
-
-  <!-- load chomp config -->
-  <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
-
-  <!-- override trajectory_initialization_method -->
-  <param name="trajectory_initialization_method" value="fillTrajectory"/>
-</launch>
diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ompl_planning_pipeline.launch.xml
deleted file mode 100644
index af9d56e..0000000
--- a/launch/ompl_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<launch>
-
-  <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
-  <arg name="planning_adapters"
-       default="default_planner_request_adapters/AddTimeParameterization
-                default_planner_request_adapters/ResolveConstraintFrames
-                default_planner_request_adapters/FixWorkspaceBounds
-                default_planner_request_adapters/FixStartStateBounds
-                default_planner_request_adapters/FixStartStateCollision
-                default_planner_request_adapters/FixStartStatePathConstraints"
-                />
-
-  <arg name="start_state_max_bounds_error" default="0.1" />
-  <arg name="jiggle_fraction" default="0.05" />
-  <arg name="arm_id" default="panda" />
-
-  <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
-  <param name="request_adapters" value="$(arg planning_adapters)" />
-  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
-  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-
-  <!-- Add MoveGroup capabilities specific to this pipeline -->
-  <!-- <param name="capabilities" value="" /> -->
-
-  <rosparam command="load" file="$(find panda_moveit_config)/config/ompl_planning.yaml" subst_value="true"/>
-
-</launch>
diff --git a/launch/panda_moveit_sensor_manager.launch.xml b/launch/panda_moveit_sensor_manager.launch.xml
deleted file mode 100644
index 5d02698..0000000
--- a/launch/panda_moveit_sensor_manager.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-
-</launch>
diff --git a/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
deleted file mode 100644
index c7c4cf5..0000000
--- a/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-
-  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
-  <arg name="planning_adapters" default="" />
-
-  <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
-  <param name="request_adapters" value="$(arg planning_adapters)" />
-
-  <!-- Define default planner (for all groups) -->
-  <param name="default_planner_config" value="PTP" />
-
-  <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
-  <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
-                                    pilz_industrial_motion_planner/MoveGroupSequenceService" />
-</launch>
diff --git a/launch/planning_context.launch b/launch/planning_context.launch
deleted file mode 100644
index b591e1a..0000000
--- a/launch/planning_context.launch
+++ /dev/null
@@ -1,28 +0,0 @@
-<launch>
-  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
-  <arg name="load_gripper" default="true" />
-  <arg name="load_robot_description" default="false"/>
-  <arg name="arm_id" default="panda" />
-
-  <!-- The name of the parameter under which the URDF is loaded -->
-  <arg name="robot_description" default="robot_description"/>
-
-  <!-- Load universal robot description format (URDF) -->
-  <param name="$(arg robot_description)" command="xacro '$(find franka_description)/robots/panda/panda.urdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id)" if="$(arg load_robot_description)" />
-
-  <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" command="xacro '$(find panda_moveit_config)/config/panda.srdf.xacro' hand:=$(arg load_gripper) arm_id:=$(arg arm_id)" />
-
-  <!-- Load updated joint limits (override information from URDF) -->
-  <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find panda_moveit_config)/config/joint_limits.yaml" subst_value="true" />
-    <rosparam command="load" file="$(find panda_moveit_config)/config/cartesian_limits.yaml" subst_value="true"/>
-  </group>
-
-  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
-  <group ns="$(arg robot_description)_kinematics">
-    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml" subst_value="true"/>
-
-  </group>
-
-</launch>
diff --git a/launch/planning_pipeline.launch.xml b/launch/planning_pipeline.launch.xml
deleted file mode 100644
index 250e743..0000000
--- a/launch/planning_pipeline.launch.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<launch>
-
-  <!-- This file makes it easy to include different planning pipelines;
-       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
-
-  <arg name="pipeline" default="ompl" />
-  <arg name="arm_id" default="panda" />
-
-  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" pass_all_args="true"/>
-
-</launch>
diff --git a/launch/ros_control_moveit_controller_manager.launch.xml b/launch/ros_control_moveit_controller_manager.launch.xml
deleted file mode 100644
index 9ebc91c..0000000
--- a/launch/ros_control_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,4 +0,0 @@
-<launch>
-	<!-- Define MoveIt controller manager plugin -->
-	<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
-</launch>
diff --git a/launch/ros_controllers.launch b/launch/ros_controllers.launch
deleted file mode 100644
index 47806e5..0000000
--- a/launch/ros_controllers.launch
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- Load joint controller configurations from YAML file to parameter server -->
-  <rosparam file="$(find panda_moveit_config)/config/ros_controllers.yaml" command="load"  subst_value="true"/>
-
-  <!-- Load and start the controllers -->
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
-        args="$(arg transmission)_joint_trajectory_controller" />
-</launch>
diff --git a/launch/run_benchmark_ompl.launch b/launch/run_benchmark_ompl.launch
deleted file mode 100644
index 4bbfb37..0000000
--- a/launch/run_benchmark_ompl.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
-  <arg name="cfg" />
-
-  <!-- Load URDF -->
-  <include file="$(dirname)/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-  </include>
-
-  <!-- Start the database -->
-  <include file="$(dirname)/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="$(find panda_moveit_config)/config/ompl_planning.yaml"/>
-  </node>
-
-</launch>
diff --git a/launch/run_benchmark_trajopt.launch b/launch/run_benchmark_trajopt.launch
deleted file mode 100644
index 7628416..0000000
--- a/launch/run_benchmark_trajopt.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
-  <arg name="cfg" />
-
-  <!-- Load URDF -->
-  <include file="$(find moveit_resources_panda_moveit_config)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-  </include>
-
-  <!-- Start the database -->
-  <include file="$(find moveit_resources_panda_moveit_config)/launch/warehouse.launch">
-    <arg name="moveit_warehouse_database_path" value="moveit_trajopt_benchmark_warehouse"/>
-  </include>
-
-  <!-- Start Benchmark Executable -->
-  <node name="$(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 moveit_resources_panda_moveit_config)/config/trajopt_planning.yaml"/>
-  </node>
-
-</launch>
diff --git a/launch/sensor_manager.launch.xml b/launch/sensor_manager.launch.xml
deleted file mode 100644
index 61db9d9..0000000
--- a/launch/sensor_manager.launch.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<launch>
-
-  <!-- This file makes it easy to include the settings for sensor managers -->
-
-  <!-- Params for 3D sensors config: '' | pointcloud | depthmap -->
-  <arg name="sensor_type" default="" />
-  <rosparam if="$(eval arg('sensor_type')  != '')" command="load" file="$(find panda_moveit_config)/config/sensors_kinect_$(arg sensor_type).yaml" />
-
-  <!-- Params for the octomap monitor -->
-  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
-  <param name="octomap_frame" type="string" value="camera_rgb_optical_frame" />
-  <param name="octomap_resolution" type="double" value="0.025" />
-  <param name="max_range" type="double" value="5.0" />
-
-  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
-  <arg name="moveit_sensor_manager" default="panda" />
-  <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
-
-</launch>
diff --git a/launch/setup_assistant.launch b/launch/setup_assistant.launch
deleted file mode 100644
index d647abe..0000000
--- a/launch/setup_assistant.launch
+++ /dev/null
@@ -1,16 +0,0 @@
-<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
-<launch>
-
-  <!-- Debug Info -->
-  <arg name="debug" default="false" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
-
-  <!-- Run -->
-  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
-        args="--config_pkg=panda_moveit_config"
-        launch-prefix="$(arg launch_prefix)"
-        required="true"
-        output="screen" />
-
-</launch>
diff --git a/launch/simple_moveit_controller_manager.launch.xml b/launch/simple_moveit_controller_manager.launch.xml
deleted file mode 100644
index 44e6d6c..0000000
--- a/launch/simple_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-  <!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
-  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
-
-  <!-- Load controller list to the parameter server -->
-  <rosparam subst_value="true" file="$(find panda_moveit_config)/config/simple_moveit_controllers.yaml" />
-</launch>
diff --git a/launch/stomp_planning_pipeline.launch.xml b/launch/stomp_planning_pipeline.launch.xml
deleted file mode 100644
index cbff8df..0000000
--- a/launch/stomp_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<launch>
-  <!-- Stomp Plugin for MoveIt! -->
-  <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
-
-  <arg name="start_state_max_bounds_error" value="0.1" />
-  <arg name="jiggle_fraction" value="0.05" />
-  <!-- The request adapters (plugins) used when planning.
-       ORDER MATTERS -->
-  <arg name="planning_adapters" default="default_planner_request_adapters/AddTimeParameterization
-                                       default_planner_request_adapters/FixWorkspaceBounds
-                                       default_planner_request_adapters/FixStartStateBounds
-                                       default_planner_request_adapters/FixStartStateCollision
-                                       default_planner_request_adapters/FixStartStatePathConstraints" />
-
-
-  <param name="planning_plugin" value="$(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)" />
-  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-
-  <!-- Add MoveGroup capabilities specific to this pipeline -->
-  <!-- <param name="capabilities" value="" /> -->
-
-  <!-- Load parameters for both groups, panda_arm and manipulator -->
-  <group ns="$(arg arm_id)_arm">
-    <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml" />
-    <param name="group_name" value="$(arg arm_id)_arm" />
-  </group>
-  <group ns="manipulator">
-    <rosparam command="load" file="$(find panda_moveit_config)/config/stomp_planning.yaml" />
-    <param name="group_name" value="manipulator" />
-  </group>
-
-</launch>
diff --git a/launch/trajectory_execution.launch.xml b/launch/trajectory_execution.launch.xml
deleted file mode 100644
index 20c3dfc..0000000
--- a/launch/trajectory_execution.launch.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<launch>
-  <!-- This file summarizes all settings required for trajectory execution  -->
-
-  <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
-  <arg name="moveit_controller_manager" />
-  <arg name="fake_execution_type" default="interpolate" />
-
-  <!-- Flag indicating whether MoveIt is allowed to load/unload  or switch controllers -->
-  <arg name="moveit_manage_controllers" default="true"/>
-  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
-
-  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
-  <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 -->
-  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
-  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
-
-  <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
-       As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
-  <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
-
-</launch>
diff --git a/launch/trajopt_planning_pipeline.launch.xml b/launch/trajopt_planning_pipeline.launch.xml
deleted file mode 100644
index ec9ea9b..0000000
--- a/launch/trajopt_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<launch>
-
-  <!-- TrajOpt Plugin for MoveIt -->
-  <arg name="planning_plugin" value="trajopt_interface/TrajOptPlanner" />
-
-  <!-- define capabilites that are loaded on start (space seperated) -->
-  <arg name="capabilities" default=""/>
-
-  <!-- inhibit capabilites (space seperated) -->
-  <arg name="disable_capabilities" default=""/>
-
-  <!-- The request adapters (plugins) used when planning with TrajOpt.
-       ORDER MATTERS -->
-  <arg name="planning_adapters" default="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" />
-
-  <arg name="start_state_max_bounds_error" default="0.1" />
-  <arg name="jiggle_fraction" default="0.05" />
-
-  <param name="planning_plugin" value="$(arg planning_plugin)" />
-  <param name="request_adapters" value="$(arg planning_adapters)" />
-  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
-  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-  <param name="capabilities" value="$(arg capabilities)" />
-  <param name="disable_capabilities" value="$(arg disable_capabilities)" />
-
-  <rosparam command="load" file="$(find panda_moveit_config)/config/trajopt_planning.yaml"/>
-
-</launch>
diff --git a/launch/warehouse.launch b/launch/warehouse.launch
deleted file mode 100644
index 0712e67..0000000
--- a/launch/warehouse.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-
-  <!-- The path to the database must be specified -->
-  <arg name="moveit_warehouse_database_path" />
-
-  <!-- Load warehouse parameters -->
-  <include file="$(dirname)/warehouse_settings.launch.xml" />
-
-  <!-- Run the DB server -->
-  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
-    <param name="overwrite" value="false"/>
-    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
-  </node>
-
-</launch>
diff --git a/launch/warehouse_settings.launch.xml b/launch/warehouse_settings.launch.xml
deleted file mode 100644
index e473b08..0000000
--- a/launch/warehouse_settings.launch.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<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 host for moveit -->
-  <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/package.xml b/package.xml
index 4ed28fd..0d4a1f6 100644
--- a/package.xml
+++ b/package.xml
@@ -1,40 +1,43 @@
-<package>
-
+<?xml version="1.0"?>
+<package format="3">
   <name>panda_moveit_config</name>
   <version>0.8.1</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the panda with the MoveIt Motion Planning Framework
   </description>
-  <author email="moveit_releasers@googlegroups.com">MoveIt maintainer team</author>
-  <maintainer email="moveit_releasers@googlegroups.com">MoveIt maintainer team</maintainer>
+    <author email="moveit_releasers@googlegroups.com">MoveIt maintainer team</author>
+    <maintainer email="moveit_releasers@googlegroups.com">MoveIt maintainer team</maintainer>
 
   <license>BSD</license>
-
+  
   <url type="website">http://moveit.ros.org/</url>
   <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
   <url type="repository">https://github.com/ros-planning/moveit</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <run_depend>moveit_ros_move_group</run_depend>
-  <run_depend>moveit_fake_controller_manager</run_depend>
-  <run_depend>moveit_kinematics</run_depend>
-  <run_depend>moveit_planners</run_depend>
-  <run_depend>moveit_ros_visualization</run_depend>
-  <run_depend>moveit_setup_assistant</run_depend>
-  <run_depend>moveit_simple_controller_manager</run_depend>
-  <run_depend>joint_state_publisher</run_depend>
-  <run_depend>joint_state_publisher_gui</run_depend>
-  <run_depend>robot_state_publisher</run_depend>
-  <run_depend>rviz</run_depend>
-  <run_depend>tf2_ros</run_depend>
-  <run_depend>xacro</run_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_fake_controller_manager</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_setup_assistant</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
   <!-- The next 2 packages are required for the gazebo simulation.
        We don't include them by default to prevent installing gazebo and all its dependencies. -->
   <!-- <run_depend>joint_trajectory_controller</run_depend> -->
   <!-- <run_depend>gazebo_ros_control</run_depend> -->
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
   <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
-  <run_depend version_gte="0.10.0">franka_description</run_depend>
-
+  <exec_depend version_gte="0.10.0">franka_description</exec_depend>
+  
+  <export>
+      <build_type>ament_cmake</build_type>
+  </export>
 </package>