From d0bf33549560ffbbbceadb4a218f4eda013909f4 Mon Sep 17 00:00:00 2001
From: Henrique Ferrolho <henrique.ferrolho@gmail.com>
Date: Sat, 6 Feb 2021 12:16:43 +0000
Subject: [PATCH] Squashed 'ros_kortex/' changes from 29dfd05..330c55b
MIME-Version: 1.0
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Content-Transfer-Encoding: 8bit

330c55b Change notification subscription to be done before home (#138)
d2d25f3 Fixing position and velocity limit cropping. (#125)
ff2eb2b Bugfix/double prefix in action server (#129)
5b23bab Remove prefix from driver as it's already in the yaml joint_limits file (#128)
239636e Atomic compilation problem and put back xacro --inorder (#115)
cbe4a91 Clarify the MoveIt diagram (FollowJointTrajectory)
34d4ba4 Removed test launch file
d2bf9e8 Simulation improvements (#112)
11e42a2 Added camera frames to gen3-7dof description so the vision module can work correctly (#82)
a57ff4c Also bump the driver version to 2.2.1
70ff026 Bump versions for kortex_description and MoveIt config packages
ea4c01d Tool frame (#97)
193654f Fix Robotiq grippers flying around in pieces (#98)
496f592 Added use_hard_limits parameter to Gen3 lite MoveIt config to remove roslaunch error (#95)
6b2f985 Add Conan CMake instructions and documented how to build for ARMV8 platforms (#94)
037bff2 Add colours to Gen3 lite simulation (#93)
5f8ef5b Updated joint_trajectory_action_server to use prefix (#87)
9798c6d Support catkin_make_isolated and catkin tools
fc948eb Add Melodic installation link to readme
0b422bb Push 2.2 changes to kinetic-devel (#81)
b62df2a Adjusted the Gen3 lite Moveit limits so trajectories can launch properly (#78)
cff9fe9 Add multiple-robots launch file and URDF example
b485472 Add topics for joint and cartesian velocity control (#72)
69fe571 Add prefix in launch and xacro files (#73)
1d2c4a7 Corrected the automatic download link for the Kortex API
cb95593 Push to release 2.1 (#65)
6970f5b Various MoveIt improvements (#64)
31c1582 Fix bug in documentation for default_goal_tolerance
0380141 Add joint states publish rate to joint state publisher (#58)
1f1c29b Added a launch file and modified the documentation so it's easier to run the MoveIt Python example (#53)
5fe92ca Support catkin_make install (#49)
27150d3 Update readme to link to Kortex repo download links for release 2.0.1
55733eb Update readme.md
e274e85 Added Find directive in kortex_driver Cmakelists.txt to find download_kortex_api.bash (#43)
f286d99 Add cartesian movement with notifications examples (#38)
3e78af2 Prevent multiple notifications (#37)
b4b5a31 Add Melodic support (#35)
947be04 New content for release 2.0.0
5580365 Corrected the folder in which to copy the libs, and added a chmod +x for the debug lib
3f2380e Make Protobuf installation optional
f5d0bad Fixed the end effector reference frame that was modified by mistake and renamed EndEffector to end_effector (#18)
81de3dd Bugfix/example readme (#15)
c2df268 Add launch files and rename joints and links to match ROS convention (#13)
499752f Changed the description package to kortex_description to match ROS standards
b6ebd6a Added instructions for using the build.sh script to install the API and build the packagesé
6b0ad1f Change kortex_api readme to download kortex_api 1.1.6
11ec11d Updated the nodes and the doc for Kortex API 1.1.6
352bcde Merge pull request #11 from Kinovarobotics/bugfix/add-kortex-examples-dependancies-in-cmakelists
c8bb1d2 Added dependancies for the kortex_examples package so now it will always build after the drivers.
693bcaf Merge pull request #8 from Eglen24/bugfix/examples
1fba7bb fix a typo
d417e2b correction of playcartesian.py and readme
831d8d9 first commit
3bb1a08 Initial commit
REVERT: 29dfd05 Adds dependencies to Docs Project.toml
REVERT: 1d7c23f [Docs] Adds Tutorial
REVERT: 3c5268e [Docs] Adds install guide for the HSL subroutines
REVERT: 80cdac3 Updates README.md
REVERT: 3be53bd Adds Requires.jl to make KNITRO.jl a conditional dependency
REVERT: 5371175 Renames plot method
REVERT: 61d4656 Adds SolverLog
REVERT: 07c3bb6 Adds logo
REVERT: c46f4f5 Adds initial draft of Docs with Documenter.jl
REVERT: f559255 Removes robot argument from `constrain_ee_position!`
REVERT: dd393b9 Passes `tol` user option to Ipopt
REVERT: 5ae169a Adds missing (forgotten) control flags `use_m*` to Ipopt transcription
REVERT: 674c50c Adds @elapsed to measure time of Ipopt solve
REVERT: 19ed830 Fixes issue with initial guess
REVERT: 3f1797d Adds objective function to Ipopt's NLP
REVERT: 4f9de76 Adds initial guess to Ipopt
REVERT: 03f746a Adds draft of Ipopt installation instructions
REVERT: d8cac0d Adds defect constraints to Ipopt formulation (forward and inverse)
REVERT: 049d639 Adds plots of results
REVERT: 0ab04ff Refactoring of Knitro's callbacks of dynamics
REVERT: 4dde9ba Adds objective function to Knitro's NLP
REVERT: 3705ef3 Adds initial guess to knitro
REVERT: 1f85437 Adds defect constraints using inverse dynamics to Knitro's NLP
REVERT: d53a2a0 Adds defect constraints using forward dynamics to Knitro's NLP
REVERT: 5a3bf5a Adds dynamics functions
REVERT: 8bc22ec Adds Ipopt end-effector position constraints
REVERT: b9a0abd Adds Knitro end-effector position constraints
REVERT: 1ef193f Shows animation of solution (with MeshCat.jl)
REVERT: e79bad2 Adds mvis::MechanismVisualizer to `Robot` struct
REVERT: b14a260 Adds initial transcription using `Ipopt.jl`
REVERT: e792bb5 Adds initial transcription using `KNITRO.jl`
REVERT: 8b83145 Adds `Problem` struct
REVERT: c9d6046 Adds `Robot` struct
REVERT: 21b3ac6 Loads robot and sets up visualisation
REVERT: 3b19b42 Adds KUKA iiwa submodule
REVERT: e87055d Creates package and adds example notebook
REVERT: f78aa83 Initial commit

git-subtree-dir: ros_kortex
git-subtree-split: 330c55bce8c3d463cca2492b3e0c89204f235640
---
 .gitignore                                    |   27 -
 .gitmodules                                   |    3 -
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 CMakeLists.txt                                |    1 +
 LICENSE                                       |   83 +-
 Project.toml                                  |   22 -
 README.md                                     |   49 -
 docs/Project.toml                             |    6 -
 docs/make.jl                                  |   25 -
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 docs/src/new_robot.md                         |    1 -
 docs/src/tutorial.md                          |  302 -
 iiwa_stack                                    |    1 -
 kortex_api/.gitignore                         |    2 +
 kortex_control/CMakeLists.txt                 |   15 +
 .../config/joint_position_controllers.yaml    |   75 +
 .../config/joint_position_controllers.yaml    |   85 +
 .../config/joint_position_controllers.yaml    |   75 +
 .../gripper_action_controller_parameters.yaml |   11 +
 .../gripper_action_controller_parameters.yaml |   13 +
 .../gripper_action_controller_parameters.yaml |   13 +
 kortex_control/package.xml                    |   25 +
 kortex_control/readme.md                      |   24 +
 kortex_description/CMakeLists.txt             |   15 +
 .../gazebo_initial_joint_positions.yaml       |    6 +
 .../arms/gen3/6dof/config/joint_limits.yaml   |   21 +
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 .../GEN3-6DOF_NO-VISION_URDF_ARM_V01.urdf     |  205 +
 .../urdf/GEN3-6DOF_VISION_URDF_ARM_V01.urdf   |  226 +
 .../arms/gen3/6dof/urdf/gen3_macro.xacro      |  244 +
 .../6dof/urdf/gen3_transmission_macro.xacro   |   68 +
 .../gazebo_initial_joint_positions.yaml       |    7 +
 .../arms/gen3/7dof/config/joint_limits.yaml   |   24 +
 .../arms/gen3/7dof/config/twist_limits.yaml   |    4 +
 .../arms/gen3/7dof/meshes/base_link.STL       |  Bin 0 -> 183884 bytes
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 .../7dof/meshes/bracelet_with_vision_link.STL |  Bin 0 -> 1164084 bytes
 .../gen3/7dof/meshes/end_effector_link.STL    |  Bin 0 -> 80 bytes
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 .../arms/gen3/7dof/meshes/half_arm_1_link.STL |  Bin 0 -> 514184 bytes
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 .../arms/gen3/7dof/urdf/GEN3_URDF_V12.urdf    |  234 +
 .../arms/gen3/7dof/urdf/gen3_macro.xacro      |  336 ++
 .../7dof/urdf/gen3_transmission_macro.xacro   |   78 +
 .../gen3_lite/6dof/config/joint_limits.yaml   |   21 +
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 .../6dof/meshes/upper_wrist_link.STL          |  Bin 0 -> 1134284 bytes
 .../arms/gen3_lite/6dof/urdf/GEN3-LITE.urdf   |  188 +
 .../gen3_lite/6dof/urdf/gen3_lite_macro.xacro |  211 +
 .../urdf/gen3_lite_transmission_macro.xacro   |   68 +
 .../gen3_lite_2f/config/joint_limits.yaml     |    8 +
 .../gen3_lite_2f/meshes/gripper_base_link.STL |  Bin 0 -> 1277984 bytes
 .../meshes/left_finger_dist_link.STL          |  Bin 0 -> 654484 bytes
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 .../GEN3-LITE-GRIPPER_URDF_SIMPLIFIED_V2.urdf |  125 +
 .../urdf/gen3_lite_2f_macro.xacro             |  182 +
 .../gen3_lite_2f_transmission_macro.xacro     |   62 +
 .../grippers/robotiq_2f_140/LICENSE           |   23 +
 .../grippers/robotiq_2f_140/README.md         |   12 +
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 .../robotiq_2f_140/urdf/robotiq_arg2f.xacro   |   57 +
 .../urdf/robotiq_arg2f_140_model_macro.xacro  |  252 +
 .../grippers/robotiq_2f_85/LICENSE            |   23 +
 .../grippers/robotiq_2f_85/README.md          |   13 +
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 .../robotiq_arg2f_85_inner_finger.dae         |   56 +
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 .../visual/robotiq_arg2f_85_base_link.dae     |  346 ++
 .../visual/robotiq_arg2f_85_inner_finger.dae  |   98 +
 .../visual/robotiq_arg2f_85_inner_knuckle.dae |   98 +
 .../visual/robotiq_arg2f_85_outer_finger.dae  |   98 +
 .../visual/robotiq_arg2f_85_outer_knuckle.dae |   63 +
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 .../urdf/robotiq_2f_85_macro.xacro            |    7 +
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 .../urdf/robotiq_arg2f_85_model_macro.xacro   |  215 +
 kortex_description/launch/visualize.launch    |   33 +
 .../multiple_robots/kortex_dual_robots.xacro  |   51 +
 kortex_description/package.xml                |   22 +
 kortex_description/readme.md                  |   33 +
 kortex_description/robots/gen3.xacro          |   18 +
 .../robots/gen3_lite_gen3_lite_2f.xacro       |   20 +
 .../robots/gen3_robotiq_2f_140.xacro          |   18 +
 .../robots/gen3_robotiq_2f_85.xacro           |   18 +
 kortex_description/robots/kortex_robot.xacro  |   72 +
 {docs => kortex_driver}/.gitignore            |    1 -
 kortex_driver/CMakeLists.txt                  |  148 +
 kortex_driver/cmake/README.md                 |    3 +
 kortex_driver/cmake/conan.cmake               |  554 ++
 kortex_driver/conanfile.py                    |    9 +
 .../actuatorconfig_services_interface.h       |  111 +
 .../interfaces/base_services_interface.h      |  539 ++
 .../controlconfig_services_interface.h        |  142 +
 .../deviceconfig_services_interface.h         |  151 +
 .../devicemanager_services_interface.h        |   54 +
 .../interconnectconfig_services_interface.h   |   93 +
 .../visionconfig_services_interface.h         |   91 +
 .../robot/actuatorconfig_proto_converter.h    |   83 +
 .../robot/actuatorconfig_ros_converter.h      |   83 +
 .../generated/robot/actuatorconfig_services.h |   61 +
 .../robot/actuatorcyclic_proto_converter.h    |   55 +
 .../robot/actuatorcyclic_ros_converter.h      |   55 +
 .../generated/robot/base_proto_converter.h    |  355 ++
 .../generated/robot/base_ros_converter.h      |  355 ++
 .../generated/robot/base_services.h           |  199 +
 .../robot/basecyclic_proto_converter.h        |   61 +
 .../robot/basecyclic_ros_converter.h          |   61 +
 .../generated/robot/common_proto_converter.h  |   71 +
 .../generated/robot/common_ros_converter.h    |   71 +
 .../robot/controlconfig_proto_converter.h     |   83 +
 .../robot/controlconfig_ros_converter.h       |   83 +
 .../generated/robot/controlconfig_services.h  |   71 +
 .../robot/deviceconfig_proto_converter.h      |   97 +
 .../robot/deviceconfig_ros_converter.h        |   97 +
 .../generated/robot/deviceconfig_services.h   |   74 +
 .../robot/devicemanager_proto_converter.h     |   49 +
 .../robot/devicemanager_ros_converter.h       |   49 +
 .../generated/robot/devicemanager_services.h  |   42 +
 .../robot/grippercyclic_proto_converter.h     |   61 +
 .../robot/grippercyclic_ros_converter.h       |   61 +
 .../interconnectconfig_proto_converter.h      |   71 +
 .../robot/interconnectconfig_ros_converter.h  |   71 +
 .../robot/interconnectconfig_services.h       |   55 +
 .../interconnectcyclic_proto_converter.h      |   55 +
 .../robot/interconnectcyclic_ros_converter.h  |   55 +
 .../productconfiguration_proto_converter.h    |   51 +
 .../productconfiguration_ros_converter.h      |   51 +
 .../robot/visionconfig_proto_converter.h      |   79 +
 .../robot/visionconfig_ros_converter.h        |   79 +
 .../generated/robot/visionconfig_services.h   |   54 +
 .../simulation/actuatorconfig_services.h      |   73 +
 .../generated/simulation/base_services.h      |  335 ++
 .../simulation/controlconfig_services.h       |   92 +
 .../simulation/deviceconfig_services.h        |   98 +
 .../simulation/devicemanager_services.h       |   35 +
 .../simulation/interconnectconfig_services.h  |   61 +
 .../simulation/visionconfig_services.h        |   58 +
 .../non-generated/kortex_arm_driver.h         |  170 +
 .../non-generated/kortex_arm_simulation.h     |  211 +
 .../non-generated/kortex_math_util.h          |   37 +
 .../non-generated/kortex_subscribers.h        |   55 +
 ..._computed_joint_trajectory_action_server.h |  102 +
 .../robotiq_gripper_command_action_server.h   |   86 +
 kortex_driver/launch/kortex_driver.launch     |  170 +
 .../launch/kortex_dual_driver.launch          |  132 +
 kortex_driver/msg/generated/ErrorCodes.msg    |   10 +
 kortex_driver/msg/generated/SubErrorCodes.msg |  194 +
 .../ActuatorConfig_ControlMode.msg            |   12 +
 .../ActuatorConfig_ControlModeInformation.msg |    2 +
 .../ActuatorConfig_SafetyLimitType.msg        |    4 +
 .../ActuatorConfig_ServiceVersion.msg         |    4 +
 .../generated/actuator_config/AxisOffsets.msg |    3 +
 .../actuator_config/AxisPosition.msg          |    2 +
 .../CoggingFeedforwardMode.msg                |    6 +
 .../CoggingFeedforwardModeInformation.msg     |    2 +
 .../generated/actuator_config/CommandMode.msg |   12 +
 .../CommandModeInformation.msg                |    2 +
 .../generated/actuator_config/ControlLoop.msg |    2 +
 .../actuator_config/ControlLoopParameters.msg |    7 +
 .../actuator_config/ControlLoopSelection.msg  |   14 +
 .../actuator_config/CustomDataIndex.msg       |  190 +
 .../actuator_config/CustomDataSelection.msg   |    2 +
 .../EncoderDerivativeParameters.msg           |    3 +
 .../actuator_config/FrequencyResponse.msg     |    6 +
 .../actuator_config/LoopSelection.msg         |    2 +
 .../actuator_config/PositionCommand.msg       |    4 +
 .../actuator_config/RampResponse.msg          |    5 +
 .../actuator_config/SafetyIdentifierBankA.msg |   56 +
 .../generated/actuator_config/Servoing.msg    |    2 +
 .../actuator_config/StepResponse.msg          |    5 +
 .../actuator_config/TorqueCalibration.msg     |    5 +
 .../actuator_config/TorqueOffset.msg          |    2 +
 .../actuator_config/VectorDriveParameters.msg |    5 +
 .../ActuatorCyclic_Command.msg                |    7 +
 .../ActuatorCyclic_CustomData.msg             |   18 +
 .../ActuatorCyclic_Feedback.msg               |   15 +
 .../ActuatorCyclic_MessageId.msg              |    2 +
 .../ActuatorCyclic_ServiceVersion.msg         |    4 +
 .../actuator_cyclic/CommandFlags.msg          |   22 +
 .../generated/actuator_cyclic/StatusFlags.msg |   50 +
 kortex_driver/msg/generated/base/Action.msg   |    5 +
 .../msg/generated/base/ActionEvent.msg        |   22 +
 .../generated/base/ActionExecutionState.msg   |    3 +
 .../msg/generated/base/ActionHandle.msg       |    4 +
 .../msg/generated/base/ActionList.msg         |    2 +
 .../msg/generated/base/ActionNotification.msg |    7 +
 .../generated/base/ActionNotificationList.msg |    2 +
 .../msg/generated/base/ActionType.msg         |   42 +
 .../base/Action_action_parameters.msg         |   21 +
 .../msg/generated/base/ActivateMapHandle.msg  |    4 +
 .../generated/base/ActuatorInformation.msg    |    2 +
 .../msg/generated/base/Admittance.msg         |    2 +
 .../msg/generated/base/AdmittanceMode.msg     |   10 +
 .../generated/base/AdvancedSequenceHandle.msg |    3 +
 .../base/AppendActionInformation.msg          |    3 +
 .../generated/base/ArmStateInformation.msg    |    3 +
 .../generated/base/ArmStateNotification.msg   |    4 +
 .../msg/generated/base/BackupEvent.msg        |    6 +
 .../generated/base/Base_CapSenseConfig.msg    |    7 +
 .../msg/generated/base/Base_CapSenseMode.msg  |   12 +
 .../msg/generated/base/Base_ControlMode.msg   |   22 +
 .../base/Base_ControlModeInformation.msg      |    2 +
 .../msg/generated/base/Base_JointSpeeds.msg   |    3 +
 .../msg/generated/base/Base_Position.msg      |    4 +
 .../generated/base/Base_RotationMatrix.msg    |    4 +
 .../generated/base/Base_RotationMatrixRow.msg |    4 +
 .../generated/base/Base_SafetyIdentifier.msg  |   64 +
 .../generated/base/Base_ServiceVersion.msg    |    4 +
 .../msg/generated/base/Base_Stop.msg          |    0
 .../msg/generated/base/BridgeConfig.msg       |    5 +
 .../msg/generated/base/BridgeIdentifier.msg   |    2 +
 .../msg/generated/base/BridgeList.msg         |    2 +
 .../msg/generated/base/BridgePortConfig.msg   |    3 +
 .../msg/generated/base/BridgeResult.msg       |    3 +
 .../msg/generated/base/BridgeStatus.msg       |   14 +
 .../msg/generated/base/BridgeType.msg         |    6 +
 .../generated/base/CartesianLimitation.msg    |    4 +
 .../base/CartesianLimitationList.msg          |    2 +
 .../msg/generated/base/CartesianSpeed.msg     |    3 +
 .../base/CartesianTrajectoryConstraint.msg    |    2 +
 .../CartesianTrajectoryConstraint_type.msg    |    3 +
 .../msg/generated/base/ChangeJointSpeeds.msg  |    2 +
 .../msg/generated/base/ChangeTwist.msg        |    3 +
 .../msg/generated/base/ChangeWrench.msg       |    3 +
 .../CommunicationInterfaceConfiguration.msg   |    3 +
 .../base/ConfigurationChangeNotification.msg  |    6 +
 .../ConfigurationChangeNotificationList.msg   |    2 +
 ...hangeNotification_configuration_change.msg |   12 +
 .../base/ConfigurationNotificationEvent.msg   |   10 +
 .../generated/base/ConstrainedJointAngle.msg  |    4 +
 .../generated/base/ConstrainedJointAngles.msg |    3 +
 .../generated/base/ConstrainedOrientation.msg |    3 +
 .../msg/generated/base/ConstrainedPose.msg    |    3 +
 .../generated/base/ConstrainedPosition.msg    |    3 +
 .../base/ControlModeNotification.msg          |    5 +
 .../base/ControlModeNotificationList.msg      |    2 +
 .../msg/generated/base/ControllerBehavior.msg |   12 +
 .../base/ControllerConfiguration.msg          |    6 +
 .../base/ControllerConfigurationList.msg      |    2 +
 .../base/ControllerConfigurationMode.msg      |    2 +
 .../base/ControllerElementEventType.msg       |   10 +
 .../base/ControllerElementHandle.msg          |    3 +
 .../ControllerElementHandle_identifier.msg    |    3 +
 .../generated/base/ControllerElementState.msg |    4 +
 .../msg/generated/base/ControllerEvent.msg    |    4 +
 .../generated/base/ControllerEventType.msg    |    6 +
 .../msg/generated/base/ControllerHandle.msg   |    3 +
 .../generated/base/ControllerInputType.msg    |    6 +
 .../msg/generated/base/ControllerList.msg     |    2 +
 .../generated/base/ControllerNotification.msg |    5 +
 .../base/ControllerNotificationList.msg       |    2 +
 .../base/ControllerNotification_state.msg     |    3 +
 .../msg/generated/base/ControllerState.msg    |    3 +
 .../msg/generated/base/ControllerType.msg     |   10 +
 kortex_driver/msg/generated/base/Delay.msg    |    2 +
 .../msg/generated/base/EmergencyStop.msg      |    0
 .../base/EventIdSequenceInfoNotification.msg  |   14 +
 .../msg/generated/base/FactoryEvent.msg       |    6 +
 .../generated/base/FactoryNotification.msg    |    5 +
 kortex_driver/msg/generated/base/Faults.msg   |    0
 kortex_driver/msg/generated/base/Finger.msg   |    3 +
 .../generated/base/FirmwareBundleVersions.msg |    3 +
 .../base/FirmwareComponentVersion.msg         |    4 +
 .../generated/base/FullIPv4Configuration.msg  |    3 +
 .../msg/generated/base/FullUserProfile.msg    |    3 +
 .../msg/generated/base/Gen3GpioPinId.msg      |   26 +
 .../msg/generated/base/GpioBehavior.msg       |   10 +
 .../msg/generated/base/GpioEvent.msg          |    4 +
 kortex_driver/msg/generated/base/Gripper.msg  |    2 +
 .../msg/generated/base/GripperCommand.msg     |    4 +
 .../msg/generated/base/GripperMode.msg        |    8 +
 .../msg/generated/base/GripperRequest.msg     |    2 +
 .../msg/generated/base/IPv4Configuration.msg  |    5 +
 .../msg/generated/base/IPv4Information.msg    |    4 +
 .../msg/generated/base/JointAngle.msg         |    3 +
 .../msg/generated/base/JointAngles.msg        |    2 +
 .../msg/generated/base/JointLimitation.msg    |    4 +
 .../base/JointNavigationDirection.msg         |    6 +
 .../msg/generated/base/JointSpeed.msg         |    4 +
 .../msg/generated/base/JointTorque.msg        |    4 +
 .../msg/generated/base/JointTorques.msg       |    3 +
 .../base/JointTrajectoryConstraint.msg        |    3 +
 .../base/JointTrajectoryConstraintType.msg    |    6 +
 .../generated/base/JointsLimitationsList.msg  |    2 +
 kortex_driver/msg/generated/base/LedState.msg |    8 +
 .../msg/generated/base/LimitationType.msg     |   10 +
 kortex_driver/msg/generated/base/Map.msg      |    4 +
 .../msg/generated/base/MapElement.msg         |    4 +
 kortex_driver/msg/generated/base/MapEvent.msg |    3 +
 .../msg/generated/base/MapEvent_events.msg    |    4 +
 kortex_driver/msg/generated/base/MapGroup.msg |    8 +
 .../msg/generated/base/MapGroupHandle.msg     |    3 +
 .../msg/generated/base/MapGroupList.msg       |    2 +
 .../msg/generated/base/MapHandle.msg          |    3 +
 kortex_driver/msg/generated/base/MapList.msg  |    2 +
 kortex_driver/msg/generated/base/Mapping.msg  |    9 +
 .../msg/generated/base/MappingHandle.msg      |    3 +
 .../base/MappingInfoNotification.msg          |    7 +
 .../base/MappingInfoNotificationList.msg      |    2 +
 .../msg/generated/base/MappingList.msg        |    2 +
 .../generated/base/NavigationDirection.msg    |   10 +
 .../msg/generated/base/NetworkEvent.msg       |   22 +
 .../msg/generated/base/NetworkHandle.msg      |    2 +
 .../generated/base/NetworkNotification.msg    |    5 +
 .../base/NetworkNotificationList.msg          |    2 +
 .../msg/generated/base/NetworkType.msg        |   10 +
 .../msg/generated/base/OperatingMode.msg      |   16 +
 .../base/OperatingModeInformation.msg         |    3 +
 .../base/OperatingModeNotification.msg        |    6 +
 .../base/OperatingModeNotificationList.msg    |    2 +
 .../msg/generated/base/Orientation.msg        |    4 +
 .../msg/generated/base/PasswordChange.msg     |    4 +
 kortex_driver/msg/generated/base/Point.msg    |    4 +
 kortex_driver/msg/generated/base/Pose.msg     |    7 +
 .../base/PreComputedJointTrajectory.msg       |    3 +
 .../PreComputedJointTrajectoryElement.msg     |    5 +
 .../msg/generated/base/ProtectionZone.msg     |    8 +
 .../generated/base/ProtectionZoneEvent.msg    |    8 +
 .../generated/base/ProtectionZoneHandle.msg   |    3 +
 .../base/ProtectionZoneInformation.msg        |    2 +
 .../msg/generated/base/ProtectionZoneList.msg |    2 +
 .../base/ProtectionZoneNotification.msg       |    6 +
 .../base/ProtectionZoneNotificationList.msg   |    2 +
 kortex_driver/msg/generated/base/Query.msg    |    4 +
 .../generated/base/RequestedActionType.msg    |    2 +
 .../msg/generated/base/RobotEvent.msg         |   10 +
 .../generated/base/RobotEventNotification.msg |    6 +
 .../base/RobotEventNotificationList.msg       |    2 +
 .../msg/generated/base/SafetyEvent.msg        |    2 +
 .../generated/base/SafetyNotificationList.msg |    2 +
 kortex_driver/msg/generated/base/Sequence.msg |    5 +
 .../msg/generated/base/SequenceHandle.msg     |    3 +
 .../base/SequenceInfoNotification.msg         |    9 +
 .../base/SequenceInfoNotificationList.msg     |    2 +
 .../generated/base/SequenceInformation.msg    |    4 +
 .../msg/generated/base/SequenceList.msg       |    2 +
 .../msg/generated/base/SequenceTask.msg       |    4 +
 .../base/SequenceTaskConfiguration.msg        |    3 +
 .../msg/generated/base/SequenceTaskHandle.msg |    3 +
 .../msg/generated/base/SequenceTasks.msg      |    2 +
 .../base/SequenceTasksConfiguration.msg       |    3 +
 .../msg/generated/base/SequenceTasksPair.msg  |    4 +
 .../msg/generated/base/SequenceTasksRange.msg |    3 +
 .../msg/generated/base/ServoingMode.msg       |    8 +
 .../base/ServoingModeInformation.msg          |    2 +
 .../base/ServoingModeNotification.msg         |    5 +
 .../base/ServoingModeNotificationList.msg     |    2 +
 .../msg/generated/base/ShapeType.msg          |    8 +
 .../msg/generated/base/SignalQuality.msg      |   12 +
 kortex_driver/msg/generated/base/Snapshot.msg |    2 +
 .../msg/generated/base/SnapshotType.msg       |   10 +
 .../msg/generated/base/SoundType.msg          |    6 +
 kortex_driver/msg/generated/base/Ssid.msg     |    2 +
 .../generated/base/SwitchControlMapping.msg   |    4 +
 .../msg/generated/base/SystemTime.msg         |    7 +
 kortex_driver/msg/generated/base/Timeout.msg  |    2 +
 .../base/TrajectoryContinuityMode.msg         |    8 +
 .../generated/base/TrajectoryErrorElement.msg |    8 +
 .../base/TrajectoryErrorIdentifier.msg        |   12 +
 .../generated/base/TrajectoryErrorReport.msg  |    2 +
 .../generated/base/TrajectoryErrorType.msg    |   40 +
 .../generated/base/TransformationMatrix.msg   |    5 +
 .../msg/generated/base/TransformationRow.msg  |    5 +
 kortex_driver/msg/generated/base/Twist.msg    |    7 +
 .../msg/generated/base/TwistCommand.msg       |    4 +
 .../msg/generated/base/TwistLimitation.msg    |    3 +
 .../msg/generated/base/UserEvent.msg          |    6 +
 kortex_driver/msg/generated/base/UserList.msg |    2 +
 .../msg/generated/base/UserNotification.msg   |    6 +
 .../generated/base/UserNotificationList.msg   |    2 +
 .../msg/generated/base/UserProfile.msg        |    6 +
 .../msg/generated/base/UserProfileList.msg    |    2 +
 .../msg/generated/base/WifiConfiguration.msg  |    4 +
 .../generated/base/WifiConfigurationList.msg  |    2 +
 .../msg/generated/base/WifiEncryptionType.msg |    8 +
 .../msg/generated/base/WifiInformation.msg    |    8 +
 .../generated/base/WifiInformationList.msg    |    2 +
 .../msg/generated/base/WifiSecurityType.msg   |   10 +
 kortex_driver/msg/generated/base/Wrench.msg   |    7 +
 .../msg/generated/base/WrenchCommand.msg      |    5 +
 .../msg/generated/base/WrenchLimitation.msg   |    3 +
 .../msg/generated/base/WrenchMode.msg         |    6 +
 .../base/WristDigitalInputIdentifier.msg      |    8 +
 .../base/Xbox360AnalogInputIdentifier.msg     |   14 +
 .../base/Xbox360DigitalInputIdentifier.msg    |   30 +
 .../msg/generated/base/ZoneShape.msg          |    6 +
 .../generated/base_cyclic/ActuatorCommand.msg |    7 +
 .../base_cyclic/ActuatorCustomData.msg        |   18 +
 .../base_cyclic/ActuatorFeedback.msg          |   15 +
 .../base_cyclic/BaseCyclic_Command.msg        |    4 +
 .../base_cyclic/BaseCyclic_CustomData.msg     |   12 +
 .../base_cyclic/BaseCyclic_Feedback.msg       |    5 +
 .../base_cyclic/BaseCyclic_ServiceVersion.msg |    4 +
 .../generated/base_cyclic/BaseFeedback.msg    |   41 +
 .../msg/generated/common/ArmState.msg         |   22 +
 .../common/CartesianReferenceFrame.msg        |    8 +
 .../msg/generated/common/Connection.msg       |    4 +
 .../msg/generated/common/CountryCode.msg      |    2 +
 .../common/CountryCodeIdentifier.msg          |  226 +
 .../msg/generated/common/DeviceHandle.msg     |    4 +
 .../msg/generated/common/DeviceTypes.msg      |   18 +
 kortex_driver/msg/generated/common/Empty.msg  |    0
 .../generated/common/NotificationHandle.msg   |    2 +
 .../generated/common/NotificationOptions.msg  |    4 +
 .../msg/generated/common/NotificationType.msg |    8 +
 .../msg/generated/common/Permission.msg       |    8 +
 .../msg/generated/common/SafetyHandle.msg     |    2 +
 .../generated/common/SafetyNotification.msg   |    6 +
 .../generated/common/SafetyStatusValue.msg    |    8 +
 .../msg/generated/common/Timestamp.msg        |    3 +
 .../generated/common/UARTConfiguration.msg    |    7 +
 .../common/UARTDeviceIdentification.msg       |    2 +
 .../msg/generated/common/UARTParity.msg       |    8 +
 .../msg/generated/common/UARTSpeed.msg        |   32 +
 .../msg/generated/common/UARTStopBits.msg     |   10 +
 .../msg/generated/common/UARTWordLength.msg   |    8 +
 kortex_driver/msg/generated/common/Unit.msg   |   28 +
 .../generated/common/UserProfileHandle.msg    |    3 +
 .../generated/control_config/AngularTwist.msg |    2 +
 .../CartesianReferenceFrameInfo.msg           |    2 +
 .../control_config/CartesianTransform.msg     |    7 +
 .../ControlConfig_ControlMode.msg             |   22 +
 .../ControlConfig_ControlModeInformation.msg  |    2 +
 .../ControlConfig_JointSpeeds.msg             |    2 +
 .../control_config/ControlConfig_Position.msg |    4 +
 .../ControlConfig_ServiceVersion.msg          |    4 +
 .../ControlConfigurationEvent.msg             |   42 +
 .../ControlConfigurationNotification.msg      |    5 +
 .../control_config/DesiredSpeeds.msg          |    4 +
 .../control_config/GravityVector.msg          |    4 +
 .../JointAccelerationSoftLimits.msg           |    3 +
 .../control_config/JointSpeedSoftLimits.msg   |    3 +
 .../control_config/KinematicLimits.msg        |    6 +
 .../control_config/KinematicLimitsList.msg    |    2 +
 .../generated/control_config/LinearTwist.msg  |    2 +
 .../control_config/PayloadInformation.msg     |    3 +
 .../control_config/ToolConfiguration.msg      |    4 +
 .../control_config/TwistAngularSoftLimit.msg  |    3 +
 .../control_config/TwistLinearSoftLimit.msg   |    3 +
 .../device_config/BootloaderVersion.msg       |    2 +
 .../generated/device_config/Calibration.msg   |    3 +
 .../device_config/CalibrationElement.msg      |    2 +
 .../device_config/CalibrationItem.msg         |   10 +
 .../device_config/CalibrationParameter.msg    |    3 +
 .../CalibrationParameter_value.msg            |    4 +
 .../device_config/CalibrationResult.msg       |    3 +
 .../device_config/CalibrationStatus.msg       |   10 +
 .../device_config/CapSenseRegister.msg        |    3 +
 .../DeviceConfig_CapSenseConfig.msg           |    4 +
 .../DeviceConfig_CapSenseMode.msg             |   12 +
 .../DeviceConfig_SafetyLimitType.msg          |    8 +
 .../DeviceConfig_ServiceVersion.msg           |    4 +
 .../generated/device_config/DeviceType.msg    |    2 +
 .../device_config/FirmwareVersion.msg         |    2 +
 .../generated/device_config/IPv4Settings.msg  |    4 +
 .../generated/device_config/MACAddress.msg    |    2 +
 .../generated/device_config/ModelNumber.msg   |    2 +
 .../generated/device_config/PartNumber.msg    |    2 +
 .../device_config/PartNumberRevision.msg      |    2 +
 .../device_config/PowerOnSelfTestResult.msg   |    2 +
 .../generated/device_config/RebootRqst.msg    |    2 +
 .../msg/generated/device_config/RunMode.msg   |    2 +
 .../msg/generated/device_config/RunModes.msg  |   10 +
 .../device_config/SafetyConfiguration.msg     |    5 +
 .../device_config/SafetyConfigurationList.msg |    2 +
 .../generated/device_config/SafetyEnable.msg  |    3 +
 .../device_config/SafetyInformation.msg       |   12 +
 .../device_config/SafetyInformationList.msg   |    2 +
 .../generated/device_config/SafetyStatus.msg  |    2 +
 .../device_config/SafetyThreshold.msg         |    3 +
 .../generated/device_config/SerialNumber.msg  |    2 +
 .../device_manager/DeviceHandles.msg          |    2 +
 .../DeviceManager_ServiceVersion.msg          |    4 +
 .../GripperConfig_SafetyIdentifier.msg        |   20 +
 .../RobotiqGripperStatusFlags.msg             |   10 +
 .../gripper_cyclic/CustomDataUnit.msg         |   17 +
 .../gripper_cyclic/GripperCyclic_Command.msg  |    4 +
 .../GripperCyclic_CustomData.msg              |    4 +
 .../gripper_cyclic/GripperCyclic_Feedback.msg |    8 +
 .../GripperCyclic_MessageId.msg               |    2 +
 .../GripperCyclic_ServiceVersion.msg          |    4 +
 .../generated/gripper_cyclic/MotorCommand.msg |    5 +
 .../gripper_cyclic/MotorFeedback.msg          |    7 +
 .../EthernetConfiguration.msg                 |    5 +
 .../interconnect_config/EthernetDevice.msg    |    4 +
 .../EthernetDeviceIdentification.msg          |    2 +
 .../interconnect_config/EthernetDuplex.msg    |    6 +
 .../interconnect_config/EthernetSpeed.msg     |    6 +
 .../interconnect_config/GPIOConfiguration.msg |    5 +
 .../GPIOIdentification.msg                    |    2 +
 .../interconnect_config/GPIOIdentifier.msg    |   10 +
 .../interconnect_config/GPIOMode.msg          |    8 +
 .../interconnect_config/GPIOPull.msg          |    8 +
 .../interconnect_config/GPIOState.msg         |    3 +
 .../interconnect_config/GPIOValue.msg         |    6 +
 .../interconnect_config/I2CConfiguration.msg  |    5 +
 .../generated/interconnect_config/I2CData.msg |    3 +
 .../interconnect_config/I2CDevice.msg         |    4 +
 .../I2CDeviceAddressing.msg                   |    6 +
 .../I2CDeviceIdentification.msg               |    2 +
 .../generated/interconnect_config/I2CMode.msg |    8 +
 .../interconnect_config/I2CReadParameter.msg  |    5 +
 .../I2CReadRegisterParameter.msg              |    7 +
 .../I2CRegisterAddressSize.msg                |    6 +
 .../interconnect_config/I2CWriteParameter.msg |    5 +
 .../I2CWriteRegisterParameter.msg             |    7 +
 .../InterconnectConfig_SafetyIdentifier.msg   |   20 +
 .../InterconnectConfig_ServiceVersion.msg     |    4 +
 .../interconnect_config/UARTPortId.msg        |    4 +
 .../InterconnectCyclic_Command.msg            |    4 +
 ...nterconnectCyclic_Command_tool_command.msg |    2 +
 .../InterconnectCyclic_CustomData.msg         |   19 +
 ...nnectCyclic_CustomData_tool_customData.msg |    2 +
 .../InterconnectCyclic_Feedback.msg           |   17 +
 ...erconnectCyclic_Feedback_tool_feedback.msg |    2 +
 .../InterconnectCyclic_MessageId.msg          |    2 +
 .../InterconnectCyclic_ServiceVersion.msg     |    4 +
 .../product_configuration/ArmLaterality.msg   |    8 +
 .../product_configuration/BaseType.msg        |   10 +
 .../CompleteProductConfiguration.msg          |   13 +
 .../product_configuration/EndEffectorType.msg |   10 +
 .../InterfaceModuleType.msg                   |    8 +
 .../product_configuration/ModelId.msg         |    8 +
 .../ProductConfigurationEndEffectorType.msg   |    2 +
 .../VisionModuleType.msg                      |   10 +
 .../product_configuration/WristType.msg       |    8 +
 .../msg/generated/vision_config/BitRate.msg   |   10 +
 .../vision_config/DistortionCoefficients.msg  |    6 +
 .../vision_config/ExtrinsicParameters.msg     |    3 +
 .../generated/vision_config/FocusAction.msg   |   14 +
 .../generated/vision_config/FocusPoint.msg    |    3 +
 .../msg/generated/vision_config/FrameRate.msg |    8 +
 .../vision_config/IntrinsicParameters.msg     |    8 +
 .../IntrinsicProfileIdentifier.msg            |    3 +
 .../generated/vision_config/ManualFocus.msg   |    2 +
 .../msg/generated/vision_config/Option.msg    |   86 +
 .../vision_config/OptionIdentifier.msg        |    3 +
 .../vision_config/OptionInformation.msg       |    9 +
 .../generated/vision_config/OptionValue.msg   |    4 +
 .../generated/vision_config/Resolution.msg    |   14 +
 .../msg/generated/vision_config/Sensor.msg    |    6 +
 .../vision_config/SensorFocusAction.msg       |    4 +
 .../SensorFocusAction_action_parameters.msg   |    3 +
 .../vision_config/SensorIdentifier.msg        |    2 +
 .../vision_config/SensorSettings.msg          |    5 +
 .../vision_config/TranslationVector.msg       |    4 +
 .../VisionConfig_RotationMatrix.msg           |    4 +
 .../VisionConfig_RotationMatrixRow.msg        |    4 +
 .../VisionConfig_ServiceVersion.msg           |    4 +
 .../generated/vision_config/VisionEvent.msg   |    6 +
 .../vision_config/VisionNotification.msg      |    4 +
 .../msg/non_generated/ApiOptions.msg          |    1 +
 .../msg/non_generated/KortexError.msg         |    3 +
 kortex_driver/package.xml                     |   37 +
 kortex_driver/protos/ActuatorConfig.proto     |  438 ++
 kortex_driver/protos/ActuatorCyclic.proto     |  137 +
 kortex_driver/protos/Base.proto               | 2082 +++++++
 kortex_driver/protos/BaseCyclic.proto         |  172 +
 kortex_driver/protos/Common.proto             |  332 ++
 kortex_driver/protos/ControlConfig.proto      |  273 +
 kortex_driver/protos/DeviceConfig.proto       |  337 ++
 kortex_driver/protos/DeviceManager.proto      |   35 +
 kortex_driver/protos/Errors.proto             |  152 +
 kortex_driver/protos/GripperConfig.proto      |   30 +
 kortex_driver/protos/GripperCyclic.proto      |   39 +
 .../protos/GripperCyclicMessage.proto         |   86 +
 kortex_driver/protos/InterconnectConfig.proto |  256 +
 kortex_driver/protos/InterconnectCyclic.proto |   41 +
 .../protos/InterconnectCyclicMessage.proto    |   80 +
 .../protos/ProductConfiguration.proto         |   97 +
 kortex_driver/protos/VisionConfig.proto       |  282 +
 kortex_driver/readme.md                       |  311 +
 .../generate_protobuf_wrapper_files.sh        |    6 +
 kortex_driver/scripts/ros_kortex_generator.py |  599 ++
 .../scripts/source_and_build_workspace.bash   |    9 +
 .../tests/build_workspace_and_tests.bash      |   12 +
 kortex_driver/scripts/tests/launch_test.py    |   67 +
 .../robot/actuatorconfig_proto_converter.cpp  |  189 +
 .../robot/actuatorconfig_ros_converter.cpp    |  225 +
 .../robot/actuatorconfig_services.cpp         |  741 +++
 .../robot/actuatorcyclic_proto_converter.cpp  |   80 +
 .../robot/actuatorcyclic_ros_converter.cpp    |   88 +
 .../generated/robot/base_proto_converter.cpp  | 1684 ++++++
 .../generated/robot/base_ros_converter.cpp    | 2248 +++++++
 .../src/generated/robot/base_services.cpp     | 5150 +++++++++++++++++
 .../robot/basecyclic_proto_converter.cpp      |  167 +
 .../robot/basecyclic_ros_converter.cpp        |  187 +
 .../robot/common_proto_converter.cpp          |  118 +
 .../generated/robot/common_ros_converter.cpp  |  142 +
 .../robot/controlconfig_proto_converter.cpp   |  197 +
 .../robot/controlconfig_ros_converter.cpp     |  235 +
 .../robot/controlconfig_services.cpp          | 1071 ++++
 .../robot/deviceconfig_proto_converter.cpp    |  239 +
 .../robot/deviceconfig_ros_converter.cpp      |  301 +
 .../generated/robot/deviceconfig_services.cpp | 1171 ++++
 .../robot/devicemanager_proto_converter.cpp   |   29 +
 .../robot/devicemanager_ros_converter.cpp     |   33 +
 .../robot/devicemanager_services.cpp          |  106 +
 .../robot/grippercyclic_proto_converter.cpp   |  112 +
 .../robot/grippercyclic_ros_converter.cpp     |  132 +
 .../interconnectconfig_proto_converter.cpp    |  129 +
 .../interconnectconfig_ros_converter.cpp      |  153 +
 .../robot/interconnectconfig_services.cpp     |  555 ++
 .../interconnectcyclic_proto_converter.cpp    |   89 +
 .../interconnectcyclic_ros_converter.cpp      |  118 +
 .../productconfiguration_proto_converter.cpp  |   43 +
 .../productconfiguration_ros_converter.cpp    |   47 +
 .../robot/visionconfig_proto_converter.cpp    |  173 +
 .../robot/visionconfig_ros_converter.cpp      |  216 +
 .../generated/robot/visionconfig_services.cpp |  500 ++
 .../simulation/actuatorconfig_services.cpp    |  386 ++
 .../generated/simulation/base_services.cpp    | 2504 ++++++++
 .../simulation/controlconfig_services.cpp     |  539 ++
 .../simulation/deviceconfig_services.cpp      |  587 ++
 .../simulation/devicemanager_services.cpp     |   82 +
 .../interconnectconfig_services.cpp           |  290 +
 .../simulation/visionconfig_services.cpp      |  267 +
 .../driver/kortex_arm_driver.cpp              |  685 +++
 .../driver/kortex_arm_simulation.cpp          | 1652 ++++++
 .../non-generated/driver/kortex_math_util.cpp |  113 +
 .../driver/kortex_subscribers.cpp             |  148 +
 ...omputed_joint_trajectory_action_server.cpp |  543 ++
 .../robotiq_gripper_command_action_server.cpp |  217 +
 kortex_driver/src/non-generated/main.cpp      |   30 +
 .../tests/kortex_arm_driver_func_tests.cc     |   56 +
 .../tests/kortex_simulator_unit_tests.cc      |  508 ++
 kortex_driver/src/non-generated/tests/main.cc |   15 +
 .../ActuatorConfig_ClearFaults.srv            |    3 +
 .../ActuatorConfig_GetControlMode.srv         |    3 +
 .../GetActivatedControlLoop.srv               |    3 +
 .../actuator_config/GetAxisOffsets.srv        |    3 +
 .../GetCoggingFeedforwardMode.srv             |    3 +
 .../actuator_config/GetCommandMode.srv        |    3 +
 .../GetControlLoopParameters.srv              |    3 +
 .../actuator_config/GetSelectedCustomData.srv |    3 +
 .../generated/actuator_config/GetServoing.srv |    3 +
 .../actuator_config/GetTorqueOffset.srv       |    3 +
 .../actuator_config/MoveToPosition.srv        |    3 +
 .../actuator_config/SelectCustomData.srv      |    3 +
 .../SetActivatedControlLoop.srv               |    3 +
 .../actuator_config/SetAxisOffsets.srv        |    3 +
 .../SetCoggingFeedforwardMode.srv             |    3 +
 .../actuator_config/SetCommandMode.srv        |    3 +
 .../SetControlLoopParameters.srv              |    3 +
 .../actuator_config/SetControlMode.srv        |    3 +
 .../generated/actuator_config/SetServoing.srv |    3 +
 .../actuator_config/SetTorqueOffset.srv       |    3 +
 .../srv/generated/base/ActivateMap.srv        |    3 +
 .../srv/generated/base/AddSequenceTasks.srv   |    3 +
 .../generated/base/AddWifiConfiguration.srv   |    3 +
 .../srv/generated/base/ApplyEmergencyStop.srv |    3 +
 .../srv/generated/base/Base_ClearFaults.srv   |    3 +
 .../generated/base/Base_GetCapSenseConfig.srv |    3 +
 .../generated/base/Base_GetControlMode.srv    |    3 +
 .../generated/base/Base_SetCapSenseConfig.srv |    3 +
 .../srv/generated/base/Base_Unsubscribe.srv   |    3 +
 .../srv/generated/base/ChangePassword.srv     |    3 +
 .../srv/generated/base/ConnectWifi.srv        |    3 +
 .../srv/generated/base/CreateAction.srv       |    3 +
 .../srv/generated/base/CreateMap.srv          |    3 +
 .../srv/generated/base/CreateMapping.srv      |    3 +
 .../generated/base/CreateProtectionZone.srv   |    3 +
 .../srv/generated/base/CreateSequence.srv     |    3 +
 .../srv/generated/base/CreateUserProfile.srv  |    3 +
 .../srv/generated/base/DeleteAction.srv       |    3 +
 .../generated/base/DeleteAllSequenceTasks.srv |    3 +
 .../srv/generated/base/DeleteMap.srv          |    3 +
 .../srv/generated/base/DeleteMapping.srv      |    3 +
 .../generated/base/DeleteProtectionZone.srv   |    3 +
 .../srv/generated/base/DeleteSequence.srv     |    3 +
 .../srv/generated/base/DeleteSequenceTask.srv |    3 +
 .../srv/generated/base/DeleteUserProfile.srv  |    3 +
 .../base/DeleteWifiConfiguration.srv          |    3 +
 .../srv/generated/base/DisableBridge.srv      |    3 +
 .../srv/generated/base/DisconnectWifi.srv     |    3 +
 .../srv/generated/base/DuplicateMap.srv       |    3 +
 .../srv/generated/base/DuplicateMapping.srv   |    3 +
 .../srv/generated/base/EnableBridge.srv       |    3 +
 .../srv/generated/base/ExecuteAction.srv      |    3 +
 .../base/ExecuteActionFromReference.srv       |    3 +
 .../srv/generated/base/GetActuatorCount.srv   |    3 +
 .../generated/base/GetAllConfiguredWifis.srv  |    3 +
 .../base/GetAllConnectedControllers.srv       |    3 +
 .../base/GetAllControllerConfigurations.srv   |    3 +
 .../base/GetAllJointsSpeedHardLimitation.srv  |    3 +
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 .../base/GetAllJointsTorqueHardLimitation.srv |    3 +
 .../base/GetAllJointsTorqueSoftLimitation.srv |    3 +
 .../srv/generated/base/GetArmState.srv        |    3 +
 .../srv/generated/base/GetAvailableWifi.srv   |    3 +
 .../srv/generated/base/GetBridgeConfig.srv    |    3 +
 .../srv/generated/base/GetBridgeList.srv      |    3 +
 .../srv/generated/base/GetConfiguredWifi.srv  |    3 +
 .../base/GetConnectedWifiInformation.srv      |    3 +
 .../base/GetControllerConfiguration.srv       |    3 +
 .../base/GetControllerConfigurationMode.srv   |    3 +
 .../srv/generated/base/GetControllerState.srv |    3 +
 .../base/GetFirmwareBundleVersions.srv        |    3 +
 .../generated/base/GetIPv4Configuration.srv   |    3 +
 .../srv/generated/base/GetIPv4Information.srv |    3 +
 .../base/GetMeasuredCartesianPose.srv         |    3 +
 .../base/GetMeasuredGripperMovement.srv       |    3 +
 .../generated/base/GetMeasuredJointAngles.srv |    3 +
 .../srv/generated/base/GetOperatingMode.srv   |    3 +
 .../base/GetProductConfiguration.srv          |    3 +
 .../srv/generated/base/GetServoingMode.srv    |    3 +
 .../base/GetTrajectoryErrorReport.srv         |    3 +
 .../generated/base/GetTwistHardLimitation.srv |    3 +
 .../generated/base/GetTwistSoftLimitation.srv |    3 +
 .../srv/generated/base/GetWifiCountryCode.srv |    3 +
 .../srv/generated/base/GetWifiInformation.srv |    3 +
 .../base/GetWrenchHardLimitation.srv          |    3 +
 .../base/GetWrenchSoftLimitation.srv          |    3 +
 .../base/IsCommunicationInterfaceEnable.srv   |    3 +
 .../srv/generated/base/MoveSequenceTask.srv   |    3 +
 .../base/OnNotificationActionTopic.srv        |    3 +
 .../base/OnNotificationArmStateTopic.srv      |    3 +
 ...OnNotificationConfigurationChangeTopic.srv |    3 +
 .../base/OnNotificationControlModeTopic.srv   |    3 +
 .../base/OnNotificationControllerTopic.srv    |    3 +
 .../base/OnNotificationFactoryTopic.srv       |    3 +
 .../base/OnNotificationMappingInfoTopic.srv   |    3 +
 .../base/OnNotificationNetworkTopic.srv       |    3 +
 .../base/OnNotificationOperatingModeTopic.srv |    3 +
 .../OnNotificationProtectionZoneTopic.srv     |    3 +
 .../base/OnNotificationRobotEventTopic.srv    |    3 +
 .../base/OnNotificationSequenceInfoTopic.srv  |    3 +
 .../base/OnNotificationServoingModeTopic.srv  |    3 +
 .../base/OnNotificationUserTopic.srv          |    3 +
 .../srv/generated/base/PauseAction.srv        |    3 +
 .../srv/generated/base/PauseSequence.srv      |    3 +
 .../generated/base/PlayAdvancedSequence.srv   |    3 +
 .../base/PlayCartesianTrajectory.srv          |    3 +
 .../PlayCartesianTrajectoryOrientation.srv    |    3 +
 .../base/PlayCartesianTrajectoryPosition.srv  |    3 +
 .../generated/base/PlayJointTrajectory.srv    |    3 +
 .../base/PlayPreComputedJointTrajectory.srv   |    3 +
 .../base/PlaySelectedJointTrajectory.srv      |    3 +
 .../srv/generated/base/PlaySequence.srv       |    3 +
 .../srv/generated/base/ReadAction.srv         |    3 +
 .../srv/generated/base/ReadAllActions.srv     |    3 +
 .../srv/generated/base/ReadAllMappings.srv    |    3 +
 .../srv/generated/base/ReadAllMaps.srv        |    3 +
 .../generated/base/ReadAllProtectionZones.srv |    3 +
 .../generated/base/ReadAllSequenceTasks.srv   |    3 +
 .../srv/generated/base/ReadAllSequences.srv   |    3 +
 .../generated/base/ReadAllUserProfiles.srv    |    3 +
 .../srv/generated/base/ReadAllUsers.srv       |    3 +
 kortex_driver/srv/generated/base/ReadMap.srv  |    3 +
 .../srv/generated/base/ReadMapping.srv        |    3 +
 .../srv/generated/base/ReadProtectionZone.srv |    3 +
 .../srv/generated/base/ReadSequence.srv       |    3 +
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 .../srv/generated/base/ReadUserProfile.srv    |    3 +
 .../RestoreFactoryProductConfiguration.srv    |    3 +
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 .../srv/generated/base/ResumeAction.srv       |    3 +
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 .../srv/generated/base/SendGripperCommand.srv |    3 +
 .../generated/base/SendJointSpeedsCommand.srv |    3 +
 .../base/SendJointSpeedsJoystickCommand.srv   |    3 +
 .../base/SendSelectedJointSpeedCommand.srv    |    3 +
 .../SendSelectedJointSpeedJoystickCommand.srv |    3 +
 .../srv/generated/base/SendTwistCommand.srv   |    3 +
 .../base/SendTwistJoystickCommand.srv         |    3 +
 .../srv/generated/base/SendWrenchCommand.srv  |    3 +
 .../base/SendWrenchJoystickCommand.srv        |    3 +
 .../srv/generated/base/SetAdmittance.srv      |    3 +
 .../base/SetCommunicationInterfaceEnable.srv  |    3 +
 .../base/SetControllerConfiguration.srv       |    3 +
 .../base/SetControllerConfigurationMode.srv   |    3 +
 .../generated/base/SetIPv4Configuration.srv   |    3 +
 .../srv/generated/base/SetOperatingMode.srv   |    3 +
 .../srv/generated/base/SetServoingMode.srv    |    3 +
 .../srv/generated/base/SetWifiCountryCode.srv |    3 +
 .../srv/generated/base/StartTeaching.srv      |    3 +
 .../srv/generated/base/StartWifiScan.srv      |    3 +
 kortex_driver/srv/generated/base/Stop.srv     |    3 +
 .../srv/generated/base/StopAction.srv         |    3 +
 .../srv/generated/base/StopSequence.srv       |    3 +
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 .../srv/generated/base/TakeSnapshot.srv       |    3 +
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 .../UpdateEndEffectorTypeConfiguration.srv    |    3 +
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 .../generated/base/UpdateProtectionZone.srv   |    3 +
 .../srv/generated/base/UpdateSequence.srv     |    3 +
 .../srv/generated/base/UpdateSequenceTask.srv |    3 +
 .../srv/generated/base/UpdateUserProfile.srv  |    3 +
 .../ControlConfig_GetControlMode.srv          |    3 +
 .../ControlConfig_Unsubscribe.srv             |    3 +
 .../GetAllKinematicSoftLimits.srv             |    3 +
 .../GetCartesianReferenceFrame.srv            |    3 +
 .../control_config/GetDesiredSpeeds.srv       |    3 +
 .../control_config/GetGravityVector.srv       |    3 +
 .../control_config/GetKinematicHardLimits.srv |    3 +
 .../control_config/GetKinematicSoftLimits.srv |    3 +
 .../control_config/GetPayloadInformation.srv  |    3 +
 .../control_config/GetToolConfiguration.srv   |    3 +
 ...nNotificationControlConfigurationTopic.srv |    3 +
 .../control_config/ResetGravityVector.srv     |    3 +
 .../ResetJointAccelerationSoftLimits.srv      |    3 +
 .../ResetJointSpeedSoftLimits.srv             |    3 +
 .../ResetPayloadInformation.srv               |    3 +
 .../control_config/ResetToolConfiguration.srv |    3 +
 .../ResetTwistAngularSoftLimit.srv            |    3 +
 .../ResetTwistLinearSoftLimit.srv             |    3 +
 .../SetCartesianReferenceFrame.srv            |    3 +
 .../control_config/SetDesiredAngularTwist.srv |    3 +
 .../control_config/SetDesiredJointSpeeds.srv  |    3 +
 .../control_config/SetDesiredLinearTwist.srv  |    3 +
 .../control_config/SetGravityVector.srv       |    3 +
 .../SetJointAccelerationSoftLimits.srv        |    3 +
 .../SetJointSpeedSoftLimits.srv               |    3 +
 .../control_config/SetPayloadInformation.srv  |    3 +
 .../control_config/SetToolConfiguration.srv   |    3 +
 .../SetTwistAngularSoftLimit.srv              |    3 +
 .../SetTwistLinearSoftLimit.srv               |    3 +
 .../device_config/ClearAllSafetyStatus.srv    |    3 +
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 .../DeviceConfig_GetCapSenseConfig.srv        |    3 +
 .../DeviceConfig_SetCapSenseConfig.srv        |    3 +
 .../device_config/ExecuteCalibration.srv      |    3 +
 .../GetAllSafetyConfiguration.srv             |    3 +
 .../device_config/GetAllSafetyInformation.srv |    3 +
 .../device_config/GetBootloaderVersion.srv    |    3 +
 .../device_config/GetCalibrationResult.srv    |    3 +
 .../generated/device_config/GetDeviceType.srv |    3 +
 .../device_config/GetFirmwareVersion.srv      |    3 +
 .../device_config/GetIPv4Settings.srv         |    3 +
 .../generated/device_config/GetMACAddress.srv |    3 +
 .../device_config/GetModelNumber.srv          |    3 +
 .../generated/device_config/GetPartNumber.srv |    3 +
 .../device_config/GetPartNumberRevision.srv   |    3 +
 .../generated/device_config/GetRunMode.srv    |    3 +
 .../device_config/GetSafetyConfiguration.srv  |    3 +
 .../device_config/GetSafetyEnable.srv         |    3 +
 .../device_config/GetSafetyInformation.srv    |    3 +
 .../device_config/GetSafetyStatus.srv         |    3 +
 .../device_config/GetSerialNumber.srv         |    3 +
 .../OnNotificationSafetyTopic.srv             |    3 +
 .../generated/device_config/RebootRequest.srv |    3 +
 .../device_config/ResetSafetyDefaults.srv     |    3 +
 .../device_config/SetIPv4Settings.srv         |    3 +
 .../generated/device_config/SetRunMode.srv    |    3 +
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 .../device_config/SetSafetyEnable.srv         |    3 +
 .../device_config/SetSafetyErrorThreshold.srv |    3 +
 .../SetSafetyWarningThreshold.srv             |    3 +
 .../device_config/StopCalibration.srv         |    3 +
 .../device_manager/ReadAllDevices.srv         |    3 +
 .../GetEthernetConfiguration.srv              |    3 +
 .../GetGPIOConfiguration.srv                  |    3 +
 .../interconnect_config/GetGPIOState.srv      |    3 +
 .../GetI2CConfiguration.srv                   |    3 +
 .../GetUARTConfiguration.srv                  |    3 +
 .../generated/interconnect_config/I2CRead.srv |    3 +
 .../interconnect_config/I2CReadRegister.srv   |    3 +
 .../interconnect_config/I2CWrite.srv          |    3 +
 .../interconnect_config/I2CWriteRegister.srv  |    3 +
 .../SetEthernetConfiguration.srv              |    3 +
 .../SetGPIOConfiguration.srv                  |    3 +
 .../interconnect_config/SetGPIOState.srv      |    3 +
 .../SetI2CConfiguration.srv                   |    3 +
 .../SetUARTConfiguration.srv                  |    3 +
 .../vision_config/DoSensorFocusAction.srv     |    3 +
 .../vision_config/GetExtrinsicParameters.srv  |    3 +
 .../vision_config/GetIntrinsicParameters.srv  |    3 +
 .../GetIntrinsicParametersProfile.srv         |    3 +
 .../vision_config/GetOptionInformation.srv    |    3 +
 .../vision_config/GetOptionValue.srv          |    3 +
 .../vision_config/GetSensorSettings.srv       |    3 +
 .../OnNotificationVisionTopic.srv             |    3 +
 .../vision_config/SetExtrinsicParameters.srv  |    3 +
 .../vision_config/SetIntrinsicParameters.srv  |    3 +
 .../vision_config/SetOptionValue.srv          |    3 +
 .../vision_config/SetSensorSettings.srv       |    3 +
 .../srv/non_generated/SetApiOptions.srv       |    3 +
 .../srv/non_generated/SetDeviceID.srv         |    2 +
 .../templates/proto_converter.cpp.jinja2      |   75 +
 .../templates/proto_converter.h.jinja2        |   43 +
 .../templates/ros_converter.cpp.jinja2        |   79 +
 .../templates/ros_converter.h.jinja2          |   43 +
 kortex_driver/templates/ros_enum.msg.jinja2   |    3 +
 .../templates/ros_message.msg.jinja2          |   47 +
 kortex_driver/templates/ros_oneof.msg.jinja2  |   12 +
 .../templates/ros_service.srv.jinja2          |    3 +
 .../templates/services_interface.h.jinja2     |   74 +
 .../templates/services_robot.cpp.jinja2       |  133 +
 .../templates/services_robot.h.jinja2         |   48 +
 .../templates/services_simulation.cpp.jinja2  |   81 +
 .../templates/services_simulation.h.jinja2    |   41 +
 kortex_examples/CMakeLists.txt                |   64 +
 kortex_examples/img/moveit.png                |  Bin 0 -> 30821 bytes
 kortex_examples/img/services_real_arm.png     |  Bin 0 -> 29748 bytes
 kortex_examples/img/services_sim.png          |  Bin 0 -> 33723 bytes
 .../launch/actuator_config_cpp.launch         |   12 +
 .../launch/actuator_config_python.launch      |   12 +
 ...tesian_poses_with_notifications_cpp.launch |   12 +
 ...ian_poses_with_notifications_python.launch |   12 +
 .../launch/full_arm_movement_cpp.launch       |   12 +
 .../launch/full_arm_movement_python.launch    |   12 +
 kortex_examples/launch/moveit_example.launch  |   10 +
 .../launch/run_all_examples.launch            |   56 +
 .../launch/vision_configuration_cpp.launch    |   12 +
 .../launch/vision_configuration_python.launch |   12 +
 kortex_examples/package.xml                   |   34 +
 kortex_examples/readme.md                     |  146 +
 kortex_examples/setup.py                      |    7 +
 .../example_actuator_configuration.cpp        |  226 +
 .../example_actuator_configuration.py         |  176 +
 ...ple_cartesian_poses_with_notifications.cpp |  270 +
 ...mple_cartesian_poses_with_notifications.py |  261 +
 .../full_arm/example_full_arm_movement.cpp    |  363 ++
 .../src/full_arm/example_full_arm_movement.py |  300 +
 .../move_it/example_move_it_trajectories.py   |  240 +
 .../src/move_it/simulation_pid_tuning.py      |  120 +
 .../src/tests/kortex_examples_tests.cc        |   99 +
 .../example_vision_configuration.cpp          |  363 ++
 .../example_vision_configuration.py           |  287 +
 kortex_gazebo/CMakeLists.txt                  |   30 +
 .../launch/spawn_kortex_robot.launch          |  170 +
 kortex_gazebo/launch/start_gazebo.launch      |   17 +
 .../media/materials/scripts/kortex.material   |   23 +
 kortex_gazebo/package.xml                     |   30 +
 kortex_gazebo/readme.md                       |   98 +
 kortex_gazebo/scripts/home_robot.py           |  111 +
 .../.setup_assistant                          |   11 +
 .../CMakeLists.txt                            |   10 +
 .../config/chomp_planning.yaml                |   18 +
 .../config/fake_controllers.yaml              |   12 +
 .../config/gen3_lite_gen3_lite_2f.srdf.xacro  |  108 +
 .../config/joint_limits.yaml                  |   39 +
 .../config/kinematics.yaml                    |    5 +
 .../config/ompl_planning.yaml                 |  176 +
 .../config/ros_controllers.yaml               |   22 +
 .../config/sensors_3d.yaml                    |    3 +
 .../launch/chomp_planning_pipeline.launch.xml |   15 +
 .../launch/default_warehouse_db.launch        |   15 +
 .../launch/demo.launch                        |   57 +
 .../fake_moveit_controller_manager.launch.xml |   11 +
 ...te_2f_moveit_controller_manager.launch.xml |   11 +
 ...3_lite_2f_moveit_sensor_manager.launch.xml |    3 +
 .../launch/joystick_control.launch            |   17 +
 .../launch/move_group.launch                  |   89 +
 .../launch/moveit.rviz                        |  689 +++
 .../launch/moveit_rviz.launch                 |   16 +
 .../launch/ompl_planning_pipeline.launch.xml  |   27 +
 .../launch/planning_context.launch            |   31 +
 .../launch/planning_pipeline.launch.xml       |   13 +
 .../launch/ros_controllers.launch             |   17 +
 .../launch/run_benchmark_ompl.launch          |   22 +
 .../launch/sensor_manager.launch.xml          |   17 +
 .../launch/setup_assistant.launch             |   15 +
 .../launch/trajectory_execution.launch.xml    |   22 +
 .../launch/warehouse.launch                   |   15 +
 .../launch/warehouse_settings.launch.xml      |   16 +
 .../package.xml                               |   34 +
 .../gen3_move_it_config/.setup_assistant      |   11 +
 .../gen3_move_it_config/CMakeLists.txt        |   10 +
 .../config/6dof/default_joint_limits.yaml     |   34 +
 .../config/6dof/fake_controllers.yaml         |    9 +
 .../config/6dof/gen3.srdf.xacro               |   63 +
 .../config/6dof/hard_joint_limits.yaml        |   34 +
 .../config/6dof/ros_controllers.yaml          |   15 +
 .../config/7dof/default_joint_limits.yaml     |   39 +
 .../config/7dof/fake_controllers.yaml         |   10 +
 .../config/7dof/gen3.srdf.xacro               |   75 +
 .../config/7dof/hard_joint_limits.yaml        |   39 +
 .../config/7dof/ros_controllers.yaml          |   16 +
 .../config/chomp_planning.yaml                |   18 +
 .../config/kinematics.yaml                    |    5 +
 .../config/ompl_planning.yaml                 |  150 +
 .../config/sensors_3d.yaml                    |    3 +
 .../launch/chomp_planning_pipeline.launch.xml |   15 +
 .../launch/default_warehouse_db.launch        |   15 +
 .../gen3_move_it_config/launch/demo.launch    |   57 +
 .../fake_moveit_controller_manager.launch.xml |   12 +
 .../gen3_moveit_controller_manager.launch.xml |   12 +
 .../gen3_moveit_sensor_manager.launch.xml     |    3 +
 .../launch/joystick_control.launch            |   17 +
 .../launch/move_group.launch                  |   91 +
 .../gen3_move_it_config/launch/moveit.rviz    |  689 +++
 .../launch/moveit_rviz.launch                 |   16 +
 .../launch/ompl_planning_pipeline.launch.xml  |   27 +
 .../launch/planning_context.launch            |   39 +
 .../launch/planning_pipeline.launch.xml       |   13 +
 .../launch/run_benchmark_ompl.launch          |   22 +
 .../launch/sensor_manager.launch.xml          |   17 +
 .../launch/setup_assistant.launch             |   15 +
 .../launch/trajectory_execution.launch.xml    |   25 +
 .../launch/warehouse.launch                   |   15 +
 .../launch/warehouse_settings.launch.xml      |   16 +
 .../gen3_move_it_config/package.xml           |   35 +
 .../.setup_assistant                          |   11 +
 .../CMakeLists.txt                            |   10 +
 .../config/6dof/default_joint_limits.yaml     |   64 +
 .../config/6dof/fake_controllers.yaml         |   11 +
 .../6dof/gen3_robotiq_2f_140.srdf.xacro       |  198 +
 .../config/6dof/hard_joint_limits.yaml        |   64 +
 .../config/6dof/ros_controllers.yaml          |   22 +
 .../config/7dof/default_joint_limits.yaml     |   69 +
 .../config/7dof/fake_controllers.yaml         |   13 +
 .../7dof/gen3_robotiq_2f_140.srdf.xacro       |  218 +
 .../config/7dof/hard_joint_limits.yaml        |   69 +
 .../config/7dof/ros_controllers.yaml          |   23 +
 .../config/chomp_planning.yaml                |   18 +
 .../config/kinematics.yaml                    |    4 +
 .../config/ompl_planning.yaml                 |  176 +
 .../config/sensors_3d.yaml                    |    3 +
 .../launch/chomp_planning_pipeline.launch.xml |   15 +
 .../launch/default_warehouse_db.launch        |   15 +
 .../launch/demo.launch                        |   57 +
 .../fake_moveit_controller_manager.launch.xml |   13 +
 ...f_140_moveit_controller_manager.launch.xml |   12 +
 ...iq_2f_140_moveit_sensor_manager.launch.xml |    3 +
 .../launch/joystick_control.launch            |   17 +
 .../launch/move_group.launch                  |   91 +
 .../launch/moveit.rviz                        |  689 +++
 .../launch/moveit_rviz.launch                 |   16 +
 .../launch/ompl_planning_pipeline.launch.xml  |   27 +
 .../launch/planning_context.launch            |   39 +
 .../launch/planning_pipeline.launch.xml       |   13 +
 .../launch/run_benchmark_ompl.launch          |   22 +
 .../launch/sensor_manager.launch.xml          |   17 +
 .../launch/setup_assistant.launch             |   15 +
 .../launch/trajectory_execution.launch.xml    |   25 +
 .../launch/warehouse.launch                   |   15 +
 .../launch/warehouse_settings.launch.xml      |   16 +
 .../package.xml                               |   35 +
 .../.setup_assistant                          |   11 +
 .../CMakeLists.txt                            |   10 +
 .../config/6dof/default_joint_limits.yaml     |   64 +
 .../config/6dof/fake_controllers.yaml         |   11 +
 .../config/6dof/gen3_robotiq_2f_85.srdf.xacro |  199 +
 .../config/6dof/hard_joint_limits.yaml        |   64 +
 .../config/6dof/ros_controllers.yaml          |   22 +
 .../config/7dof/default_joint_limits.yaml     |   69 +
 .../config/7dof/fake_controllers.yaml         |   13 +
 .../config/7dof/gen3_robotiq_2f_85.srdf.xacro |  218 +
 .../config/7dof/hard_joint_limits.yaml        |   69 +
 .../config/7dof/ros_controllers.yaml          |   23 +
 .../config/chomp_planning.yaml                |   18 +
 .../config/kinematics.yaml                    |    4 +
 .../config/ompl_planning.yaml                 |  176 +
 .../config/sensors_3d.yaml                    |    3 +
 .../launch/chomp_planning_pipeline.launch.xml |   15 +
 .../launch/default_warehouse_db.launch        |   15 +
 .../launch/demo.launch                        |   57 +
 .../fake_moveit_controller_manager.launch.xml |   13 +
 ...2f_85_moveit_controller_manager.launch.xml |   12 +
 ...tiq_2f_85_moveit_sensor_manager.launch.xml |    3 +
 .../launch/joystick_control.launch            |   17 +
 .../launch/move_group.launch                  |   91 +
 .../launch/moveit.rviz                        |  689 +++
 .../launch/moveit_rviz.launch                 |   16 +
 .../launch/ompl_planning_pipeline.launch.xml  |   27 +
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 create mode 100644 kortex_driver/msg/generated/base/LedState.msg
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 create mode 100644 kortex_driver/msg/generated/base/NetworkEvent.msg
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 create mode 100644 kortex_driver/msg/generated/base/PasswordChange.msg
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 create mode 100644 kortex_driver/msg/generated/base/Query.msg
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 create mode 100644 kortex_driver/msg/generated/base/SequenceTask.msg
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 create mode 100644 kortex_driver/msg/generated/base/ServoingMode.msg
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 create mode 100644 kortex_driver/msg/generated/base/SignalQuality.msg
 create mode 100644 kortex_driver/msg/generated/base/Snapshot.msg
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 create mode 100644 kortex_driver/msg/generated/base/SoundType.msg
 create mode 100644 kortex_driver/msg/generated/base/Ssid.msg
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 create mode 100644 kortex_driver/msg/generated/base/SystemTime.msg
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 create mode 100644 kortex_driver/msg/generated/base/TransformationMatrix.msg
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 create mode 100644 kortex_driver/msg/generated/base/UserEvent.msg
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 create mode 100644 kortex_driver/msg/generated/base/UserProfile.msg
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 create mode 100644 kortex_driver/msg/generated/base/WifiConfiguration.msg
 create mode 100644 kortex_driver/msg/generated/base/WifiConfigurationList.msg
 create mode 100644 kortex_driver/msg/generated/base/WifiEncryptionType.msg
 create mode 100644 kortex_driver/msg/generated/base/WifiInformation.msg
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 create mode 100644 kortex_driver/msg/generated/base/WifiSecurityType.msg
 create mode 100644 kortex_driver/msg/generated/base/Wrench.msg
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 create mode 100644 kortex_driver/msg/generated/base/WrenchLimitation.msg
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 create mode 100644 kortex_driver/msg/generated/base/WristDigitalInputIdentifier.msg
 create mode 100644 kortex_driver/msg/generated/base/Xbox360AnalogInputIdentifier.msg
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 create mode 100644 kortex_driver/msg/generated/common/CountryCode.msg
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 create mode 100644 kortex_driver/msg/generated/common/DeviceHandle.msg
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 create mode 100644 kortex_driver/msg/generated/common/Permission.msg
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 create mode 100644 kortex_driver/msg/generated/common/SafetyStatusValue.msg
 create mode 100644 kortex_driver/msg/generated/common/Timestamp.msg
 create mode 100644 kortex_driver/msg/generated/common/UARTConfiguration.msg
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 create mode 100644 kortex_driver/msg/generated/common/UARTParity.msg
 create mode 100644 kortex_driver/msg/generated/common/UARTSpeed.msg
 create mode 100644 kortex_driver/msg/generated/common/UARTStopBits.msg
 create mode 100644 kortex_driver/msg/generated/common/UARTWordLength.msg
 create mode 100644 kortex_driver/msg/generated/common/Unit.msg
 create mode 100644 kortex_driver/msg/generated/common/UserProfileHandle.msg
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 create mode 100644 kortex_driver/msg/generated/control_config/ControlConfig_ControlMode.msg
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 create mode 100644 kortex_driver/msg/generated/control_config/KinematicLimits.msg
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 create mode 100644 kortex_driver/msg/generated/control_config/LinearTwist.msg
 create mode 100644 kortex_driver/msg/generated/control_config/PayloadInformation.msg
 create mode 100644 kortex_driver/msg/generated/control_config/ToolConfiguration.msg
 create mode 100644 kortex_driver/msg/generated/control_config/TwistAngularSoftLimit.msg
 create mode 100644 kortex_driver/msg/generated/control_config/TwistLinearSoftLimit.msg
 create mode 100644 kortex_driver/msg/generated/device_config/BootloaderVersion.msg
 create mode 100644 kortex_driver/msg/generated/device_config/Calibration.msg
 create mode 100644 kortex_driver/msg/generated/device_config/CalibrationElement.msg
 create mode 100644 kortex_driver/msg/generated/device_config/CalibrationItem.msg
 create mode 100644 kortex_driver/msg/generated/device_config/CalibrationParameter.msg
 create mode 100644 kortex_driver/msg/generated/device_config/CalibrationParameter_value.msg
 create mode 100644 kortex_driver/msg/generated/device_config/CalibrationResult.msg
 create mode 100644 kortex_driver/msg/generated/device_config/CalibrationStatus.msg
 create mode 100644 kortex_driver/msg/generated/device_config/CapSenseRegister.msg
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 create mode 100644 kortex_driver/msg/generated/device_config/DeviceType.msg
 create mode 100644 kortex_driver/msg/generated/device_config/FirmwareVersion.msg
 create mode 100644 kortex_driver/msg/generated/device_config/IPv4Settings.msg
 create mode 100644 kortex_driver/msg/generated/device_config/MACAddress.msg
 create mode 100644 kortex_driver/msg/generated/device_config/ModelNumber.msg
 create mode 100644 kortex_driver/msg/generated/device_config/PartNumber.msg
 create mode 100644 kortex_driver/msg/generated/device_config/PartNumberRevision.msg
 create mode 100644 kortex_driver/msg/generated/device_config/PowerOnSelfTestResult.msg
 create mode 100644 kortex_driver/msg/generated/device_config/RebootRqst.msg
 create mode 100644 kortex_driver/msg/generated/device_config/RunMode.msg
 create mode 100644 kortex_driver/msg/generated/device_config/RunModes.msg
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 create mode 100644 kortex_driver/msg/generated/device_config/SafetyEnable.msg
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 create mode 100644 kortex_driver/msg/generated/device_config/SafetyStatus.msg
 create mode 100644 kortex_driver/msg/generated/device_config/SafetyThreshold.msg
 create mode 100644 kortex_driver/msg/generated/device_config/SerialNumber.msg
 create mode 100644 kortex_driver/msg/generated/device_manager/DeviceHandles.msg
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 create mode 100644 kortex_driver/msg/generated/interconnect_config/EthernetConfiguration.msg
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 create mode 100644 kortex_driver/msg/generated/interconnect_config/EthernetDuplex.msg
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 create mode 100644 kortex_driver/msg/generated/interconnect_config/GPIOMode.msg
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 create mode 100644 kortex_driver/msg/generated/interconnect_config/GPIOValue.msg
 create mode 100644 kortex_driver/msg/generated/interconnect_config/I2CConfiguration.msg
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 create mode 100644 kortex_driver/msg/generated/interconnect_config/I2CDevice.msg
 create mode 100644 kortex_driver/msg/generated/interconnect_config/I2CDeviceAddressing.msg
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 create mode 100644 kortex_driver/msg/generated/interconnect_config/I2CReadParameter.msg
 create mode 100644 kortex_driver/msg/generated/interconnect_config/I2CReadRegisterParameter.msg
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 create mode 100644 kortex_driver/msg/generated/interconnect_config/I2CWriteParameter.msg
 create mode 100644 kortex_driver/msg/generated/interconnect_config/I2CWriteRegisterParameter.msg
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 create mode 100644 kortex_driver/msg/generated/interconnect_config/InterconnectConfig_ServiceVersion.msg
 create mode 100644 kortex_driver/msg/generated/interconnect_config/UARTPortId.msg
 create mode 100644 kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Command.msg
 create mode 100644 kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Command_tool_command.msg
 create mode 100644 kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_CustomData.msg
 create mode 100644 kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_CustomData_tool_customData.msg
 create mode 100644 kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Feedback.msg
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 create mode 100644 kortex_driver/msg/generated/product_configuration/BaseType.msg
 create mode 100644 kortex_driver/msg/generated/product_configuration/CompleteProductConfiguration.msg
 create mode 100644 kortex_driver/msg/generated/product_configuration/EndEffectorType.msg
 create mode 100644 kortex_driver/msg/generated/product_configuration/InterfaceModuleType.msg
 create mode 100644 kortex_driver/msg/generated/product_configuration/ModelId.msg
 create mode 100644 kortex_driver/msg/generated/product_configuration/ProductConfigurationEndEffectorType.msg
 create mode 100644 kortex_driver/msg/generated/product_configuration/VisionModuleType.msg
 create mode 100644 kortex_driver/msg/generated/product_configuration/WristType.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/BitRate.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/DistortionCoefficients.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/ExtrinsicParameters.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/FocusAction.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/FocusPoint.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/FrameRate.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/IntrinsicParameters.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/IntrinsicProfileIdentifier.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/ManualFocus.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/Option.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/OptionIdentifier.msg
 create mode 100644 kortex_driver/msg/generated/vision_config/OptionInformation.msg
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 create mode 100644 third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspGripper.cpp
 create mode 100644 third_party/gazebo-pkgs/gazebo_version_helpers/CMakeLists.txt
 create mode 100644 third_party/gazebo-pkgs/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h
 create mode 100644 third_party/gazebo-pkgs/gazebo_version_helpers/package.xml
 create mode 100644 third_party/gazebo-pkgs/gazebo_version_helpers/src/GazeboVersionHelpers.cpp
 create mode 100644 third_party/roboticsgroup_gazebo_plugins/CMakeLists.txt
 create mode 100644 third_party/roboticsgroup_gazebo_plugins/README.md
 create mode 100644 third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/disable_link_plugin.h
 create mode 100644 third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/mimic_joint_plugin.h
 create mode 100644 third_party/roboticsgroup_gazebo_plugins/package.xml
 create mode 100644 third_party/roboticsgroup_gazebo_plugins/src/disable_link_plugin.cpp
 create mode 100644 third_party/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp

diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index be12629..0000000
--- a/.gitignore
+++ /dev/null
@@ -1,27 +0,0 @@
-# Files generated by invoking Julia with --code-coverage
-*.jl.cov
-*.jl.*.cov
-
-# Files generated by invoking Julia with --track-allocation
-*.jl.mem
-
-# System-specific files and directories generated by the BinaryProvider and BinDeps packages
-# They contain absolute paths specific to the host computer, and so should not be committed
-deps/deps.jl
-deps/build.log
-deps/downloads/
-deps/usr/
-deps/src/
-
-# Build artifacts for creating documentation generated by the Documenter package
-docs/build/
-docs/site/
-
-# File generated by Pkg, the package manager, based on a corresponding Project.toml
-# It records a fixed state of all packages used by the project. As such, it should not be
-# committed for packages, but should be committed for applications that require a static
-# environment.
-Manifest.toml
-
-# Jupyter
-.ipynb_checkpoints/
diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index 9887297..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "iiwa_stack"]
-	path = iiwa_stack
-	url = https://github.com/IFL-CAMP/iiwa_stack
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 16f9330..0000000
--- a/.travis.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-# Documentation: http://docs.travis-ci.com/user/languages/julia/
-
-language: julia
-
-os:
-  - linux
-  - osx
-
-julia:
-  - nightly
-  - 1
-
-jobs:
-  allow_failures:
-    - julia: nightly
-  include:
-    - stage: "Documentation"
-      julia: 1.5
-      os: linux
-      script:
-        - julia --color=yes --project=docs/ -e 'using Pkg; Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()'
-        - julia --color=yes --project=docs/ docs/make.jl
-      after_success: skip
-
-notifications:
-  email: false
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 120000
index 0000000..66dd650
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1 @@
+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
index 6562b9e..f37a869 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,21 +1,62 @@
-MIT License
-
-Copyright (c) 2020 Henrique Ferrolho
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
+Copyright (c) 2018, Kinova inc.
+All rights reserved.
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+* Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.
+* Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+* Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software
+without specific prior written permission.
+ 
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+____________________________________________________________________
+
+
+Protocol Buffer license
+
+Copyright 2008 Google Inc.  All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+    * Redistributions of source code must retain the above copyright
+notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following disclaimer
+in the documentation and/or other materials provided with the
+distribution.
+    * Neither the name of Google Inc. nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Code generated by the Protocol Buffer compiler is owned by the owner
+of the input file used when generating it.  This code is not
+standalone and requires a support library to be linked with it.  This
+support library is itself covered by the above license.
\ No newline at end of file
diff --git a/Project.toml b/Project.toml
deleted file mode 100644
index 4d8cbc0..0000000
--- a/Project.toml
+++ /dev/null
@@ -1,22 +0,0 @@
-name = "TORA"
-uuid = "a6da6c0f-f153-4ec6-bf42-6dc0ab733f84"
-authors = ["Henrique Ferrolho <henriqueferrolho@gmail.com>"]
-version = "0.1.0"
-
-[deps]
-Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
-DiffEqCallbacks = "459566f4-90b8-5000-8ac3-15dfb0a30def"
-ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
-GeometryTypes = "4d00f742-c7ba-57c2-abde-4428a4b178cb"
-Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
-LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
-MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
-MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
-NPZ = "15e1cf62-19b3-5cfa-8e77-841668bca605"
-Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
-Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
-Requires = "ae029012-a4dd-5104-9daa-d747884805df"
-Revise = "295af30f-e4ad-537b-8983-00126c2a3abe"
-RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
-SparseDiffTools = "47a9eef4-7e08-11e9-0b38-333d64bd3804"
diff --git a/README.md b/README.md
deleted file mode 100644
index 4804057..0000000
--- a/README.md
+++ /dev/null
@@ -1,49 +0,0 @@
-# TORA.jl
-
-*Trajectory Optimization for Robot Arms*
-
-|                             **Documentation**                             |                                        **Build Status**                                         |
-| :-----------------------------------------------------------------------: | :---------------------------------------------------------------------------------------------: |
-| [![][docs-stable-img]][docs-stable-url] [![][docs-dev-img]][docs-dev-url] | [![][travis-img]][travis-url] [![][appveyor-img]][appveyor-url] [![][codecov-img]][codecov-url] |
-
-## Installation
-
-The package can be installed with the Julia package manager.
-
-From the Julia REPL, type `]` to enter the Pkg REPL mode and run:
-```
-pkg> add https://github.com/ferrolho/TORA.jl
-```
-
-Or, equivalently, via the Pkg API:
-```
-julia> import Pkg; Pkg.add("https://github.com/ferrolho/TORA.jl")
-```
-
-## Documentation
-
-- [**STABLE**][docs-stable-url] &mdash; **documentation of the most recently tagged version.**
-- [**DEVEL**][docs-dev-url] &mdash; *documentation of the in-development version.*
-
-## Contributions and Questions
-
-Contributions are very welcome, as are feature requests and suggestions.
-
-Please open an [issue][issues-url] if you encounter any problems.
-
-[docs-dev-img]: https://img.shields.io/badge/docs-dev-blue.svg
-[docs-dev-url]: https://ferrolho.github.io/TORA.jl/dev
-
-[docs-stable-img]: https://img.shields.io/badge/docs-stable-blue.svg
-[docs-stable-url]: https://ferrolho.github.io/TORA.jl/stable
-
-[travis-img]: https://travis-ci.com/ferrolho/TORA.jl.svg?branch=main&token=wa8UTQ2MKiuHJN6QRxtH
-[travis-url]: https://travis-ci.com/ferrolho/TORA.jl
-
-[appveyor-img]: https://ci.appveyor.com/api/projects/status/x?svg=true
-[appveyor-url]: https://ci.appveyor.com/project/ferrolho/tora-jl
-
-[codecov-img]: https://codecov.io/gh/ferrolho/TORA.jl/branch/main/graph/badge.svg
-[codecov-url]: https://codecov.io/gh/ferrolho/TORA.jl
-
-[issues-url]: https://github.com/ferrolho/TORA.jl/issues
diff --git a/docs/Project.toml b/docs/Project.toml
deleted file mode 100644
index 53c4b94..0000000
--- a/docs/Project.toml
+++ /dev/null
@@ -1,6 +0,0 @@
-[deps]
-Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
-MeshCat = "283c5d60-a78f-5afe-a0af-af636b173e11"
-MeshCatMechanisms = "6ad125db-dd91-5488-b820-c1df6aab299d"
-RigidBodyDynamics = "366cf18f-59d5-5db9-a4de-86a9f6786172"
-TORA = "a6da6c0f-f153-4ec6-bf42-6dc0ab733f84"
diff --git a/docs/make.jl b/docs/make.jl
deleted file mode 100644
index 5a1035c..0000000
--- a/docs/make.jl
+++ /dev/null
@@ -1,25 +0,0 @@
-using Documenter, TORA
-
-makedocs(
-    modules = [TORA],
-    format = Documenter.HTML(),
-    sitename = "TORA.jl",
-    authors = "Henrique Ferrolho",
-    pages = [
-        "Home" => "index.md",
-        "Getting Started" => [
-            "install.md",
-            "tutorial.md",
-        ],
-        "Manual" => [
-            "methods.md",
-            "advanced.md",
-            "new_robot.md",
-        ]
-    ]
-)
-
-deploydocs(
-    repo = "github.com/ferrolho/TORA.jl",
-    devbranch = "main",
-)
diff --git a/docs/src/advanced.md b/docs/src/advanced.md
deleted file mode 100644
index 5e5a7a4..0000000
--- a/docs/src/advanced.md
+++ /dev/null
@@ -1 +0,0 @@
-# Advanced Usage
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deleted file mode 100644
index d1e64cd..0000000
--- a/docs/src/assets/logo-dark.drawio
+++ /dev/null
@@ -1 +0,0 @@
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deleted file mode 100644
index a591af7..0000000
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diff --git a/docs/src/index.md b/docs/src/index.md
deleted file mode 100644
index b9b01fa..0000000
--- a/docs/src/index.md
+++ /dev/null
@@ -1,3 +0,0 @@
-# TORA.jl
-
-Documentation for TORA.jl
diff --git a/docs/src/install.md b/docs/src/install.md
deleted file mode 100644
index c4c261a..0000000
--- a/docs/src/install.md
+++ /dev/null
@@ -1,84 +0,0 @@
-# Installation
-
-First things first: install [Julia](https://julialang.org/). You can follow my tutorial [here](https://ferrolho.github.io/blog/2019-01-26/how-to-install-julia-on-ubuntu).
-
-To install TORA.jl, start Julia and enter `Pkg` mode by pressing `]`, and then run
-```
-add https://github.com/ferrolho/TORA.jl
-```
-
-After the command above, you are pretty much done.
-
-!!! tip "You are good to go"
-
-    I recommend you to go and follow the [tutorial](@ref Tutorial) now.
-
-The installation notes below need not be followed right now.
-At the end of the tutorial, I will refer you back here.
-
-## HSL Routines for Ipopt
-
-This section will guide you through the steps required to install the [Harwell Subroutine Library (HSL)](http://www.hsl.rl.ac.uk/ipopt/).
-
-!!! info "Information about Ipopt and the HSL"
-    TORA.jl uses [Ipopt](https://github.com/coin-or/Ipopt) (**I**nterior-**P**oint **OPT**imizer) by default, a large-scale nonlinear optimization solver.
-
-    Ipopt itself depends on other solvers to handle systems of linear equations.
-
-    The [Harwell Subroutine Library (HSL)](http://www.hsl.rl.ac.uk/ipopt/) provides a number of linear solvers that can be used in Ipopt. 
-
-!!! tip "Choose a good linear solver"
-    Picking a good linear solver is **extremely important** to maximise the performance of nonlinear solvers.
-
-    For example, the linear solver `MA27` is out dated and can be quite slow. `MA57` is a much better alternative, especially for highly-sparse problems (such as trajectory optimization problems).
-
-First, install the following dependencies:
-```
-sudo apt install gcc g++ gfortran git patch wget pkg-config liblapack-dev libmetis-dev
-```
-
-Clone Ipopt to your `Home` folder:
-```
-git clone https://github.com/coin-or/Ipopt.git ~/Ipopt
-```
-
-Clone the COIN-OR Tools project [ThirdParty-HSL](https://github.com/coin-or-tools/ThirdParty-HSL) into Ipopt's folder:
-```
-cd ~/Ipopt
-git clone https://github.com/coin-or-tools/ThirdParty-HSL.git
-```
-
-Go to [http://www.hsl.rl.ac.uk/ipopt/](http://www.hsl.rl.ac.uk/ipopt/) and download **Coin-HSL Full (Stable)** [Linux x86_64].
-
-!!! warning
-    Downloading **Coin-HSL Full** requires a licence. If you are an academic, you can get one for free.
-
-Extract and rename the downloaded archive into `~/Ipopt/ThirdParty-HSL`:
-```
-cd ~/Ipopt/ThirdParty-HSL
-tar -xvzf ~/Downloads/coinhsl-2019.05.21.tar.gz
-mv coinhsl-2019.05.21 coinhsl
-```
-
-Configure, make, and install HSL:
-```
-./configure
-make
-sudo make install
-```
-
-For compatibility, create `libhsl.so` linking to `libcoinhsl.so`:
-```
-cd /usr/local/lib
-sudo ln -s libcoinhsl.so libhsl.so
-```
-
-Finally, add the following line to the end of your `.bashrc` (or `.zshrc`):
-```
-export LD_LIBRARY_PATH="/usr/local/lib:$LD_LIBRARY_PATH"
-```
-
-## Artelys Knitro
-
-!!! unknown "Not ready yet"
-    Documentation to be written.
diff --git a/docs/src/methods.md b/docs/src/methods.md
deleted file mode 100644
index afc4de1..0000000
--- a/docs/src/methods.md
+++ /dev/null
@@ -1,43 +0,0 @@
-# Methods
-
-## Problem
-
-```@docs
-Problem
-```
-
-```@docs
-fix_joint_positions!
-fix_joint_velocities!
-fix_joint_torques!
-```
-
-```@docs
-constrain_ee_position!
-```
-
-```@docs
-show_problem_info
-```
-
-## Solver Log
-
-```@docs
-SolverLog
-update!
-length
-save
-load!
-```
-
-## Plot Utilities
-
-```@docs
-plot_results
-plot_log
-```
-
-## Index
-
-```@index
-```
diff --git a/docs/src/new_robot.md b/docs/src/new_robot.md
deleted file mode 100644
index 1666810..0000000
--- a/docs/src/new_robot.md
+++ /dev/null
@@ -1 +0,0 @@
-# Adding a new robot
diff --git a/docs/src/tutorial.md b/docs/src/tutorial.md
deleted file mode 100644
index 3367042..0000000
--- a/docs/src/tutorial.md
+++ /dev/null
@@ -1,302 +0,0 @@
-# Tutorial
-
-!!! info
-    A [Jupyter](https://jupyter.org/) notebook of this tutorial is available [here](https://github.com/ferrolho/TORA.jl/blob/main/notebooks/Tutorial.ipynb).
-
-## Setup
-
-We are going to use TORA.jl as well as other packages to visualise and handle rigid-body mechanisms.
-
-```julia
-using TORA
-using MeshCat
-using MeshCatMechanisms
-using RigidBodyDynamics
-```
-
-```@setup example_1
-using TORA
-using MeshCat
-using MeshCatMechanisms
-using RigidBodyDynamics
-
-vis = Visualizer()
-``` 
-
-Try to call `TORA.greet()`. It should simply print "Hello World!"
-```@example example_1
-TORA.greet()
-```
-
-Next, we want to create a 3D viewer using [MeshCat.jl](https://github.com/rdeits/MeshCat.jl)
-```julia
-vis = Visualizer()
-```
-
-Let's open the visualizer (in a separate browser tab)
-```julia
-open(vis)
-```
-
-It should look like this:
-
-![Empty viewer](../assets/screenshots/tutorial_01.png)
-
-## Loading a Robot
-
-After starting the viewer, we are now ready to load a robot. Let's load a [KUKA LBR iiwa 14](https://www.kuka.com/en-gb/products/robotics-systems/industrial-robots/lbr-iiwa) with
-
-```@example example_1
-robot = TORA.create_robot_kuka_iiwa_14(vis)
-# hide
-```
-
-!!! info
-    To load a different robot, check the [Adding a New Robot](@ref Adding-a-new-robot) page of the documentation.
-
-Afterwards, you should be able to see the robot in the viewer:
-
-![Robot spawn](../assets/screenshots/tutorial_02.png)
-
-## Creating a Problem
-
-Having loaded the robot, we are now ready to define the task we want to solve.
-
-TORA.jl uses a Direct Transcription[^1] approach to optimize trajectories.
-This technique splits the trajectory into $N$ equally-spaced[^2] segments
-```math
-    t_I = t_1 < t_2 < \dots < t_M = t_F,
-```
-where $t_I$ and $t_F$ are the start and final instants, respectively.
-This division results in $M = N + 1$ discrete *mesh points* (a.k.a. *knots*), for each of which TORA.jl discretizes the states of the system, as well as the control inputs.
-
-[^1]:
-    Betts, John T. [*Practical Methods for Optimal Control and Estimation Using Nonlinear Programming*](https://epubs.siam.org/doi/book/10.1137/1.9780898718577). Society for Industrial and Applied Mathematics, 2010.
-
-[^2]:
-    Direct Transcription does not necessarily require equally-spaced segments.
-
-To create a new problem, we use the [`TORA.Problem`](@ref) constructor, which takes three arguments:
-1. a [`TORA.Robot`](@ref),
-2. the number of *knots* we wish to use for representing the trajectory, and
-3. the time step duration between each pair of consecutive knots.
-
-```@setup example_2
-```
-Suppose we want to optimize a motion with a total duration of *2 seconds*, and that we want to calculate the control inputs to the system at a frequency of *150 Hz*.
-```@example example_2
-const duration = 2.0  # in seconds
-const hz = 150
-# hide
-```
-In that case, the time step duration would be
-```@example example_2
-dt = 1/150
-```
-and the total number of *knots* would be given by
-```@example example_2
-hz * duration + 1
-```
-
-Therefore, we create the problem by running
-```@example example_1
-problem = TORA.Problem(robot, 301, 1/150)
-# hide
-```
-
-We can use [`TORA.show_problem_info`](@ref) to print a summary of relevant information of a [`TORA.Problem`](@ref).
-```@example example_1
-TORA.show_problem_info(problem)
-```
-The summary above shows that the total duration of the motion is 2.0 seconds, just like we wanted.
-
-The summary also shows that there are no constraints defined yet, as we have just now created the problem.
-
-## Defining Constraints
-
-The decision variables of the optimization problem at every *knot* are:
-- joint positions,
-- joint velocities, and
-- joint torques.[^3]
-
-[^3]:
-    An exception to this is the last knot, which only discretizes joint positions and joint velocities.
-
-### Bounds of the Decision Variables
-
-The bounds of the decision variables need not be defined.
-They are automatically inferred from the URDF model.
-
-### Fixing Values of the Decision Variables
-
-It is possible to fix the values of specific decision variables with:
-- [`TORA.fix_joint_positions!`](@ref)
-- [`TORA.fix_joint_velocities!`](@ref)
-- [`TORA.fix_joint_torques!`](@ref)
-
-Suppose we want to enforce zero joint velocities both at the very *start* of the motion and at the very *end* of the motion. We can specify such constraints with
-
-```@example example_1
-# Constrain initial and final joint velocities to zero
-TORA.fix_joint_velocities!(problem, robot, 1, zeros(robot.n_v))
-TORA.fix_joint_velocities!(problem, robot, problem.num_knots, zeros(robot.n_v))
-# hide
-```
-
-Let's have a look at the problem summary output again:
-```@example example_1
-TORA.show_problem_info(problem)
-```
-
-The output confirms that there are now *two knots* for which we have fixed specific joint velocities.
-
-### End-effector Constraints
-
-[`TORA.constrain_ee_position!`](@ref) allows us to enforce specific positions for the end-effector of the robot.
-
-If we want the end-effector of the robot to be located at $[0.5, 0.2, 0.3]$ in knot $k = 33$ we would write
-```julia
-TORA.constrain_ee_position!(problem, 33, [0.5, 0.2, 0.3])
-```
-
-But let's do something more interesting for this tutorial... Let's define a problem where the robot must trace a circular path. For that, we just need to call [`TORA.constrain_ee_position!`](@ref) multiple times with the right combination of knot and position such that we describe a circle.
-
-```@example example_1
-let CubicTimeScaling(Tf::Number, t::Number) = 3(t / Tf)^2 - 2(t / Tf)^3
-    for k = 1:2:problem.num_knots  # For every other knot
-        θ = CubicTimeScaling(problem.num_knots - 1, k - 1) * 2π
-        pos = [0.5, 0.2 * cos(θ), 0.8 + 0.2 * sin(θ)]
-        TORA.constrain_ee_position!(problem, k, pos)
-    end
-end
-```
-
-In the snippet above, `CubicTimeScaling` is a helper function (a cubic polynomial). It allows us to specify a path for the end-effector that accelerates at first, and decelerates near the end. This is a better alternative to tracing the path with constant velocity.
-
-The `for` loop inside the `let` block samples every other knot of the trajectory, and computes the position `pos` of the end-effector at that knot using the angle $\theta$.
-
-
-Let's print the problem summary once again:
-```@example example_1
-TORA.show_problem_info(problem)
-```
-
-The output correctly shows that we now have end-effector position constraints in 151 knots.
-
-## Providing an Initial Guess
-
-Trajectory Optimization problems can be very challenging to solve. As such, providing a good initial guess (starting point) for the trajectory helps solvers significantly.
-
-For our circle-tracing task, we are going to define a very simple (but reasonably good) initial guess: a static configuration, zero velocities, and zero torques.
-
-First, let's define the static configuration:
-
-```@example example_1
-initial_q = [0, 0, 0, -π/2, 0, 0, 0]
-# hide
-```
-
-We can visualize this configuration by running
-```@example example_1
-zero!(robot.state)
-set_configuration!(robot.state, initial_q)
-set_configuration!(robot.mvis, configuration(robot.state))
-```
-
-This will update the configuration of the robot in the viewer:
-
-![Robot initial configuration](../assets/screenshots/tutorial_03.png)
-
-We can now define the initial guess for the joint positions with that fixed configuration, repeated for every knot:
-
-```@example example_1
-initial_qs = repeat(initial_q, 1, problem.num_knots)
-```
-
-For the joint velocities we are going to start with zeroes repeated for every knot:
-
-```@example example_1
-initial_vs = zeros(robot.n_v, problem.num_knots)
-```
-
-And the same for the joint torques:
-
-```@example example_1
-initial_τs = zeros(robot.n_τ, problem.num_knots)
-```
-
-We can concatenate these matrices into a single one:
-```@example example_1
-initial_guess = [initial_qs; initial_vs; initial_τs]
-```
-
-Notice that the dimensions are `21×301`, i.e., the dimension of each knot ($\mathbb{R}^{21}$) times the 301 knots.
-
-We can flatten this matrix into a vector with
-```@example example_1
-initial_guess = vec(initial_guess)
-# hide
-```
-
-!!! note "Remember"
-    Julia follows a column-major convention. See [Access arrays in memory order, along columns](https://docs.julialang.org/en/v1/manual/performance-tips/#man-performance-column-major).
-
-As a very last step, we just need to truncate the last few values that correspond to the control inputs at the last knot. The last knot represents the end of the motion, so we only represent the robot state.
-
-```@example example_1
-initial_guess = initial_guess[1:end - robot.n_τ]
-# hide
-```
-
-## Solving the Problem
-
-```@example example_1
-user_options = Dict("print_level" => 0)  # hide
-cpu_time, x, solver_log = TORA.solve_with_ipopt(problem, robot, initial_guess=initial_guess, user_options=user_options)  # hide
-# hide
-```
-
-Once we are happy with the problem definition, we just need to call solve and the optimization will start.
-
-```@example example_1
-cpu_time, x, solver_log = TORA.solve_with_ipopt(problem, robot, initial_guess=initial_guess)
-# hide
-```
-
-!!! info
-    There exist additional parameters that you can pass to `TORA.solve_with_*`. See [Advanced Usage](@ref).
-
-## Showing the Results
-
-When the optimization finishes, we can playback the trajectory on the robot shown in the viewer.
-
-```julia
-play_trajectory(vis, problem, robot, x)
-```
-
-You should be able to see this:
-
-```@raw html
-<video src="../assets/videos/tutorial.mp4" autoplay loop muted width="100%" style="margin-bottom: 1em;">Your browser does not support the video tag.</video>
-```
-
-We can also plot the positions, velocities, and torques of the obtained trajectory:
-
-```@example example_1
-TORA.plot_results(problem, robot, x)
-```
-
-Lastly, we can plot the [`TORA.SolverLog`](@ref) (returned by the solve function) to study the evolution of the feasibility error and of the objective function value (if one has been defined) per iteration.
-
-```@example example_1
-TORA.plot_log(solver_log)
-```
-
-!!! tip "You have reached the end"
-    That concludes this tutorial. Congratulations! And thank you for sticking around this far.
-
-```@raw html
-<figure>
-    <img src="https://thumbs.gfycat.com/DesertedWhiteDotterel-size_restricted.gif" alt="That's all Folks!" width="50%">
-</figure>
-```
diff --git a/iiwa_stack b/iiwa_stack
deleted file mode 160000
index a4f132a..0000000
--- a/iiwa_stack
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit a4f132ad093d276e63040ddbbac6b2cd1facbdcc
diff --git a/kortex_api/.gitignore b/kortex_api/.gitignore
new file mode 100644
index 0000000..a6510df
--- /dev/null
+++ b/kortex_api/.gitignore
@@ -0,0 +1,2 @@
+include
+lib
\ No newline at end of file
diff --git a/kortex_control/CMakeLists.txt b/kortex_control/CMakeLists.txt
new file mode 100644
index 0000000..10cb67c
--- /dev/null
+++ b/kortex_control/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(kortex_control)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+# Install
+foreach(dir arms grippers)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
diff --git a/kortex_control/arms/gen3/6dof/config/joint_position_controllers.yaml b/kortex_control/arms/gen3/6dof/config/joint_position_controllers.yaml
new file mode 100644
index 0000000..5c2f22b
--- /dev/null
+++ b/kortex_control/arms/gen3/6dof/config/joint_position_controllers.yaml
@@ -0,0 +1,75 @@
+# Publish all joint states -----------------------------------
+$(arg prefix)joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50  
+
+$(arg prefix)gen3_joint_trajectory_controller:
+    type: effort_controllers/JointTrajectoryController
+    joints:
+        - $(arg prefix)joint_1
+        - $(arg prefix)joint_2
+        - $(arg prefix)joint_3
+        - $(arg prefix)joint_4
+        - $(arg prefix)joint_5
+        - $(arg prefix)joint_6
+    constraints:
+        goal_time: 1.0
+        stopped_velocity_tolerance: 0.5
+    stop_trajectory_duration: 1.0
+    state_publish_rate:  25
+    action_monitor_rate: 25
+    gains:
+        $(arg prefix)joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
+        $(arg prefix)joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
+        $(arg prefix)joint_3: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_4: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_5: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_6: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
+  
+$(arg prefix)joint_1_position_controller:
+    joint: $(arg prefix)joint_1
+    pid:
+        p: 3000.0
+        i: 0.0
+        d: 2.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_2_position_controller:
+    joint: $(arg prefix)joint_2
+    pid:
+        p: 50000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_3_position_controller:
+    joint: $(arg prefix)joint_3
+    pid:
+        p: 50000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_4_position_controller:
+    joint: $(arg prefix)joint_4
+    pid:
+        p: 750.0
+        i: 0.0
+        d: 0.2
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_5_position_controller:
+    joint: $(arg prefix)joint_5
+    pid:
+        p: 5000.0
+        i: 0.0
+        d: 1.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_6_position_controller:
+    joint: $(arg prefix)joint_6
+    pid:
+        p: 100.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
diff --git a/kortex_control/arms/gen3/7dof/config/joint_position_controllers.yaml b/kortex_control/arms/gen3/7dof/config/joint_position_controllers.yaml
new file mode 100644
index 0000000..621a0b3
--- /dev/null
+++ b/kortex_control/arms/gen3/7dof/config/joint_position_controllers.yaml
@@ -0,0 +1,85 @@
+# Publish all joint states -----------------------------------
+$(arg prefix)joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50  
+
+$(arg prefix)gen3_joint_trajectory_controller:
+    type: effort_controllers/JointTrajectoryController
+    joints:
+        - $(arg prefix)joint_1
+        - $(arg prefix)joint_2
+        - $(arg prefix)joint_3
+        - $(arg prefix)joint_4
+        - $(arg prefix)joint_5
+        - $(arg prefix)joint_6
+        - $(arg prefix)joint_7
+    constraints:
+        goal_time: 1.0
+        stopped_velocity_tolerance: 0.5
+    stop_trajectory_duration: 1.0
+    state_publish_rate:  25
+    action_monitor_rate: 25
+    gains:
+        $(arg prefix)joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
+        $(arg prefix)joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
+        $(arg prefix)joint_3: {p: 3000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_4: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_5: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_6: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_7: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
+  
+$(arg prefix)joint_1_position_controller:
+    joint: $(arg prefix)joint_1
+    pid:
+        p: 3000.0
+        i: 0.0
+        d: 2.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_2_position_controller:
+    joint: $(arg prefix)joint_2
+    pid:
+        p: 50000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_3_position_controller:
+    joint: $(arg prefix)joint_3
+    pid:
+        p: 3000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_4_position_controller:
+    joint: $(arg prefix)joint_4
+    pid:
+        p: 50000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_5_position_controller:
+    joint: $(arg prefix)joint_5
+    pid:
+        p: 750.0
+        i: 0.0
+        d: 0.2
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_6_position_controller:
+    joint: $(arg prefix)joint_6
+    pid:
+        p: 5000.0
+        i: 0.0
+        d: 1.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_7_position_controller:
+    joint: $(arg prefix)joint_7
+    pid:
+        p: 100.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
diff --git a/kortex_control/arms/gen3_lite/6dof/config/joint_position_controllers.yaml b/kortex_control/arms/gen3_lite/6dof/config/joint_position_controllers.yaml
new file mode 100644
index 0000000..c869f63
--- /dev/null
+++ b/kortex_control/arms/gen3_lite/6dof/config/joint_position_controllers.yaml
@@ -0,0 +1,75 @@
+# Publish all joint states -----------------------------------
+$(arg prefix)joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50  
+
+$(arg prefix)gen3_lite_joint_trajectory_controller:
+    type: effort_controllers/JointTrajectoryController
+    joints:
+        - $(arg prefix)joint_1
+        - $(arg prefix)joint_2
+        - $(arg prefix)joint_3
+        - $(arg prefix)joint_4
+        - $(arg prefix)joint_5
+        - $(arg prefix)joint_6
+    constraints:
+        goal_time: 1.0
+        stopped_velocity_tolerance: 0.5
+    stop_trajectory_duration: 1.0
+    state_publish_rate:  25
+    action_monitor_rate: 25
+    gains:
+        $(arg prefix)joint_1: {p: 3000.0, i: 0.0, d: 2.0, i_clamp_min: -100.0, i_clamp_max: 100.0}
+        $(arg prefix)joint_2: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -5.0, i_clamp_max: 5.0}
+        $(arg prefix)joint_3: {p: 50000.0, i: 0.0, d: 0.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_4: {p: 750.0, i: 0.0, d: 0.2, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_5: {p: 5000.0, i: 0.0, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0}
+        $(arg prefix)joint_6: {p: 100.0, i: 0.0, d: 0.0, i_clamp_min: -0.1, i_clamp_max: 0.1}
+  
+$(arg prefix)joint_1_position_controller:
+    joint: $(arg prefix)joint_1
+    pid:
+        p: 3000.0
+        i: 0.0
+        d: 2.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_2_position_controller:
+    joint: $(arg prefix)joint_2
+    pid:
+        p: 50000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_3_position_controller:
+    joint: $(arg prefix)joint_3
+    pid:
+        p: 50000.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_4_position_controller:
+    joint: $(arg prefix)joint_4
+    pid:
+        p: 750.0
+        i: 0.0
+        d: 0.2
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_5_position_controller:
+    joint: $(arg prefix)joint_5
+    pid:
+        p: 5000.0
+        i: 0.0
+        d: 1.0
+    type: effort_controllers/JointPositionController
+
+$(arg prefix)joint_6_position_controller:
+    joint: $(arg prefix)joint_6
+    pid:
+        p: 100.0
+        i: 0.0
+        d: 0.0
+    type: effort_controllers/JointPositionController
diff --git a/kortex_control/grippers/gen3_lite_2f/config/gripper_action_controller_parameters.yaml b/kortex_control/grippers/gen3_lite_2f/config/gripper_action_controller_parameters.yaml
new file mode 100644
index 0000000..87ac60a
--- /dev/null
+++ b/kortex_control/grippers/gen3_lite_2f/config/gripper_action_controller_parameters.yaml
@@ -0,0 +1,11 @@
+$(arg prefix)gen3_lite_2f_gripper_controller:
+    type: position_controllers/GripperActionController
+    joint: $(arg prefix)right_finger_bottom_joint
+    action_monitor_rate: 100
+
+gazebo_ros_control:
+  pid_gains:
+        $(arg prefix)right_finger_bottom_joint: {p: 10.0, i: 0.0, d: 0.0} 
+        $(arg prefix)right_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0} 
+        $(arg prefix)left_finger_bottom_joint: {p: 10.0, i: 0.0, d: 0.0} 
+        $(arg prefix)left_finger_tip_joint: {p: 1.0, i: 0.0, d: 0.0}
\ No newline at end of file
diff --git a/kortex_control/grippers/robotiq_2f_140/config/gripper_action_controller_parameters.yaml b/kortex_control/grippers/robotiq_2f_140/config/gripper_action_controller_parameters.yaml
new file mode 100644
index 0000000..869f515
--- /dev/null
+++ b/kortex_control/grippers/robotiq_2f_140/config/gripper_action_controller_parameters.yaml
@@ -0,0 +1,13 @@
+$(arg prefix)robotiq_2f_140_gripper_controller:
+    type: position_controllers/GripperActionController
+    joint: $(arg prefix)finger_joint
+    action_monitor_rate: 100
+
+gazebo_ros_control:
+  pid_gains:
+        $(arg prefix)finger_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} 
+        $(arg prefix)right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
+        $(arg prefix)right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
\ No newline at end of file
diff --git a/kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml b/kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml
new file mode 100644
index 0000000..4e40277
--- /dev/null
+++ b/kortex_control/grippers/robotiq_2f_85/config/gripper_action_controller_parameters.yaml
@@ -0,0 +1,13 @@
+$(arg prefix)robotiq_2f_85_gripper_controller:
+    type: position_controllers/GripperActionController
+    joint: $(arg prefix)finger_joint
+    action_monitor_rate: 100
+
+gazebo_ros_control:
+  pid_gains:
+        $(arg prefix)finger_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)right_outer_knuckle_joint: {p: 10.0, i: 0.0, d: 0.00} 
+        $(arg prefix)right_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)left_inner_knuckle_joint: {p: 10.0, i: 0.0, d: 0.01} 
+        $(arg prefix)left_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
+        $(arg prefix)right_inner_finger_joint: {p: 0.5, i: 0.0, d: 0.001} 
\ No newline at end of file
diff --git a/kortex_control/package.xml b/kortex_control/package.xml
new file mode 100644
index 0000000..f937c18
--- /dev/null
+++ b/kortex_control/package.xml
@@ -0,0 +1,25 @@
+<package>
+  <name>kortex_control</name>
+  <version>2.2.2</version>
+  <description>
+    <p>Gazebo ROS Control package for simulated Kortex robots</p>
+    <p>This package contains configuration files for the gazebo_ros_control controllers for simulation of Kortex arms</p>
+  </description>
+  <author email="avannobel@kinova.ca">Alexandre Vannobel</author>
+  <maintainer email="avannobel@kinova.ca" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>gazebo</run_depend>
+  <run_depend>xacro</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>gazebo_ros_control</run_depend>
+  <run_depend>ros_control</run_depend>
+  <run_depend>ros_controllers</run_depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>
diff --git a/kortex_control/readme.md b/kortex_control/readme.md
new file mode 100644
index 0000000..65e5350
--- /dev/null
+++ b/kortex_control/readme.md
@@ -0,0 +1,24 @@
+<!-- 
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2018 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed 
+* under the terms of the BSD 3-Clause license. 
+*
+* Refer to the LICENSE file for details.
+*
+* -->
+
+# Kortex Control
+
+## Overview
+This package contains the configuration files for the [ros_control controllers](http://wiki.ros.org/ros_control) used to control the simulated arms.  
+
+## Loading and starting the controllers for simulation
+
+The `joint_position_controllers.yaml` file for the chosen arm is loaded to the Parameter Server from the [spawn_kortex_robot.launch](../kortex_gazebo/launch/spawn_kortex_robot.launch) file. The `controller_manager` node is then called to load and start the controllers as [Gazebo plugins](http://wiki.ros.org/gazebo_ros_control). 
+
+## ROS Control support for the real arm
+
+ROS Control support for the Kinova Gen3 and Gen3 lite robots is not currently available and will be part of a future release.  
diff --git a/kortex_description/CMakeLists.txt b/kortex_description/CMakeLists.txt
new file mode 100644
index 0000000..40d0704
--- /dev/null
+++ b/kortex_description/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(kortex_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+find_package(roslaunch)
+
+# Install
+foreach(dir arms grippers robots launch)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
diff --git a/kortex_description/arms/gen3/6dof/config/gazebo_initial_joint_positions.yaml b/kortex_description/arms/gen3/6dof/config/gazebo_initial_joint_positions.yaml
new file mode 100644
index 0000000..729f82b
--- /dev/null
+++ b/kortex_description/arms/gen3/6dof/config/gazebo_initial_joint_positions.yaml
@@ -0,0 +1,6 @@
+initial_joint_positions: "-J $(arg prefix)joint_1 1.57
+                          -J $(arg prefix)joint_2 -0.35
+                          -J $(arg prefix)joint_3 -2.00
+                          -J $(arg prefix)joint_4 0
+                          -J $(arg prefix)joint_5 -1.00
+                          -J $(arg prefix)joint_6 1.57 "
\ No newline at end of file
diff --git a/kortex_description/arms/gen3/6dof/config/joint_limits.yaml b/kortex_description/arms/gen3/6dof/config/joint_limits.yaml
new file mode 100644
index 0000000..e524d93
--- /dev/null
+++ b/kortex_description/arms/gen3/6dof/config/joint_limits.yaml
@@ -0,0 +1,21 @@
+joint_names:
+  - $(arg prefix)joint_1
+  - $(arg prefix)joint_2
+  - $(arg prefix)joint_3
+  - $(arg prefix)joint_4
+  - $(arg prefix)joint_5
+  - $(arg prefix)joint_6
+maximum_velocities:
+  - 0.8727
+  - 0.8727
+  - 0.8727
+  - 0.8727
+  - 0.8727
+  - 0.8727
+maximum_accelerations:
+  - 1.0
+  - 1.0
+  - 1.0
+  - 10.0
+  - 10.0
+  - 10.0
diff --git a/kortex_description/arms/gen3/6dof/config/twist_limits.yaml b/kortex_description/arms/gen3/6dof/config/twist_limits.yaml
new file mode 100644
index 0000000..7b71f61
--- /dev/null
+++ b/kortex_description/arms/gen3/6dof/config/twist_limits.yaml
@@ -0,0 +1,4 @@
+maximum_linear_velocity: 0.5
+maximum_angular_velocity: 1.74
+maximum_linear_acceleration: 0.4
+maximum_angular_acceleration: 0.4
\ No newline at end of file
diff --git a/kortex_description/arms/gen3/6dof/meshes/base_link.STL b/kortex_description/arms/gen3/6dof/meshes/base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..93f35be24eb7746a814b4ae35ce43896ba980337
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diff --git a/kortex_description/arms/gen3/6dof/meshes/bicep_link.STL b/kortex_description/arms/gen3/6dof/meshes/bicep_link.STL
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diff --git a/kortex_description/arms/gen3/6dof/meshes/bracelet_no_vision_link.STL b/kortex_description/arms/gen3/6dof/meshes/bracelet_no_vision_link.STL
new file mode 100644
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diff --git a/kortex_description/arms/gen3/6dof/meshes/bracelet_with_vision_link.STL b/kortex_description/arms/gen3/6dof/meshes/bracelet_with_vision_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..98941ffd7740fd53e336e4b160fe12ebfd51ca73
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diff --git a/kortex_description/arms/gen3/6dof/meshes/forearm_link.STL b/kortex_description/arms/gen3/6dof/meshes/forearm_link.STL
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diff --git a/kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL b/kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL
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diff --git a/kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL b/kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL
new file mode 100644
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diff --git a/kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL b/kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL
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diff --git a/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_NO-VISION_URDF_ARM_V01.urdf b/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_NO-VISION_URDF_ARM_V01.urdf
new file mode 100644
index 0000000..960ae01
--- /dev/null
+++ b/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_NO-VISION_URDF_ARM_V01.urdf
@@ -0,0 +1,205 @@
+<robot name="GEN3-6DOF_NO-VISION_URDF_ARM_V01" version="1.0">
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-0.000648 -0.000166 0.084487" rpy="0 0 0" />
+      <mass value="1.697" />
+      <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="shoulder_link">
+    <inertial>
+      <origin xyz="-2.3E-05 -0.010364 -0.07336" rpy="0 0 0" />
+      <mass value="1.377" />
+      <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_1" type="continuous">
+    <origin xyz="0 0 0.15643" rpy="-3.1416 0 0" />
+    <parent link="base_link" />
+    <child link="shoulder_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="39" velocity="0.8727" />
+  </joint>
+  <link name="bicep_link">
+    <inertial>
+      <origin xyz="3.5E-05 -0.208207 -0.01889" rpy="0 0 0" />
+      <mass value="1.262" />
+      <inertia ixx="0.046752" ixy="-9E-06" ixz="0" iyy="0.00085" iyz="-9.8E-05" izz="0.047188" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bicep_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bicep_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_2" type="revolute">
+    <origin xyz="0 0.005375 -0.12838" rpy="1.5708 0 0" />
+    <parent link="shoulder_link" />
+    <child link="bicep_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.41" upper="2.41" effort="39" velocity="0.8727" />
+  </joint>
+  <link name="forearm_link">
+    <inertial>
+      <origin xyz="1.8E-05 0.076168 -0.01397" rpy="0 0 0" />
+      <mass value="0.93" />
+      <inertia ixx="0.008292" ixy="-1E-06" ixz="0" iyy="0.000628" iyz="0.000432" izz="0.008464" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/forearm_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/forearm_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_3" type="revolute">
+    <origin xyz="0 -0.41 0" rpy="3.1416 0 0" />
+    <parent link="bicep_link" />
+    <child link="forearm_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.66" upper="2.66" effort="39" velocity="0.8727" />
+  </joint>
+  <link name="spherical_wrist_1_link">
+    <inertial>
+      <origin xyz="-1E-06 0.008486 -0.062937" rpy="0 0 0" />
+      <mass value="0.678" />
+      <inertia ixx="0.001645" ixy="0" ixz="0" iyy="0.001666" iyz="-0.000234" izz="0.000389" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_4" type="continuous">
+    <origin xyz="0 0.20843 -0.006375" rpy="1.5708 0 0" />
+    <parent link="forearm_link" />
+    <child link="spherical_wrist_1_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="9" velocity="0.8727" />
+  </joint>
+  <link name="spherical_wrist_2_link">
+    <inertial>
+      <origin xyz="-1E-06 0.046429 -0.008704" rpy="0 0 0" />
+      <mass value="0.678" />
+      <inertia ixx="0.001685" ixy="0" ixz="0" iyy="0.0004" iyz="0.000255" izz="0.001696" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_5" type="revolute">
+    <origin xyz="0 -0.00017505 -0.10593" rpy="-1.5708 0 0" />
+    <parent link="spherical_wrist_1_link" />
+    <child link="spherical_wrist_2_link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.23" upper="2.23" effort="9" velocity="0.8727" />
+  </joint>
+  <link name="bracelet_link">
+    <inertial>
+      <origin xyz="-9.3E-05 0.000132 -0.022905" rpy="0 0 0" />
+      <mass value="0.364" />
+      <inertia ixx="0.000214" ixy="0" ixz="1E-06" iyy="0.000223" iyz="-2E-06" izz="0.00024" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bracelet_no_vision_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bracelet_no_vision_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint_6" type="continuous">
+    <origin xyz="0 0.10593 -0.00017505" rpy="1.5708 0 0" />
+    <parent link="spherical_wrist_2_link" />
+    <child link="bracelet_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="9" velocity="0.8727" />
+  </joint>
+  <link name="EndEffector_Link" />
+  <joint name="EndEffector" type="fixed">
+    <origin xyz="0 0 -0.061525" rpy="3.1416 0 -3.1416" />
+    <parent link="bracelet_link" />
+    <child link="EndEffector_Link" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_VISION_URDF_ARM_V01.urdf b/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_VISION_URDF_ARM_V01.urdf
new file mode 100644
index 0000000..89b673e
--- /dev/null
+++ b/kortex_description/arms/gen3/6dof/urdf/GEN3-6DOF_VISION_URDF_ARM_V01.urdf
@@ -0,0 +1,226 @@
+<robot name="GEN3-6DOF_VISION_URDF_ARM_V01" version="1.0">
+  <link name="Base_Link">
+    <inertial>
+      <origin xyz="-0.000648 -0.000166 0.084487" rpy="0 0 0" />
+      <mass value="1.697" />
+      <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="Shoulder_Link">
+    <inertial>
+      <origin xyz="-2.3E-05 -0.010364 -0.07336" rpy="0 0 0" />
+      <mass value="1.377" />
+      <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/shoulder_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator1" type="continuous">
+    <origin xyz="0 0 0.15643" rpy="-3.1416 0.0 0.0" />
+    <parent link="Base_Link" />
+    <child link="Shoulder_Link" />
+    <axis xyz="0 0 1" />
+    <limit effort="39" velocity="0.8727" />
+  </joint>
+  <link name="Bicep_Link">
+    <inertial>
+      <origin xyz="3.5E-05 -0.208207 -0.01889" rpy="0 0 0" />
+      <mass value="1.262" />
+      <inertia ixx="0.046752" ixy="-9E-06" ixz="0" iyy="0.00085" iyz="-9.8E-05" izz="0.047188" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bicep_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bicep_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator2" type="revolute">
+    <origin xyz="0 0.005375 -0.12838" rpy="1.5708 0.0 0.0" />
+    <parent link="Shoulder_Link" />
+    <child link="Bicep_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.41" upper="2.41" effort="39" velocity="0.8727" />
+  </joint>
+  <link name="ForeArm_Link">
+    <inertial>
+      <origin xyz="1.8E-05 0.076168 -0.01397" rpy="0 0 0" />
+      <mass value="0.93" />
+      <inertia ixx="0.008292" ixy="-1E-06" ixz="0" iyy="0.000628" iyz="0.000432" izz="0.008464" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/forearm_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/forearm_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator3" type="revolute">
+    <origin xyz="0 -0.41 0" rpy="3.1416 0 0" />
+    <parent link="Bicep_Link" />
+    <child link="ForeArm_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.66" upper="2.66" effort="39" velocity="0.8727" />
+  </joint>
+  <link name="SphericalWrist1_Link">
+    <inertial>
+      <origin xyz="-1E-06 0.008486 -0.062937" rpy="0 0 0" />
+      <mass value="0.6781" />
+      <inertia ixx="0.001645" ixy="0" ixz="0" iyy="0.001666" iyz="-0.000234" izz="0.000389" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_1_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator4" type="continuous">
+    <origin xyz="0 0.20843 -0.006375" rpy="1.5708 0.0 0.0" />
+    <parent link="ForeArm_Link" />
+    <child link="SphericalWrist1_Link" />
+    <axis xyz="0 0 1" />
+    <limit effort="9" velocity="0.8727" />
+  </joint>
+  <link name="SphericalWrist2_Link">
+    <inertial>
+      <origin xyz="-1E-06 0.046429 -0.008704" rpy="0 0 0" />
+      <mass value="0.678" />
+      <inertia ixx="0.001685" ixy="0" ixz="0" iyy="0.0004" iyz="0.000255" izz="0.001696" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/spherical_wrist_2_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator5" type="revolute">
+    <origin xyz="0 -0.00017505 -0.10593" rpy="-1.5708 0.0 0.0" />
+    <parent link="SphericalWrist1_Link" />
+    <child link="SphericalWrist2_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.23" upper="2.23" effort="9" velocity="0.8727" />
+  </joint>
+  <link name="Bracelet_Link">
+    <inertial>
+      <origin xyz="0.000281 0.011402 -0.029798" rpy="0 0 0" />
+      <mass value="0.5" />
+      <inertia ixx="0.000587" ixy="3E-06" ixz="3E-06" iyy="0.000369" iyz="-0.000118" izz="0.000609" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bracelet_with_vision_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/bracelet_with_vision_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator6" type="continuous">
+    <origin xyz="0 0.10593 -0.00017505" rpy="1.5708 0.0 0.0" />
+    <parent link="SphericalWrist2_Link" />
+    <child link="Bracelet_Link" />
+    <axis xyz="0 0 1" />
+    <limit effort="9" velocity="0.8727" />
+  </joint>
+  <link name="EndEffector_Link">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0" />
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/EndEffector_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/6dof/meshes/EndEffector_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="EndEffector" type="fixed">
+    <origin xyz="0 0 -0.061525" rpy="3.1416 0 -3.1416" />
+    <parent link="Bracelet_Link" />
+    <child link="EndEffector_Link" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
new file mode 100644
index 0000000..c12d737
--- /dev/null
+++ b/kortex_description/arms/gen3/6dof/urdf/gen3_macro.xacro
@@ -0,0 +1,244 @@
+<?xml version="1.0"?>
+
+<robot name="gen3_arm" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Propagate last link name information because it is the gripper's parent link -->
+  <xacro:property name="last_arm_link" value="end_effector_link"/>
+
+  <xacro:macro name="load_arm" params="parent:='' dof vision prefix *origin">
+    <link name="${prefix}base_link">
+      <inertial>
+        <origin xyz="-0.000648 -0.000166 0.084487" rpy="0 0 0" />
+        <mass value="1.697" />
+        <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/base_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}shoulder_link">
+      <inertial>
+        <origin xyz="-2.3E-05 -0.010364 -0.07336" rpy="0 0 0" />
+        <mass value="1.377" />
+        <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/shoulder_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/shoulder_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${prefix}joint_1" type="continuous">
+      <origin xyz="0 0 0.15643" rpy="-3.1416 0.0 0.0" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}shoulder_link" />
+      <axis xyz="0 0 1" />
+      <limit effort="39" velocity="1.3963" />
+    </joint>
+    <link name="${prefix}bicep_link">
+      <inertial>
+        <origin xyz="3.5E-05 -0.208207 -0.01889" rpy="0 0 0" />
+        <mass value="1.262" />
+        <inertia ixx="0.046752" ixy="-9E-06" ixz="0" iyy="0.00085" iyz="-9.8E-05" izz="0.047188" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bicep_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bicep_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${prefix}joint_2" type="revolute">
+      <origin xyz="0 0.005375 -0.12838" rpy="1.5708 0.0 0.0" />
+      <parent link="${prefix}shoulder_link" />
+      <child link="${prefix}bicep_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.41" upper="2.41" effort="39" velocity="1.3963" />
+    </joint>
+    <link name="${prefix}forearm_link">
+      <inertial>
+        <origin xyz="1.8E-05 0.076168 -0.01397" rpy="0 0 0" />
+        <mass value="0.93" />
+        <inertia ixx="0.008292" ixy="-1E-06" ixz="0" iyy="0.000628" iyz="0.000432" izz="0.008464" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/forearm_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/forearm_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${prefix}joint_3" type="revolute">
+      <origin xyz="0 -0.41 0" rpy="3.1416 0 0" />
+      <parent link="${prefix}bicep_link" />
+      <child link="${prefix}forearm_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.66" upper="2.66" effort="39" velocity="1.3963" />
+    </joint>
+    <link name="${prefix}spherical_wrist_1_link">
+      <inertial>
+        <origin xyz="-1E-06 0.008486 -0.062937" rpy="0 0 0" />
+        <mass value="0.6781" />
+        <inertia ixx="0.001645" ixy="0" ixz="0" iyy="0.001666" iyz="-0.000234" izz="0.000389" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${prefix}joint_4" type="continuous">
+      <origin xyz="0 0.20843 -0.006375" rpy="1.5708 0.0 0.0" />
+      <parent link="${prefix}forearm_link" />
+      <child link="${prefix}spherical_wrist_1_link" />
+      <axis xyz="0 0 1" />
+      <limit effort="9" velocity="1.2218" />
+    </joint>
+    <link name="${prefix}spherical_wrist_2_link">
+      <inertial>
+        <origin xyz="-1E-06 0.046429 -0.008704" rpy="0 0 0" />
+        <mass value="0.678" />
+        <inertia ixx="0.001685" ixy="0" ixz="0" iyy="0.0004" iyz="0.000255" izz="0.001696" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${prefix}joint_5" type="revolute">
+      <origin xyz="0 -0.00017505 -0.10593" rpy="-1.5708 0.0 0.0" />
+      <parent link="${prefix}spherical_wrist_1_link" />
+      <child link="${prefix}spherical_wrist_2_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.23" upper="2.23" effort="9" velocity="1.2218" />
+    </joint>
+    <xacro:if value="${vision}">
+    <link name="${prefix}bracelet_link">
+      <inertial>
+        <origin xyz="0.000281 0.011402 -0.029798" rpy="0 0 0" />
+        <mass value="0.5" />
+        <inertia ixx="0.000587" ixy="3E-06" ixz="3E-06" iyy="0.000369" iyz="-0.000118" izz="0.000609" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_with_vision_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_with_vision_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    </xacro:if>
+    <xacro:unless value="${vision}">
+    <link name="${prefix}bracelet_link">
+      <inertial>
+        <origin xyz="-9.3E-05 0.000132 -0.022905" rpy="0 0 0" />
+        <mass value="0.364" />
+        <inertia ixx="0.000214" ixy="0" ixz="1E-06" iyy="0.000223" iyz="-2E-06" izz="0.00024" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_no_vision_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_no_vision_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    </xacro:unless>
+    <joint name="${prefix}joint_6" type="continuous">
+      <origin xyz="0 0.10593 -0.00017505" rpy="1.5708 0.0 0.0" />
+      <parent link="${prefix}spherical_wrist_2_link" />
+      <child link="${prefix}bracelet_link" />
+      <axis xyz="0 0 1" />
+      <limit effort="9" velocity="1.2218" />
+    </joint>
+    <link name="${prefix}end_effector_link" />
+    <joint
+      name="${prefix}end_effector"
+      type="fixed">
+      <origin xyz="0 0 -0.0615250000000001" rpy="3.14159265358979 1.09937075168372E-32 3.14159265358979" />
+      <parent
+        link="${prefix}bracelet_link" />
+      <child
+        link="${prefix}end_effector_link" />
+      <axis
+        xyz="0 0 0" />
+    </joint>
+  </xacro:macro>
+</robot>
diff --git a/kortex_description/arms/gen3/6dof/urdf/gen3_transmission_macro.xacro b/kortex_description/arms/gen3/6dof/urdf/gen3_transmission_macro.xacro
new file mode 100644
index 0000000..9dd1f76
--- /dev/null
+++ b/kortex_description/arms/gen3/6dof/urdf/gen3_transmission_macro.xacro
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:macro name="load_gazebo_arm_transmissions" params="prefix">
+
+        <transmission name="${prefix}joint_1_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_1">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_1_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_2_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_2">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_2_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_3_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_3">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_3_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_4_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_4">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_4_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_5_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_5">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_5_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_6_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_6">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_6_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+    </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/kortex_description/arms/gen3/7dof/config/gazebo_initial_joint_positions.yaml b/kortex_description/arms/gen3/7dof/config/gazebo_initial_joint_positions.yaml
new file mode 100644
index 0000000..2ab9226
--- /dev/null
+++ b/kortex_description/arms/gen3/7dof/config/gazebo_initial_joint_positions.yaml
@@ -0,0 +1,7 @@
+initial_joint_positions: "-J $(arg prefix)joint_1 1.57
+                        -J $(arg prefix)joint_2 -0.35
+                        -J $(arg prefix)joint_3 3.14
+                        -J $(arg prefix)joint_4 -2.00
+                        -J $(arg prefix)joint_5 0
+                        -J $(arg prefix)joint_6 -1.00
+                        -J $(arg prefix)joint_7 1.57"
\ No newline at end of file
diff --git a/kortex_description/arms/gen3/7dof/config/joint_limits.yaml b/kortex_description/arms/gen3/7dof/config/joint_limits.yaml
new file mode 100644
index 0000000..9b5a25e
--- /dev/null
+++ b/kortex_description/arms/gen3/7dof/config/joint_limits.yaml
@@ -0,0 +1,24 @@
+joint_names:
+  - $(arg prefix)joint_1
+  - $(arg prefix)joint_2
+  - $(arg prefix)joint_3
+  - $(arg prefix)joint_4
+  - $(arg prefix)joint_5
+  - $(arg prefix)joint_6
+  - $(arg prefix)joint_7
+maximum_velocities:
+  - 0.8727
+  - 0.8727
+  - 0.8727
+  - 0.8727
+  - 0.8727
+  - 0.8727
+  - 0.8727
+maximum_accelerations:
+  - 1.0
+  - 1.0
+  - 1.0
+  - 1.0
+  - 10.0
+  - 10.0
+  - 10.0
\ No newline at end of file
diff --git a/kortex_description/arms/gen3/7dof/config/twist_limits.yaml b/kortex_description/arms/gen3/7dof/config/twist_limits.yaml
new file mode 100644
index 0000000..7b71f61
--- /dev/null
+++ b/kortex_description/arms/gen3/7dof/config/twist_limits.yaml
@@ -0,0 +1,4 @@
+maximum_linear_velocity: 0.5
+maximum_angular_velocity: 1.74
+maximum_linear_acceleration: 0.4
+maximum_angular_acceleration: 0.4
\ No newline at end of file
diff --git a/kortex_description/arms/gen3/7dof/meshes/base_link.STL b/kortex_description/arms/gen3/7dof/meshes/base_link.STL
new file mode 100644
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diff --git a/kortex_description/arms/gen3/7dof/meshes/bracelet_no_vision_link.STL b/kortex_description/arms/gen3/7dof/meshes/bracelet_no_vision_link.STL
new file mode 100644
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diff --git a/kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL b/kortex_description/arms/gen3/7dof/meshes/bracelet_with_vision_link.STL
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diff --git a/kortex_description/arms/gen3/7dof/meshes/end_effector_link.STL b/kortex_description/arms/gen3/7dof/meshes/end_effector_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..6dc3cfa9466a85796b24e7a507f7563f30ec0529
GIT binary patch
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literal 0
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diff --git a/kortex_description/arms/gen3/7dof/meshes/forearm_link.STL b/kortex_description/arms/gen3/7dof/meshes/forearm_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ac791a3548a21d8ae1650b4b14d173605e6f85bb
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diff --git a/kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL b/kortex_description/arms/gen3/7dof/meshes/half_arm_1_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..1df304c0eb9e8630f3be09b39154c1955ad0771b
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diff --git a/kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL b/kortex_description/arms/gen3/7dof/meshes/half_arm_2_link.STL
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diff --git a/kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL b/kortex_description/arms/gen3/7dof/meshes/shoulder_link.STL
new file mode 100644
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diff --git a/kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL b/kortex_description/arms/gen3/7dof/meshes/spherical_wrist_1_link.STL
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diff --git a/kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL b/kortex_description/arms/gen3/7dof/meshes/spherical_wrist_2_link.STL
new file mode 100644
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diff --git a/kortex_description/arms/gen3/7dof/urdf/GEN3_URDF_V12.urdf b/kortex_description/arms/gen3/7dof/urdf/GEN3_URDF_V12.urdf
new file mode 100644
index 0000000..4304441
--- /dev/null
+++ b/kortex_description/arms/gen3/7dof/urdf/GEN3_URDF_V12.urdf
@@ -0,0 +1,234 @@
+<robot name="GEN3_URDF_V12" version="1.0">
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-0.000648 -0.000166 0.084487" rpy="0 0 0" />
+      <mass value="1.697" />
+      <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/base_link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="Shoulder_Link">
+    <inertial>
+      <origin xyz="-2.3E-05 -0.010364 -0.07336" rpy="0 0 0" />
+      <mass value="1.3773" />
+      <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/Shoulder_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/Shoulder_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator1" type="continuous">
+    <origin xyz="0 0 0.15643" rpy="3.1416 2.7629E-18 -4.9305E-36" />
+    <parent link="base_link" />
+    <child link="Shoulder_Link" />
+    <axis xyz="0 0 1" />
+    <limit effort="39" velocity="0.8727" />
+  </joint>
+  <link name="HalfArm1_Link">
+    <inertial>
+      <origin xyz="-4.4E-05 -0.09958 -0.013278" rpy="0 0 0" />
+      <mass value="1.1636" />
+      <inertia ixx="0.011088" ixy="5E-06" ixz="0" iyy="0.001072" iyz="-0.000691" izz="0.011255" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/HalfArm1_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/HalfArm1_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator2" type="revolute">
+    <origin xyz="0 0.005375 -0.12838" rpy="1.5708 2.1343E-17 -1.1102E-16" />
+    <parent link="Shoulder_Link" />
+    <child link="HalfArm1_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.41" upper="2.41" effort="39" velocity="0.8727" />
+  </joint>
+  <link name="HalfArm2_Link">
+    <inertial>
+      <origin xyz="-4.4E-05 -0.006641 -0.117892" rpy="0 0 0" />
+      <mass value="1.1636" />
+      <inertia ixx="0.010932" ixy="0" ixz="-7E-06" iyy="0.011127" iyz="0.000606" izz="0.001043" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/HalfArm2_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/HalfArm2_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator3" type="continuous">
+    <origin xyz="0 -0.21038 -0.006375" rpy="-1.5708 1.2326E-32 -2.9122E-16" />
+    <parent link="HalfArm1_Link" />
+    <child link="HalfArm2_Link" />
+    <axis xyz="0 0 1" />
+    <limit effort="39" velocity="0.8727" />
+  </joint>
+  <link name="ForeArm_Link">
+    <inertial>
+      <origin xyz="-1.8E-05 -0.075478 -0.015006" rpy="0 0 0" />
+      <mass value="0.9302" />
+      <inertia ixx="0.008147" ixy="-1E-06" ixz="0" iyy="0.000631" iyz="-0.0005" izz="0.008316" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/ForeArm_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/ForeArm_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator4" type="revolute">
+    <origin xyz="0 0.006375 -0.21038" rpy="1.5708 -6.6954E-17 -1.6653E-16" />
+    <parent link="HalfArm2_Link" />
+    <child link="ForeArm_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.66" upper="2.66" effort="39" velocity="0.8727" />
+  </joint>
+  <link name="SphericalWrist1_Link">
+    <inertial>
+      <origin xyz="1E-06 -0.009432 -0.063883" rpy="0 0 0" />
+      <mass value="0.6781" />
+      <inertia ixx="0.001596" ixy="0" ixz="0" iyy="0.001607" iyz="0.000256" izz="0.000399" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/SphericalWrist1_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/SphericalWrist1_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator5" type="continuous">
+    <origin xyz="0 -0.20843 -0.006375" rpy="-1.5708 2.2204E-16 -6.373E-17" />
+    <parent link="ForeArm_Link" />
+    <child link="SphericalWrist1_Link" />
+    <axis xyz="0 0 1" />
+    <limit effort="9" velocity="0.8727" />
+  </joint>
+  <link name="SphericalWrist2_Link">
+    <inertial>
+      <origin xyz="1E-06 -0.045483 -0.00965" rpy="0 0 0" />
+      <mass value="0.6781" />
+      <inertia ixx="0.001641" ixy="0" ixz="0" iyy="0.00041" iyz="-0.000278" izz="0.001641" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/SphericalWrist2_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/SphericalWrist2_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator6" type="revolute">
+    <origin xyz="0 0.00017505 -0.10593" rpy="1.5708 9.2076E-28 -8.2157E-15" />
+    <parent link="SphericalWrist1_Link" />
+    <child link="SphericalWrist2_Link" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.23" upper="2.23" effort="9" velocity="0.8727" />
+  </joint>
+  <link name="Bracelet_Link">
+    <inertial>
+      <origin xyz="-0.000281 -0.011402 -0.029798" rpy="0 0 0" />
+      <mass value="0.5006" />
+      <inertia ixx="0.000587" ixy="3E-06" ixz="3E-06" iyy="0.000369" iyz="0.000118" izz="0.000609" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/Bracelet_Link.STL" />
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/arms/gen3/meshes/Bracelet_Link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="Actuator7" type="continuous">
+    <origin xyz="0 -0.10593 -0.00017505" rpy="-1.5708 -5.5511E-17 9.6396E-17" />
+    <parent link="SphericalWrist2_Link" />
+    <child link="Bracelet_Link" />
+    <axis xyz="0 0 1" />
+    <limit effort="9" velocity="0.8727" />
+  </joint>
+  <link name="EndEffector_Link" />
+  <joint name="EndEffector" type="fixed">
+    <origin xyz="0 0 -0.0615250000000001" rpy="3.14159265358979 1.09937075168372E-32 0" />
+    <parent link="Bracelet_Link" />
+    <child link="EndEffector_Link" />
+    <axis xyz="0 0 0" />
+  </joint>
+</robot>
diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
new file mode 100644
index 0000000..1314425
--- /dev/null
+++ b/kortex_description/arms/gen3/7dof/urdf/gen3_macro.xacro
@@ -0,0 +1,336 @@
+<?xml version="1.0"?>
+
+<robot name="gen3_arm" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Propagate last link name information because it is the gripper's parent link -->
+  <xacro:property name="last_arm_link" value="end_effector_link"/>
+
+  <xacro:macro name="load_arm" params="parent:='' dof vision prefix *origin">
+      <link name="${prefix}base_link">
+        <inertial>
+          <origin xyz="-0.000648 -0.000166 0.084487" rpy="0 0 0" />
+          <mass value="1.697" />
+          <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079" />
+        </inertial>
+        <visual>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/base_link.STL" />
+          </geometry>
+          <material name="">
+            <color rgba="0.75294 0.75294 0.75294 1" />
+          </material>
+        </visual>
+        <collision>
+          <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+            <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/base_link.STL" />
+          </geometry>
+        </collision>
+    </link>
+    <link name="${prefix}shoulder_link">
+      <inertial>
+        <origin xyz="-2.3E-05 -0.010364 -0.07336" rpy="0 0 0" />
+        <mass value="1.3773" />
+        <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/shoulder_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/shoulder_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="${prefix}joint_1"
+      type="continuous">
+      <origin xyz="0 0 0.15643" rpy="3.1416 2.7629E-18 -4.9305E-36" />
+      <parent
+        link="${prefix}base_link" />
+      <child
+        link="${prefix}shoulder_link" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        effort="39"
+        velocity="1.3963" />
+    </joint>
+    <link name="${prefix}half_arm_1_link">
+      <inertial>
+        <origin xyz="-4.4E-05 -0.09958 -0.013278" rpy="0 0 0" />
+        <mass value="1.1636" />
+        <inertia ixx="0.011088" ixy="5E-06" ixz="0" iyy="0.001072" iyz="-0.000691" izz="0.011255" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_1_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_1_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="${prefix}joint_2"
+      type="revolute">
+      <origin xyz="0 0.005375 -0.12838" rpy="1.5708 2.1343E-17 -1.1102E-16" />
+      <parent
+        link="${prefix}shoulder_link" />
+      <child
+        link="${prefix}half_arm_1_link" />
+      <axis
+        xyz="0 0 1" />
+      <limit lower="-2.41" upper="2.41" effort="39" velocity="1.3963" />
+    </joint>
+    <link name="${prefix}half_arm_2_link">
+      <inertial>
+        <origin xyz="-4.4E-05 -0.006641 -0.117892" rpy="0 0 0" />
+        <mass value="1.1636" />
+        <inertia ixx="0.010932" ixy="0" ixz="-7E-06" iyy="0.011127" iyz="0.000606" izz="0.001043" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_2_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/half_arm_2_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="${prefix}joint_3"
+      type="continuous">
+      <origin xyz="0 -0.21038 -0.006375" rpy="-1.5708 1.2326E-32 -2.9122E-16" />
+      <parent
+        link="${prefix}half_arm_1_link" />
+      <child
+        link="${prefix}half_arm_2_link" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        effort="39"
+        velocity="1.3963" />
+    </joint>
+    <link name="${prefix}forearm_link">
+      <inertial>
+        <origin xyz="-1.8E-05 -0.075478 -0.015006" rpy="0 0 0" />
+        <mass value="0.9302" />
+        <inertia ixx="0.008147" ixy="-1E-06" ixz="0" iyy="0.000631" iyz="-0.0005" izz="0.008316" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/forearm_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/forearm_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="${prefix}joint_4"
+      type="revolute">
+      <origin xyz="0 0.006375 -0.21038" rpy="1.5708 -6.6954E-17 -1.6653E-16" />
+      <parent
+        link="${prefix}half_arm_2_link" />
+      <child
+        link="${prefix}forearm_link" />
+      <axis
+        xyz="0 0 1" />
+      <limit lower="-2.66" upper="2.66" effort="39" velocity="1.3963" />
+    </joint>
+    <link name="${prefix}spherical_wrist_1_link">
+      <inertial>
+        <origin xyz="1E-06 -0.009432 -0.063883" rpy="0 0 0" />
+        <mass value="0.6781" />
+        <inertia ixx="0.001596" ixy="0" ixz="0" iyy="0.001607" iyz="0.000256" izz="0.000399" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_1_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="${prefix}joint_5"
+      type="continuous">
+      <origin xyz="0 -0.20843 -0.006375" rpy="-1.5708 2.2204E-16 -6.373E-17" />
+      <parent
+        link="${prefix}forearm_link" />
+      <child
+        link="${prefix}spherical_wrist_1_link" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        effort="9"
+        velocity="1.2218" />
+    </joint>
+    <link name="${prefix}spherical_wrist_2_link">
+      <inertial>
+        <origin xyz="1E-06 -0.045483 -0.00965" rpy="0 0 0" />
+        <mass value="0.6781" />
+        <inertia ixx="0.001641" ixy="0" ixz="0" iyy="0.00041" iyz="-0.000278" izz="0.001641" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/spherical_wrist_2_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="${prefix}joint_6"
+      type="revolute">
+      <origin xyz="0 0.00017505 -0.10593" rpy="1.5708 9.2076E-28 -8.2157E-15" />
+      <parent
+        link="${prefix}spherical_wrist_1_link" />
+      <child
+        link="${prefix}spherical_wrist_2_link" />
+      <axis
+        xyz="0 0 1" />
+      <limit lower="-2.23" upper="2.23" effort="9" velocity="1.2218" />
+    </joint>
+    <xacro:if value="${vision}">
+    <link name="${prefix}bracelet_link">
+      <inertial>
+        <origin xyz="0.000281 0.011402 -0.029798" rpy="0 0 0" />
+        <mass value="0.5" />
+        <inertia ixx="0.000587" ixy="3E-06" ixz="3E-06" iyy="0.000369" iyz="-0.000118" izz="0.000609" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_with_vision_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_with_vision_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    </xacro:if>
+    <xacro:unless value="${vision}">
+    <link name="${prefix}bracelet_link">
+      <inertial>
+        <origin xyz="-9.3E-05 0.000132 -0.022905" rpy="0 0 0" />
+        <mass value="0.364" />
+        <inertia ixx="0.000214" ixy="0" ixz="1E-06" iyy="0.000223" iyz="-2E-06" izz="0.00024" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_no_vision_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.75294 0.75294 0.75294 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3/${dof}dof/meshes/bracelet_no_vision_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    </xacro:unless>
+    <joint
+      name="${prefix}joint_7"
+      type="continuous">
+      <origin xyz="0 -0.10593 -0.00017505" rpy="-1.5708 -5.5511E-17 9.6396E-17" />
+      <parent
+        link="${prefix}spherical_wrist_2_link" />
+      <child
+        link="${prefix}bracelet_link" />
+      <axis
+        xyz="0 0 1" />
+      <limit
+        effort="9"
+        velocity="1.2218" />
+    </joint>
+    <link name="${prefix}end_effector_link" />
+    <joint
+      name="${prefix}end_effector"
+      type="fixed">
+      <origin xyz="0 0 -0.0615250000000001" rpy="3.14159265358979 1.09937075168372E-32 0" />
+      <parent
+        link="${prefix}bracelet_link" />
+      <child
+        link="${prefix}end_effector_link" />
+      <axis
+        xyz="0 0 0" />
+    </joint>
+    <xacro:if value="${vision}">
+      <link name="${prefix}camera_link" />
+      <joint name="${prefix}camera_module" type="fixed">
+        <origin xyz="0 0.05639 -0.00305" rpy="3.14159265358979 3.14159265358979 0" />
+        <parent link="${prefix}end_effector_link" />
+        <child  link="${prefix}camera_link" />
+      </joint>
+      <link name="${prefix}camera_depth_frame" />
+      <joint name="${prefix}depth_module" type="fixed">
+        <origin xyz="0.0275 0.066 -0.00305" rpy="3.14159265358979 3.14159265358979 0" />
+        <parent link="${prefix}end_effector_link" />
+        <child  link="${prefix}camera_depth_frame" />
+      </joint>
+      <link name="${prefix}camera_color_frame" />
+      <joint name="${prefix}color_module" type="fixed">
+        <origin xyz="0 0.05639 -0.00305" rpy="3.14159265358979 3.14159265358979 0" />
+        <parent link="${prefix}end_effector_link" />
+        <child  link="${prefix}camera_color_frame" />
+      </joint>
+    </xacro:if>
+  </xacro:macro>
+</robot>
diff --git a/kortex_description/arms/gen3/7dof/urdf/gen3_transmission_macro.xacro b/kortex_description/arms/gen3/7dof/urdf/gen3_transmission_macro.xacro
new file mode 100644
index 0000000..97e7056
--- /dev/null
+++ b/kortex_description/arms/gen3/7dof/urdf/gen3_transmission_macro.xacro
@@ -0,0 +1,78 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:macro name="load_gazebo_arm_transmissions" params="prefix">
+
+        <transmission name="${prefix}joint_1_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_1">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_1_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_2_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_2">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_2_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_3_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_3">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_3_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_4_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_4">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_4_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_5_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_5">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_5_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_6_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_6">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_6_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_7_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_7">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_7_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+    </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/kortex_description/arms/gen3_lite/6dof/config/joint_limits.yaml b/kortex_description/arms/gen3_lite/6dof/config/joint_limits.yaml
new file mode 100644
index 0000000..ee40c40
--- /dev/null
+++ b/kortex_description/arms/gen3_lite/6dof/config/joint_limits.yaml
@@ -0,0 +1,21 @@
+joint_names:
+  - $(arg prefix)joint_1
+  - $(arg prefix)joint_2
+  - $(arg prefix)joint_3
+  - $(arg prefix)joint_4
+  - $(arg prefix)joint_5
+  - $(arg prefix)joint_6
+maximum_velocities:
+  - 0.5
+  - 0.5
+  - 0.5
+  - 0.5
+  - 0.5
+  - 0.5
+maximum_accelerations:
+  - 1.0
+  - 0.5
+  - 0.4
+  - 1.0
+  - 10.0
+  - 10.0
\ No newline at end of file
diff --git a/kortex_description/arms/gen3_lite/6dof/config/twist_limits.yaml b/kortex_description/arms/gen3_lite/6dof/config/twist_limits.yaml
new file mode 100644
index 0000000..efb4374
--- /dev/null
+++ b/kortex_description/arms/gen3_lite/6dof/config/twist_limits.yaml
@@ -0,0 +1,4 @@
+maximum_linear_velocity: 0.3
+maximum_angular_velocity: 0.85
+maximum_linear_acceleration: 0.4
+maximum_angular_acceleration: 0.4
\ No newline at end of file
diff --git a/kortex_description/arms/gen3_lite/6dof/meshes/arm_link.STL b/kortex_description/arms/gen3_lite/6dof/meshes/arm_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..ca9a4bd0aea80d7fb018bdf879f7affe40010c89
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diff --git a/kortex_description/arms/gen3_lite/6dof/meshes/base_link.STL b/kortex_description/arms/gen3_lite/6dof/meshes/base_link.STL
new file mode 100644
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diff --git a/kortex_description/arms/gen3_lite/6dof/meshes/forearm_link.STL b/kortex_description/arms/gen3_lite/6dof/meshes/forearm_link.STL
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diff --git a/kortex_description/arms/gen3_lite/6dof/meshes/lower_wrist_link.STL b/kortex_description/arms/gen3_lite/6dof/meshes/lower_wrist_link.STL
new file mode 100644
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diff --git a/kortex_description/arms/gen3_lite/6dof/meshes/shoulder_link.STL b/kortex_description/arms/gen3_lite/6dof/meshes/shoulder_link.STL
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diff --git a/kortex_description/arms/gen3_lite/6dof/meshes/upper_wrist_link.STL b/kortex_description/arms/gen3_lite/6dof/meshes/upper_wrist_link.STL
new file mode 100644
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diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/GEN3-LITE.urdf b/kortex_description/arms/gen3_lite/6dof/urdf/GEN3-LITE.urdf
new file mode 100644
index 0000000..bc02cb9
--- /dev/null
+++ b/kortex_description/arms/gen3_lite/6dof/urdf/GEN3-LITE.urdf
@@ -0,0 +1,188 @@
+<robot name="KR7108-URDF" version="1.0">
+  <link name="BASE">
+    <inertial>
+      <origin xyz="0.00244324 0.00015573 0.08616742" rpy="0 0 0" />
+      <mass value="1.14608471" />
+      <inertia ixx="0.00335854" ixy="3.9E-07" ixz="0.00010989" iyy="0.003311" iyz="1.91E-06" izz="0.00077158" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/BASE.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/BASE.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="SHOULDER">
+    <inertial>
+      <origin xyz="2.477E-05 0.02213531 0.09937686" rpy="0 0 0" />
+      <mass value="0.95974404" />
+      <inertia ixx="0.00165947" ixy="2E-08" ixz="3.6E-07" iyy="0.00140355" iyz="0.00034927" izz="0.00089493" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/SHOULDER.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/SHOULDER.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="J0" type="revolute">
+    <origin xyz="0 0 0.12825" rpy="0 0 0" />
+    <parent link="BASE" />
+    <child link="SHOULDER" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.76" upper="2.76" effort="10" velocity="0.35" />
+    <calibration rising="0" falling="0" />
+    <dynamics damping="0" friction="0" />
+    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
+  </joint>
+  <link name="ARM">
+    <inertial>
+      <origin xyz="0.02998299 0.21154808 0.0453031" rpy="0 0 0" />
+      <mass value="1.17756164" />
+      <inertia ixx="0.01149277" ixy="1E-06" ixz="1.6E-07" iyy="0.00102851" iyz="0.00140765" izz="0.01133492" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/ARM.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/ARM.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="J1" type="revolute">
+    <origin xyz="0 -0.03 0.115" rpy="1.5708 0 0" />
+    <parent link="SHOULDER" />
+    <child link="ARM" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.76" upper="2.76" effort="14" velocity="0.35" />
+    <calibration rising="0" falling="0" />
+    <dynamics damping="0" friction="0" />
+    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
+  </joint>
+  <link name="FOREARM">
+    <inertial>
+      <origin xyz="0.0301559 0.09502206 0.0073555" rpy="0 0 0" />
+      <mass value="0.59767669" />
+      <inertia ixx="0.00163256" ixy="7.11E-06" ixz="1.54E-06" iyy="0.00029798" iyz="9.587E-05" izz="0.00169091" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/FOREARM.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/FOREARM.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="J2" type="revolute">
+    <origin xyz="0 0.28 0" rpy="-3.1416 0 0" />
+    <parent link="ARM" />
+    <child link="FOREARM" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.76" upper="2.76" effort="10" velocity="0.35" />
+    <calibration rising="0" falling="0" />
+    <dynamics damping="0" friction="0" />
+    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
+  </joint>
+  <link name="LOWER_WRIST">
+    <inertial>
+      <origin xyz="0.00575149 0.01000443 0.08719207" rpy="0 0 0" />
+      <mass value="0.52693412" />
+      <inertia ixx="0.00069098" ixy="2.4E-07" ixz="0.00016483" iyy="0.00078519" iyz="7.4E-07" izz="0.00034115" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/LOWER_WRIST.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/LOWER_WRIST.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="J3" type="revolute">
+    <origin xyz="0 -0.14 0.02" rpy="1.5708 0 0" />
+    <parent link="FOREARM" />
+    <child link="LOWER_WRIST" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.67" upper="2.67" effort="7" velocity="0.35" />
+    <calibration rising="0" falling="0" />
+    <dynamics damping="0" friction="0" />
+    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
+  </joint>
+  <link name="UPPER_WRIST">
+    <inertial>
+      <origin xyz="0.08056517 0.00980409 0.01872799" rpy="0 0 0" />
+      <mass value="0.58097325" />
+      <inertia ixx="0.00021268" ixy="5.21E-06" ixz="2.91E-06" iyy="0.00106371" iyz="1.1E-07" izz="0.00108465" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/UPPER_WRIST.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/gen3_lite/meshes/UPPER_WRIST.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="J4" type="revolute">
+    <origin xyz="0.0285 0 0.105" rpy="0 1.5708 0" />
+    <parent link="LOWER_WRIST" />
+    <child link="UPPER_WRIST" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.67" upper="2.67" effort="7" velocity="0.35" />
+    <calibration rising="0" falling="0" />
+    <dynamics damping="0" friction="0" />
+    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
+  </joint>
+  <link name="END_EFFECTOR"/>
+  <joint name="J5" type="revolute">
+    <origin xyz="-0.105 0 0.0285" rpy="0 -1.5708 0" />
+    <parent link="UPPER_WRIST" />
+    <child link="END_EFFECTOR" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.67" upper="2.67" effort="7" velocity="0.35" />
+    <calibration rising="0" falling="0" />
+    <dynamics damping="0" friction="0" />
+    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
+  </joint>
+  <link name="DUMMY" />
+  <joint name="END_EFFECTOR" type="fixed">
+    <origin xyz="0 0 0.13" rpy="0 0 0" />
+    <parent link="END_EFFECTOR" />
+    <child link="DUMMY" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+    <calibration rising="0" falling="0" />
+    <dynamics damping="0" friction="0" />
+    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
new file mode 100644
index 0000000..0c9b84a
--- /dev/null
+++ b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_macro.xacro
@@ -0,0 +1,211 @@
+<?xml version="1.0"?>
+
+<robot name="gen3_lite_arm" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <!-- Propagate last link name information because it is the gripper's parent link -->
+  <xacro:property name="last_arm_link" value="dummy_link"/>
+
+  <xacro:macro name="load_arm" params="parent:='' dof vision prefix *origin">
+    <link name="${prefix}base_link">
+      <inertial>
+        <origin xyz="0.00244324 0.00015573 0.08616742" rpy="0 0 0" />
+        <mass value="1.14608471" />
+        <inertia ixx="0.00335854" ixy="3.9E-07" ixz="0.00010989" iyy="0.003311" iyz="1.91E-06" izz="0.00077158" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/base_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.803 0.824 0.820 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}base_link">
+      <material>Kortex/Gray</material>
+    </gazebo>
+    <link name="${prefix}shoulder_link">
+      <inertial>
+        <origin xyz="2.477E-05 0.02213531 0.09937686" rpy="0 0 0" />
+        <mass value="0.95974404" />
+        <inertia ixx="0.00165947" ixy="2E-08" ixz="3.6E-07" iyy="0.00140355" iyz="0.00034927" izz="0.00089493" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/shoulder_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.803 0.824 0.820 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/shoulder_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}shoulder_link">
+      <material>Kortex/Gray</material>
+    </gazebo>
+    <joint name="${prefix}joint_1" type="revolute">
+      <origin xyz="0 0 0.12825" rpy="0 0 0" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}shoulder_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.69" upper="2.69" effort="10" velocity="1.6" />
+    </joint>
+    <link name="${prefix}arm_link">
+      <inertial>
+        <origin xyz="0.02998299 0.21154808 0.0453031" rpy="0 0 0" />
+        <mass value="1.17756164" />
+        <inertia ixx="0.01149277" ixy="1E-06" ixz="1.6E-07" iyy="0.00102851" iyz="0.00140765" izz="0.01133492" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/arm_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.803 0.824 0.820 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/arm_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}arm_link">
+      <material>Kortex/Gray</material>
+    </gazebo>
+    <joint name="${prefix}joint_2" type="revolute">
+      <origin xyz="0 -0.03 0.115" rpy="1.5708 0 0" />
+      <parent link="${prefix}shoulder_link" />
+      <child link="${prefix}arm_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.69" upper="2.69" effort="14" velocity="1.6" />
+    </joint>
+    <link name="${prefix}forearm_link">
+      <inertial>
+        <origin xyz="0.0301559 0.09502206 0.0073555" rpy="0 0 0" />
+        <mass value="0.59767669" />
+        <inertia ixx="0.00163256" ixy="7.11E-06" ixz="1.54E-06" iyy="0.00029798" iyz="9.587E-05" izz="0.00169091" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/forearm_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.803 0.824 0.820 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/forearm_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}forearm_link">
+      <material>Kortex/Gray</material>
+    </gazebo>
+    <joint name="${prefix}joint_3" type="revolute">
+      <origin xyz="0 0.28 0" rpy="-3.1416 0 0" />
+      <parent link="${prefix}arm_link" />
+      <child link="${prefix}forearm_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.69" upper="2.69" effort="10" velocity="1.6" />
+    </joint>
+    <link name="${prefix}lower_wrist_link">
+      <inertial>
+        <origin xyz="0.00575149 0.01000443 0.08719207" rpy="0 0 0" />
+        <mass value="0.52693412" />
+        <inertia ixx="0.00069098" ixy="2.4E-07" ixz="0.00016483" iyy="0.00078519" iyz="7.4E-07" izz="0.00034115" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/lower_wrist_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.803 0.824 0.820 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/lower_wrist_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}lower_wrist_link">
+      <material>Kortex/Gray</material>
+    </gazebo>
+    <joint name="${prefix}joint_4" type="revolute">
+      <origin xyz="0 -0.14 0.02" rpy="1.5708 0 0" />
+      <parent link="${prefix}forearm_link" />
+      <child link="${prefix}lower_wrist_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.59" upper="2.59" effort="7" velocity="1.6" />
+    </joint>
+    <link name="${prefix}upper_wrist_link">
+      <inertial>
+        <origin xyz="0.08056517 0.00980409 0.01872799" rpy="0 0 0" />
+        <mass value="0.58097325" />
+        <inertia ixx="0.00021268" ixy="5.21E-06" ixz="2.91E-06" iyy="0.00106371" iyz="1.1E-07" izz="0.00108465" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/upper_wrist_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.803 0.824 0.820 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/arms/gen3_lite/${dof}dof/meshes/upper_wrist_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}upper_wrist_link">
+      <material>Kortex/Gray</material>
+    </gazebo>
+    <joint name="${prefix}joint_5" type="revolute">
+      <origin xyz="0.0285 0 0.105" rpy="0 1.5708 0" />
+      <parent link="${prefix}lower_wrist_link" />
+      <child link="${prefix}upper_wrist_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.57" upper="2.57" effort="7" velocity="1.6" />
+    </joint>
+    <link name="${prefix}end_effector_link"/>
+    <joint name="${prefix}joint_6" type="revolute">
+      <origin xyz="-0.105 0 0.0285" rpy="0 -1.5708 0" />
+      <parent link="${prefix}upper_wrist_link" />
+      <child link="${prefix}end_effector_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.59" upper="2.59" effort="7" velocity="3.2" />
+    </joint>
+    <link name="${prefix}dummy_link" />
+    <joint name="${prefix}end_effector" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}end_effector_link" />
+      <child link="${prefix}dummy_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="0" upper="0" effort="0" velocity="0" />
+    </joint>
+  </xacro:macro>
+</robot>
diff --git a/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_transmission_macro.xacro b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_transmission_macro.xacro
new file mode 100644
index 0000000..9dd1f76
--- /dev/null
+++ b/kortex_description/arms/gen3_lite/6dof/urdf/gen3_lite_transmission_macro.xacro
@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:macro name="load_gazebo_arm_transmissions" params="prefix">
+
+        <transmission name="${prefix}joint_1_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_1">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_1_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_2_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_2">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_2_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_3_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_3">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_3_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_4_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_4">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_4_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_5_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_5">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_5_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+        <transmission name="${prefix}joint_6_transmission">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${prefix}joint_6">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="${prefix}joint_6_motor">
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+        </transmission>
+
+    </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/kortex_description/grippers/gen3_lite_2f/config/joint_limits.yaml b/kortex_description/grippers/gen3_lite_2f/config/joint_limits.yaml
new file mode 100644
index 0000000..b0f21f2
--- /dev/null
+++ b/kortex_description/grippers/gen3_lite_2f/config/joint_limits.yaml
@@ -0,0 +1,8 @@
+gripper_joint_names:
+  - $(arg prefix)right_finger_bottom_joint
+
+gripper_joint_limits_min:
+  - 0.96
+
+gripper_joint_limits_max:
+  - -0.09
\ No newline at end of file
diff --git a/kortex_description/grippers/gen3_lite_2f/meshes/gripper_base_link.STL b/kortex_description/grippers/gen3_lite_2f/meshes/gripper_base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..877596157c4bc46c747b07daae58c7350cb76ff5
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diff --git a/kortex_description/grippers/gen3_lite_2f/meshes/left_finger_dist_link.STL b/kortex_description/grippers/gen3_lite_2f/meshes/left_finger_dist_link.STL
new file mode 100644
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diff --git a/kortex_description/grippers/gen3_lite_2f/meshes/left_finger_prox_link.STL b/kortex_description/grippers/gen3_lite_2f/meshes/left_finger_prox_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..fed7fe59ebbc7e53437e5f0226c54d0a7cbb9464
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diff --git a/kortex_description/grippers/gen3_lite_2f/meshes/right_finger_dist_link.STL b/kortex_description/grippers/gen3_lite_2f/meshes/right_finger_dist_link.STL
new file mode 100644
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diff --git a/kortex_description/grippers/gen3_lite_2f/meshes/right_finger_prox_link.STL b/kortex_description/grippers/gen3_lite_2f/meshes/right_finger_prox_link.STL
new file mode 100644
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diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/GEN3-LITE-GRIPPER_URDF_SIMPLIFIED_V2.urdf b/kortex_description/grippers/gen3_lite_2f/urdf/GEN3-LITE-GRIPPER_URDF_SIMPLIFIED_V2.urdf
new file mode 100644
index 0000000..931e71b
--- /dev/null
+++ b/kortex_description/grippers/gen3_lite_2f/urdf/GEN3-LITE-GRIPPER_URDF_SIMPLIFIED_V2.urdf
@@ -0,0 +1,125 @@
+<robot name="L31K-GRIPPER_URDF_SIMPLIFIED_V2" version="1.0">
+  <link name="GRIPPER_FRAME">
+    <inertial>
+      <origin xyz="4.03E-06 1.08E-05 0.04139748" rpy="0 0 0" />
+      <mass value="0.1395" />
+      <inertia ixx="0.00011614" ixy="1E-08" ixz="4E-08" iyy="0.00010327" iyz="0" izz="9.707E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://L31K-GRIPPER_URDF_SIMPLIFIED_V2/meshes/GRIPPER_FRAME.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://L31K-GRIPPER_URDF_SIMPLIFIED_V2/meshes/GRIPPER_FRAME.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <link name="RIGHT_FINGER_PROX">
+    <inertial>
+      <origin xyz="0.020257 0.0063483 6.991E-05" rpy="0 0 0" />
+      <mass value="0.018385" />
+      <inertia ixx="2.29E-06" ixy="1.43E-06" ixz="0" iyy="4.56E-06" iyz="0" izz="4.77E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://L31K-GRIPPER_URDF_SIMPLIFIED_V2/meshes/RIGHT_FINGER_PROX.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://L31K-GRIPPER_URDF_SIMPLIFIED_V2/meshes/RIGHT_FINGER_PROX.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RIGHT_BOTTOM" type="revolute">
+    <origin xyz="0 -0.030501 0.070003" rpy="0 1.5708 0" />
+    <parent link="GRIPPER_FRAME" />
+    <child link="RIGHT_FINGER_PROX" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.09" upper="0.96" effort="1000" velocity="1000" />
+  </joint>
+  <link name="RIGHT_FINGER_DIST">
+    <inertial>
+      <origin xyz="0.018488 0.0011091 0" rpy="0 0 0" />
+      <mass value="0.010748" />
+      <inertia ixx="6.3E-07" ixy="3.2E-07" ixz="0" iyy="1.83E-06" iyz="0" izz="1.61E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://L31K-GRIPPER_URDF_SIMPLIFIED_V2/meshes/RIGHT_FINGER_DIST.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://L31K-GRIPPER_URDF_SIMPLIFIED_V2/meshes/RIGHT_FINGER_DIST.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="RIGHT_TIP" type="revolute">
+    <origin xyz="-0.045636 0.020423 0" rpy="0 0 0" />
+    <parent link="RIGHT_FINGER_PROX" />
+    <child link="RIGHT_FINGER_DIST" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.03" upper="0.21" effort="1000" velocity="1000" />
+  </joint>
+  <link name="LEFT_FINGER_PROX">
+    <inertial>
+      <origin xyz="0.020257 0.0063483 6.99E-05" rpy="0 0 0" />
+      <mass value="0.018385" />
+      <inertia ixx="2.29E-06" ixy="1.43E-06" ixz="0" iyy="4.56E-06" iyz="0" izz="4.77E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://L31K-GRIPPER_URDF_SIMPLIFIED_V2/meshes/LEFT_FINGER_PROX.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://L31K-GRIPPER_URDF_SIMPLIFIED_V2/meshes/LEFT_FINGER_PROX.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LEFT_BOTTOM" type="revolute">
+    <origin xyz="0 0.0305 0.070003" rpy="0 1.5708 0" />
+    <parent link="GRIPPER_FRAME" />
+    <child link="LEFT_FINGER_PROX" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.96" upper="0.09" effort="1000" velocity="1000" />
+  </joint>
+  <link name="LEFT_FINGER_DIST">
+    <inertial>
+      <origin xyz="-0.018488 0.0011091 0" rpy="0 0 0" />
+      <mass value="0.010748" />
+      <inertia ixx="6.3E-07" ixy="3.2E-07" ixz="0" iyy="1.83E-06" iyz="0" izz="1.61E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://L31K-GRIPPER_URDF_SIMPLIFIED_V2/meshes/LEFT_FINGER_DIST.STL" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://L31K-GRIPPER_URDF_SIMPLIFIED_V2/meshes/LEFT_FINGER_DIST.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="LEFT_TIP" type="revolute">
+    <origin xyz="-0.045636 -0.020423 6.9901E-05" rpy="0 0 0" />
+    <parent link="LEFT_FINGER_PROX" />
+    <child link="LEFT_FINGER_DIST" />
+    <axis xyz="0 0 -1" />
+    <limit lower="-0.21" upper="1.03" effort="1000" velocity="1000" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro
new file mode 100644
index 0000000..6989156
--- /dev/null
+++ b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_macro.xacro
@@ -0,0 +1,182 @@
+<?xml version="1.0"?>
+
+<robot name="gen3_lite_2f_gripper" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="load_gripper" params="parent prefix"> 
+
+    <!-- Tool frame used by the arm -->
+    <link name="${prefix}tool_frame"/>
+    <joint name="${prefix}tool_frame_joint" type="fixed">
+        <origin xyz="0 0 0.130" rpy="0 0 1.57079632679" />
+        <parent link="${parent}" />
+        <child link="${prefix}tool_frame" />
+        <axis xyz="0 0 0" />
+    </joint>
+
+    <!-- Gripper description -->
+    <joint name="${prefix}gripper_base_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${parent}" />
+      <child link="${prefix}gripper_base_link" />
+      <axis xyz="0 0 0" />
+    </joint>
+
+    <link name="${prefix}gripper_base_link">
+      <inertial>
+        <origin xyz="4.03E-06 1.08E-05 0.041397" rpy="0 0 0" />
+        <mass value="0.1395" />
+        <inertia ixx="0.00011614" ixy="1E-08" ixz="4E-08" iyy="0.00010327" iyz="0" izz="9.707E-05" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/gripper_base_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.803 0.824 0.820 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/gripper_base_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}gripper_base_link">
+      <material>Kortex/Gray</material>
+    </gazebo>
+
+    <link name="${prefix}right_finger_prox_link">
+    <inertial>
+      <origin xyz="0.020257 0.0063483 6.991E-05" rpy="0 0 0" />
+      <mass value="0.018385" />
+      <inertia ixx="2.29E-06" ixy="1.43E-06" ixz="0" iyy="4.56E-06" iyz="0" izz="4.77E-06" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/right_finger_prox_link.STL" />
+      </geometry>
+      <material name="">
+          <color rgba="0.803 0.824 0.820 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/right_finger_prox_link.STL" />
+      </geometry>
+    </collision>
+    </link>
+    <gazebo reference="${prefix}right_finger_prox_link">
+      <material>Kortex/Gray</material>
+    </gazebo>
+    <joint name="${prefix}right_finger_bottom_joint" type="revolute">
+      <origin xyz="0 -0.030501 0.070003" rpy="0 1.5708 0" />
+      <parent link="${prefix}gripper_base_link" />
+      <child link="${prefix}right_finger_prox_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-0.09" upper="0.96" effort="1000" velocity="0.6" />
+    </joint>
+    <link name="${prefix}right_finger_dist_link">
+      <inertial>
+        <origin xyz="0.018488 0.0011091 0" rpy="0 0 0" />
+        <mass value="0.010748" />
+        <inertia ixx="6.3E-07" ixy="3.2E-07" ixz="0" iyy="1.83E-06" iyz="0" izz="1.61E-06" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/right_finger_dist_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0 0.055 0.525 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/right_finger_dist_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}right_finger_dist_link">
+      <material>Kortex/Blue</material>
+    </gazebo>
+    <joint name="${prefix}right_finger_tip_joint" type="revolute">
+      <origin xyz="-0.045636 0.020423 0" rpy="0 0 0" />
+      <parent link="${prefix}right_finger_prox_link" />
+      <child link="${prefix}right_finger_dist_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-0.50" upper="0.21" effort="1000" velocity="1000" /> <!--limit lower="-1.03" upper="0.21" effort="1000" velocity="1000" /-->
+      <mimic joint="${prefix}right_finger_bottom_joint" multiplier="-0.676" offset="0.149" />
+    </joint>
+
+    <link name="${prefix}left_finger_prox_link">
+      <inertial>
+        <origin xyz="0.020257 0.0063483 6.99E-05" rpy="0 0 0" />
+        <mass value="0.018385" />
+        <inertia ixx="2.29E-06" ixy="1.43E-06" ixz="0" iyy="4.56E-06" iyz="0" izz="4.77E-06" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/left_finger_prox_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0.803 0.824 0.820 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/left_finger_prox_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}left_finger_prox_link">
+      <material>Kortex/Gray</material>
+    </gazebo>
+    <joint name="${prefix}left_finger_bottom_joint" type="revolute">
+      <origin xyz="0 0.0305 0.070003" rpy="0 1.5708 0" />
+      <parent link="${prefix}gripper_base_link" />
+      <child link="${prefix}left_finger_prox_link" />
+      <axis xyz="0 0 1" />
+      <limit lower="-0.96" upper="0.09" effort="1000" velocity="1000" />
+      <mimic joint="${prefix}right_finger_bottom_joint" multiplier="-1.0" offset="0.0" />
+    </joint>
+    <link name="${prefix}left_finger_dist_link">
+      <inertial>
+        <origin xyz="-0.018488 0.0011091 0" rpy="0 0 0" />
+        <mass value="0.010748" />
+        <inertia ixx="6.3E-07" ixy="3.2E-07" ixz="0" iyy="1.83E-06" iyz="0" izz="1.61E-06" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/left_finger_dist_link.STL" />
+        </geometry>
+        <material name="">
+          <color rgba="0 0.055 0.525 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/gen3_lite_2f/meshes/left_finger_dist_link.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}left_finger_dist_link">
+      <material>Kortex/Blue</material>
+    </gazebo>
+    <joint name="${prefix}left_finger_tip_joint" type="revolute">
+      <origin xyz="-0.045636 -0.020423 6.9901E-05" rpy="0 0 0" />
+      <parent link="${prefix}left_finger_prox_link" />
+      <child link="${prefix}left_finger_dist_link" />
+      <axis xyz="0 0 -1" />
+      <limit lower="-0.50" upper="0.21" effort="1000" velocity="1000" /> <!--limit lower="-1.03" upper="0.21" effort="1000" velocity="1000" /-->
+      <mimic joint="${prefix}right_finger_bottom_joint" multiplier="-0.676" offset="0.149" />
+    </joint>
+  </xacro:macro>
+</robot>
diff --git a/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro
new file mode 100644
index 0000000..e04ae66
--- /dev/null
+++ b/kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:macro name="load_gazebo_gripper_transmissions" params="prefix">
+        
+        <transmission name="${prefix}right_finger_bottom_trans">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${prefix}right_finger_bottom_joint">
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${prefix}right_finger_bottom_motor">
+                <mechanicalReduction>1</mechanicalReduction>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            </actuator>
+        </transmission>
+        
+        <gazebo>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gen3_lite_2f_1">
+                <joint>${prefix}right_finger_bottom_joint</joint>
+                <mimicJoint>${prefix}right_finger_tip_joint</mimicJoint>
+                <multiplier>-0.676</multiplier>
+                <offset>0.149</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID></hasPID>
+            </plugin>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gen3_lite_2f_2">
+                <joint>${prefix}right_finger_bottom_joint</joint>
+                <mimicJoint>${prefix}left_finger_bottom_joint</mimicJoint>
+                <multiplier>-1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID></hasPID>
+            </plugin>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gen3_lite_2f_3">
+                <joint>${prefix}right_finger_bottom_joint</joint>
+                <mimicJoint>${prefix}left_finger_tip_joint</mimicJoint>
+                <multiplier>-0.676</multiplier>
+                <offset>0.149</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID></hasPID>
+            </plugin>
+
+            <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
+                <arm>
+                    <arm_name>my_gen3_lite_gripper</arm_name>
+                    <palm_link>${prefix}end_effector_link</palm_link> <!-- Gazebo merges links connected by fixed joints, so here we would have put gripper_base_link but it is merged with Bracelet_Link internally -->
+                    <gripper_link> ${prefix}right_finger_dist_link </gripper_link>
+                    <gripper_link> ${prefix}left_finger_dist_link </gripper_link>
+                </arm>
+                <forces_angle_tolerance>100</forces_angle_tolerance>
+                <update_rate>10</update_rate>
+                <grip_count_threshold>3</grip_count_threshold>
+                <max_grip_count>10</max_grip_count>
+                <release_tolerance>0.001</release_tolerance>
+                <disable_collisions_on_attach>false</disable_collisions_on_attach>
+                <contact_topic>__default_topic__</contact_topic>
+            </plugin>
+        </gazebo>
+
+    </xacro:macro>
+
+</robot>
diff --git a/kortex_description/grippers/robotiq_2f_140/LICENSE b/kortex_description/grippers/robotiq_2f_140/LICENSE
new file mode 100644
index 0000000..316f610
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_140/LICENSE
@@ -0,0 +1,23 @@
+Copyright (c) 2013, ROS-Industrial
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+  Redistributions in binary form must reproduce the above copyright notice, this
+  list of conditions and the following disclaimer in the documentation and/or
+  other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/kortex_description/grippers/robotiq_2f_140/README.md b/kortex_description/grippers/robotiq_2f_140/README.md
new file mode 100644
index 0000000..0db6472
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_140/README.md
@@ -0,0 +1,12 @@
+This is the README file from Robotiq's package for the 2F-140 gripper. The package's license file can also be found in this folder.
+We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq)
+
+# Robotiq 140mm 2-Finger-Adaptive-Gripper 
+
+This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**.
+
+## Robot Visual
+![140](https://user-images.githubusercontent.com/8356912/49428409-463f8580-f7a6-11e8-8278-5246acdc5c14.png)
+
+## Robot Collision 
+![1402](https://user-images.githubusercontent.com/8356912/49428407-463f8580-f7a6-11e8-9c4e-df69e478f107.png)
diff --git a/kortex_description/grippers/robotiq_2f_140/config/joint_limits.yaml b/kortex_description/grippers/robotiq_2f_140/config/joint_limits.yaml
new file mode 100644
index 0000000..dd1fd9e
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_140/config/joint_limits.yaml
@@ -0,0 +1,8 @@
+gripper_joint_names:
+  - $(arg prefix)finger_joint
+
+gripper_joint_limits_min:
+  - 0.000
+
+gripper_joint_limits_max:
+  - 0.700
\ No newline at end of file
diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_140_inner_finger.stl
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new file mode 100644
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new file mode 100644
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diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7eccbbbe91af5647ca1a0d4d2cc1b24ba827ef32
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diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_coupling.stl b/kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_coupling.stl
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diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_finger.stl
new file mode 100644
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diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_inner_knuckle.stl
new file mode 100644
index 0000000000000000000000000000000000000000..616da3d3eb0049ec9d81db6ac8815a28f6f28d08
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diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_finger.stl
new file mode 100644
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diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_outer_knuckle.stl
new file mode 100644
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diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_base_link.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_base_link.stl
new file mode 100644
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diff --git a/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_coupling.stl b/kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_coupling.stl
new file mode 100644
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HcmV?d00001

diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
new file mode 100644
index 0000000..572af02
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_macro.xacro
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<robot name="robotiq_arg2f_140_model" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="load_gripper" params="parent prefix">
+    <xacro:include filename="$(find kortex_description)/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro" />
+    <xacro:robotiq_arg2f_140 parent="${parent}" prefix="${prefix}"/>
+  </xacro:macro>
+</robot>
diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro
new file mode 100644
index 0000000..f1a85b8
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_2f_140_transmission_macro.xacro
@@ -0,0 +1,79 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="load_gazebo_gripper_transmissions" params="prefix">
+
+        <transmission name="${prefix}finger_joint_trans">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${prefix}finger_joint">
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${prefix}finger_joint_motor">
+                <mechanicalReduction>1</mechanicalReduction>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            </actuator>
+        </transmission>
+        
+        <gazebo>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_1">
+                <joint>${prefix}finger_joint</joint>
+                <mimicJoint>${prefix}right_outer_knuckle_joint</mimicJoint>
+                <multiplier>-1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID/>
+            </plugin>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_2">
+                <joint>${prefix}finger_joint</joint>
+                <mimicJoint>${prefix}right_inner_knuckle_joint</mimicJoint>
+                <multiplier>-1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID/>
+            </plugin>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_3">
+                <joint>${prefix}finger_joint</joint>
+                <mimicJoint>${prefix}left_inner_knuckle_joint</mimicJoint>
+                <multiplier>-1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID/>
+            </plugin>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_4">
+                <joint>${prefix}finger_joint</joint>
+                <mimicJoint>${prefix}left_inner_finger_joint</mimicJoint>
+                <multiplier>1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID/>
+            </plugin>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_140_5">
+                <joint>${prefix}finger_joint</joint>
+                <mimicJoint>${prefix}right_inner_finger_joint</mimicJoint>
+                <multiplier>1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID/>
+            </plugin>
+
+            <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
+                <arm>
+                    <arm_name>my_robotiq_gripper</arm_name>
+                    <palm_link>${prefix}bracelet_link</palm_link> <!-- Gazebo merges links connected by fixed joints, so here we would have put gripper_base_link but it is merged with Bracelet_Link internally -->
+                    <gripper_link> ${prefix}left_inner_finger </gripper_link>
+                    <gripper_link> ${prefix}right_inner_finger </gripper_link>
+                </arm>
+                <forces_angle_tolerance>100</forces_angle_tolerance>
+                <update_rate>10</update_rate>
+                <grip_count_threshold>3</grip_count_threshold>
+                <max_grip_count>10</max_grip_count>
+                <release_tolerance>0.001</release_tolerance>
+                <disable_collisions_on_attach>false</disable_collisions_on_attach>
+                <contact_topic>__default_topic__</contact_topic>
+            </plugin>
+
+        </gazebo>
+
+    </xacro:macro>
+
+</robot>
diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro
new file mode 100644
index 0000000..4b548ff
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro
@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="robotiq_arg2f_base_link" params="parent prefix">
+
+    <!-- This joint was added by Kinova -->
+    <joint name="${prefix}gripper_base_joint" type="fixed">
+        <parent link="${parent}"/>
+        <child link="${prefix}robotiq_arg2f_base_link"/>
+        <origin rpy="0.0 0.0 1.57" xyz="0.0 0.0 0.0"/>
+    </joint>
+    
+    <link name="${prefix}robotiq_arg2f_base_link">
+      <inertial>
+        <origin xyz="8.625E-08 -4.6583E-06 0.03145" rpy="0 0 0" />
+        <mass value="0.22652" />
+        <inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <!-- The DAE file doesn't show well in Gazebo so we're using the STL instead -->
+          <!-- <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_140_base_link.dae" scale="0.001 0.001 0.001"/> -->
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+
+    <gazebo reference="${prefix}robotiq_arg2f_base_link">
+      <material>Gazebo/Black</material>  
+    </gazebo>
+
+  </xacro:macro>
+
+  <xacro:macro name="finger_joints" params="prefix fingerprefix reflect">
+    <xacro:outer_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    <xacro:inner_knuckle_joint prefix="${prefix}" fingerprefix="${fingerprefix}" reflect="${reflect}"/>
+    <xacro:inner_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    <xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+  </xacro:macro>
+
+  <xacro:macro name="finger_links" params="prefix fingerprefix stroke">
+    <xacro:outer_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
+    <xacro:outer_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
+    <xacro:inner_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
+    <xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    <xacro:inner_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
+  </xacro:macro>
+</robot>
diff --git a/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro
new file mode 100644
index 0000000..484121f
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro
@@ -0,0 +1,252 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="outer_knuckle" params="prefix fingerprefix stroke">
+    <link name="${prefix}${fingerprefix}_outer_knuckle">
+      <inertial>
+        <origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
+        <mass value="0.00853198276973456" />
+        <inertia
+            ixx="2.89328108496468E-06"
+            ixy="-1.57935047237397E-19"
+            ixz="-1.93980378593255E-19"
+            iyy="1.86719750325683E-06"
+            iyz="-1.21858577871576E-06"
+            izz="1.21905238907251E-06" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
+        </geometry>
+        <material name="">
+          <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_${stroke}_outer_knuckle.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}${fingerprefix}_outer_knuckle">
+      <visual>  
+        <material>  
+          <ambient>0.792156862745098 0.819607843137255 0.933333333333333 1</ambient>  
+          <diffuse>0.792156862745098 0.819607843137255 0.933333333333333 1</diffuse>  
+        </material>  
+      </visual> 
+    </gazebo>
+    
+  </xacro:macro>
+
+  <xacro:macro name="outer_finger" params="prefix fingerprefix stroke">
+    <link name="${prefix}${fingerprefix}_outer_finger">
+      <inertial>
+        <origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
+        <mass value="0.022614240507152" />
+        <inertia
+            ixx="1.52518312458174E-05"
+            ixy="9.76583423954399E-10"
+            ixz="-5.43838577022588E-10"
+            iyy="6.17694243867776E-06"
+            iyz="6.78636130740228E-06"
+            izz="1.16494917907219E-05" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_${stroke}_outer_finger.stl" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_${stroke}_outer_finger.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}${fingerprefix}_outer_finger">
+      <material>Gazebo/Black</material>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="inner_knuckle" params="prefix fingerprefix stroke">
+    <link name="${prefix}${fingerprefix}_inner_knuckle">
+      <inertial>
+        <origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
+        <mass value="0.0271177346495152" />
+        <inertia
+            ixx="2.61910379223783E-05"
+            ixy="-2.43616858946494E-07"
+            ixz="-6.37789906117123E-09"
+            iyy="2.8270243746167E-06"
+            iyz="-5.37200748039765E-07"
+            izz="2.83695868220296E-05" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_${stroke}_inner_knuckle.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}${fingerprefix}_inner_knuckle">
+      <material>Gazebo/Black</material>
+    </gazebo>
+  </xacro:macro>
+
+  <xacro:macro name="inner_finger" params="prefix fingerprefix stroke">
+    <link name="${prefix}${fingerprefix}_inner_finger">
+      <inertial>
+        <origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
+        <mass value="0.0104003125914103" />
+        <inertia
+            ixx="2.71909453810972E-06"
+            ixy="1.35402465472579E-21"
+            ixz="-7.1817349065269E-22"
+            iyy="7.69100314106116E-07"
+            iyz="6.74715432769696E-07"
+            izz="2.30315190420171E-06" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/visual/robotiq_arg2f_${stroke}_inner_finger.stl" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_140/meshes/collision/robotiq_arg2f_${stroke}_inner_finger.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <gazebo reference="${prefix}${fingerprefix}_inner_finger">
+      <material>Gazebo/Black</material>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- Finger pad link, the default are the "big pads" with rubber-->
+  <xacro:macro name="inner_finger_pad" params="prefix fingerprefix">
+    <link name="${prefix}${fingerprefix}_inner_finger_pad">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.027 0.065 0.0075"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.9 0.9 0.9 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <box size="0.03 0.07 0.0075"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.9 0.0 0.0 1" />
+        </material>
+      </collision>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="outer_finger_joint" params="prefix fingerprefix">
+    <joint name="${prefix}${fingerprefix}_outer_finger_joint" type="fixed">
+      <origin xyz="0 0.01821998610742 0.0260018192872234" rpy="0 0 0" />
+      <parent link="${prefix}${fingerprefix}_outer_knuckle" />
+      <child link="${prefix}${fingerprefix}_outer_finger" />
+      <axis xyz="1 0 0" />
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="inner_knuckle_joint" params="prefix fingerprefix reflect">
+    <joint name="${prefix}${fingerprefix}_inner_knuckle_joint" type="revolute">
+      <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="${pi / 2 + .725} 0 ${(reflect - 1) * pi / 2}" />
+      <parent link="${prefix}robotiq_arg2f_base_link" />
+      <child link="${prefix}${fingerprefix}_inner_knuckle" />
+      <axis xyz="1 0 0" />
+      <limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
+      <mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="inner_finger_joint" params="prefix fingerprefix">
+    <joint name="${prefix}${fingerprefix}_inner_finger_joint" type="revolute">
+      <origin xyz="0 0.0817554015893473 -0.0282203446692936" rpy="-0.725 0 0" />
+      <parent link="${prefix}${fingerprefix}_outer_finger" />
+      <child link="${prefix}${fingerprefix}_inner_finger" />
+      <axis xyz="1 0 0" />
+      <limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
+      <mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="inner_finger_pad_joint" params="prefix fingerprefix">
+    <joint name="${prefix}${fingerprefix}_inner_finger_pad_joint" type="fixed">
+      <origin xyz="0 0.0457554015893473 -0.0272203446692936" rpy="0 0 0" />
+      <parent link="${prefix}${fingerprefix}_inner_finger" />
+      <child link="${prefix}${fingerprefix}_inner_finger_pad" />
+      <axis xyz="0 0 1" />
+    </joint>
+  </xacro:macro>
+
+  <xacro:include filename="$(find kortex_description)/grippers/robotiq_2f_140/urdf/robotiq_arg2f.xacro" />
+
+  <xacro:macro name="finger_joint" params="prefix">
+    <joint name="${prefix}finger_joint" type="revolute">
+      <origin xyz="0 -0.030601 0.054905" rpy="${pi / 2 + .725} 0 0" />
+      <parent link="${prefix}robotiq_arg2f_base_link" />
+      <child link="${prefix}left_outer_knuckle" />
+      <axis xyz="-1 0 0" />
+      <limit lower="0" upper="0.7" velocity="2.0" effort="1000" />
+    </joint>
+    <xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0"/>
+  </xacro:macro>
+
+  <xacro:macro name="right_outer_knuckle_joint" params="prefix">
+    <joint name="${prefix}right_outer_knuckle_joint" type="revolute">
+      <origin xyz="0 0.030601 0.054905" rpy="${pi / 2 + .725} 0 ${pi}" />
+      <parent link="${prefix}robotiq_arg2f_base_link" />
+      <child link="${prefix}right_outer_knuckle" />
+      <axis xyz="1 0 0" />
+      <limit lower="-0.725" upper="0.725" velocity="2.0" effort="1000" />
+    <mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
+    </joint>
+    <xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>
+  </xacro:macro>
+
+  <xacro:macro name="robotiq_arg2f_140" params="parent prefix">
+    <!-- Tool frame used by the arm -->
+    <link name="${prefix}tool_frame"/>
+    <joint name="${prefix}tool_frame_joint" type="fixed">
+        <origin xyz="0 0 0.20" rpy="0 0 0" />
+        <parent link="${parent}" />
+        <child link="${prefix}tool_frame" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <!-- Gripper description -->
+    <xacro:robotiq_arg2f_base_link prefix="${prefix}" parent="${parent}"/>
+    <xacro:finger_links prefix="${prefix}" fingerprefix="left" stroke="140"/>
+    <xacro:finger_links prefix="${prefix}" fingerprefix="right" stroke="140"/>
+    <xacro:finger_joint prefix="${prefix}"/>
+    <xacro:right_outer_knuckle_joint prefix="${prefix}"/>
+    <!-- Transmissions are loaded in the generic kortex xacro when simulation is enabled -->
+    <!-- <xacro:robotiq_arg2f_transmission prefix="${prefix}"/> -->
+  </xacro:macro>
+</robot>
diff --git a/kortex_description/grippers/robotiq_2f_85/LICENSE b/kortex_description/grippers/robotiq_2f_85/LICENSE
new file mode 100644
index 0000000..316f610
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/LICENSE
@@ -0,0 +1,23 @@
+Copyright (c) 2013, ROS-Industrial
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+  Redistributions in binary form must reproduce the above copyright notice, this
+  list of conditions and the following disclaimer in the documentation and/or
+  other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/kortex_description/grippers/robotiq_2f_85/README.md b/kortex_description/grippers/robotiq_2f_85/README.md
new file mode 100644
index 0000000..cd862a9
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/README.md
@@ -0,0 +1,13 @@
+This is the README file from Robotiq's package for the 2F-85 gripper. The package's license file can also be found in this folder.
+We used commit `4e3196c1c6a83f54acfa3dd8cf02b575ebba3e53` from [Robotiq's ROS Industrial Github repository](https://github.com/ros-industrial/robotiq)
+
+# Robotiq 85mm 2-Finger-Adaptive-Gripper 
+
+This package contains the URDF files describing the 85mm stroke gripper from robotiq, also known as series **C3**.
+
+## Robot Visual
+![85](https://user-images.githubusercontent.com/8356912/49428405-45a6ef00-f7a6-11e8-822b-c6870c39d445.png)
+
+## Robot Collision 
+![852](https://user-images.githubusercontent.com/8356912/49428404-450e5880-f7a6-11e8-82a8-564247ebe7fc.png)
+
diff --git a/kortex_description/grippers/robotiq_2f_85/config/joint_limits.yaml b/kortex_description/grippers/robotiq_2f_85/config/joint_limits.yaml
new file mode 100644
index 0000000..d67e31f
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/config/joint_limits.yaml
@@ -0,0 +1,8 @@
+gripper_joint_names:
+  - $(arg prefix)finger_joint
+
+gripper_joint_limits_min:
+  - 0.000
+
+gripper_joint_limits_max:
+  - 0.800
\ No newline at end of file
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_base_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_base_link.stl
new file mode 100644
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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_finger.dae b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_finger.dae
new file mode 100644
index 0000000..0863206
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_finger.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Mon Dec 3 16:35:50 2018 GMT</created>
+        <modified>Mon Dec 3 16:35:50 2018 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae
new file mode 100644
index 0000000..a32a3a7
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae
@@ -0,0 +1,56 @@
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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_finger.dae b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_finger.dae
new file mode 100644
index 0000000..0a5e7a1
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_finger.dae
@@ -0,0 +1,56 @@
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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae
new file mode 100644
index 0000000..ba52bc9
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae
@@ -0,0 +1,56 @@
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414 206 414 205 414 208 415 209 415 206 415 88 416 87 416 210 416 210 417 211 417 88 417 210 418 190 418 191 418 191 419 211 419 210 419</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_base_link.stl b/kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_base_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7eccbbbe91af5647ca1a0d4d2cc1b24ba827ef32
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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_base_link.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_base_link.dae
new file mode 100644
index 0000000..df98eae
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_base_link.dae
@@ -0,0 +1,346 @@
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+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
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+          </technique_common>
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1947 3859 206 3859 1951 3859 164 3860 127 3860 1954 3860 132 3861 164 3861 1954 3861 133 3862 132 3862 1954 3862 1954 3863 127 3863 126 3863 1954 3864 126 3864 124 3864 1954 3865 124 3865 17 3865 17 3866 16 3866 1954 3866 133 3867 1954 3867 142 3867 169 3868 168 3868 1953 3868 1953 3869 168 3869 167 3869 1953 3870 167 3870 157 3870 1953 3871 157 3871 156 3871 1953 3872 156 3872 155 3872 1953 3873 155 3873 143 3873 143 3874 142 3874 1953 3874 169 3875 1953 3875 178 3875 184 3876 1952 3876 185 3876 1952 3877 184 3877 179 3877 185 3878 1952 3878 186 3878 186 3879 1952 3879 187 3879 187 3880 1952 3880 188 3880 188 3881 1952 3881 189 3881 179 3882 178 3882 1952 3882 189 3883 1952 3883 190 3883 192 3884 191 3884 1950 3884 193 3885 192 3885 1950 3885 193 3886 1950 3886 194 3886 194 3887 1950 3887 195 3887 195 3888 1950 3888 196 3888 191 3889 190 3889 1950 3889 197 3890 1950 3890 198 3890 196 3891 1950 3891 197 3891 200 3892 199 3892 1951 3892 201 3893 200 3893 1951 3893 202 3894 201 3894 1951 3894 203 3895 202 3895 1951 3895 203 3896 1951 3896 204 3896 204 3897 1951 3897 205 3897 199 3898 198 3898 1951 3898 205 3899 1951 3899 206 3899 176 3900 175 3900 1955 3900 151 3901 176 3901 1955 3901 152 3902 151 3902 1955 3902 154 3903 152 3903 1955 3903 103 3904 154 3904 1955 3904 207 3905 206 3905 1955 3905 175 3906 207 3906 1955 3906 103 3907 1955 3907 16 3907</p>
+        </triangles>
+      </mesh>
+    </geometry>
+    <geometry id="geometry2" name="Part__Feature003">
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+          <technique_common>
+            <accessor count="3786" source="#cubenormals-array2-array" stride="3">
+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="cubeverts-array2-vertices">
+          <input source="#cubeverts-array2" semantic="POSITION"/>
+        </vertices>
+        <triangles count="3786" material="materialref">
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+          <input source="#cubeverts-array2-vertices" semantic="VERTEX" offset="0"/>
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2046 1130 2047 1142 2047 1157 2047 1147 2048 1130 2048 1157 2048 1140 2049 1158 2049 1159 2049 1148 2050 1146 2050 1159 2050 1146 2051 1140 2051 1159 2051 1132 2052 1144 2052 1160 2052 1143 2053 1156 2053 1161 2053 1145 2054 1162 2054 1160 2054 1151 2055 1132 2055 1160 2055 1149 2056 1143 2056 1161 2056 1144 2057 1145 2057 1160 2057 1154 2058 1148 2058 1163 2058 1159 2059 1158 2059 1163 2059 1152 2060 1147 2060 1164 2060 1147 2061 1157 2061 1164 2061 1148 2062 1159 2062 1163 2062 1153 2063 1139 2063 1165 2063 1155 2064 1151 2064 1166 2064 1139 2065 1154 2065 1165 2065 1151 2066 1160 2066 1166 2066 1154 2067 1163 2067 1165 2067 1136 2068 1152 2068 1167 2068 1168 2069 1136 2069 1167 2069 1169 2070 1150 2070 1170 2070 1171 2071 1168 2071 1167 2071 1172 2072 1171 2072 1167 2072 1150 2073 1149 2073 1170 2073 1173 2074 1172 2074 1167 2074 1142 2075 1155 2075 1174 2075 1157 2076 1142 2076 1174 2076 1137 2077 1153 2077 1175 2077 1156 2078 1137 2078 1175 2078 1157 2079 1174 2079 1176 2079 1161 2080 1156 2080 1177 2080 1164 2081 1157 2081 1176 2081 1156 2082 1175 2082 1177 2082 1162 2083 1178 2083 1179 2083 1158 2084 1180 2084 1181 2084 1163 2085 1158 2085 1181 2085 1166 2086 1160 2086 1179 2086 1160 2087 1162 2087 1179 2087 1165 2088 1163 2088 1181 2088 1152 2089 1164 2089 1182 2089 1173 2090 1167 2090 1182 2090 1149 2091 1161 2091 1183 2091 1167 2092 1152 2092 1182 2092 1155 2093 1166 2093 1184 2093 1170 2094 1149 2094 1183 2094 1174 2095 1155 2095 1184 2095 1153 2096 1165 2096 1185 2096 1175 2097 1153 2097 1185 2097 1176 2098 1174 2098 1186 2098 1187 2099 1169 2099 1188 2099 1174 2100 1184 2100 1186 2100 1169 2101 1170 2101 1188 2101 1164 2102 1176 2102 1189 2102 1173 2103 1182 2103 1189 2103 1190 2104 1173 2104 1189 2104 1191 2105 1190 2105 1189 2105 1182 2106 1164 2106 1189 2106 1166 2107 1179 2107 1192 2107 1177 2108 1175 2108 1193 2108 1178 2109 1194 2109 1192 2109 1175 2110 1185 2110 1193 2110 1179 2111 1178 2111 1192 2111 1184 2112 1166 2112 1192 2112 1186 2113 1184 2113 1195 2113 1161 2114 1177 2114 1196 2114 1183 2115 1161 2115 1196 2115 1184 2116 1192 2116 1195 2116 1176 2117 1186 2117 1197 2117 1180 2118 1198 2118 1199 2118 1189 2119 1176 2119 1197 2119 1185 2120 1165 2120 1199 2120 1191 2121 1189 2121 1197 2121 1181 2122 1180 2122 1199 2122 1165 2123 1181 2123 1199 2123 1192 2124 1194 2124 1200 2124 1195 2125 1192 2125 1200 2125 1170 2126 1183 2126 1201 2126 1194 2127 1202 2127 1200 2127 1188 2128 1170 2128 1201 2128 1186 2129 1195 2129 1203 2129 1195 2130 1200 2130 1203 2130 1191 2131 1197 2131 1203 2131 1204 2132 1191 2132 1203 2132 1205 2133 1204 2133 1203 2133 1187 2134 1188 2134 1206 2134 1197 2135 1186 2135 1203 2135 1207 2136 1205 2136 1208 2136 1203 2137 1200 2137 1208 2137 1188 2138 1201 2138 1206 2138 1205 2139 1203 2139 1208 2139 1200 2140 1202 2140 1208 2140 1202 2141 1207 2141 1208 2141 1193 2142 1185 2142 1209 2142 1196 2143 1177 2143 1210 2143 1177 2144 1193 2144 1210 2144 1183 2145 1196 2145 1211 2145 1201 2146 1183 2146 1211 2146 1198 2147 1212 2147 1213 2147 1209 2148 1185 2148 1213 2148 1199 2149 1198 2149 1213 2149 1185 2150 1199 2150 1213 2150 1206 2151 1201 2151 1214 2151 1201 2152 1211 2152 1214 2152 1215 2153 1187 2153 1216 2153 1217 2154 1215 2154 1216 2154 1187 2155 1206 2155 1216 2155 1193 2156 1209 2156 1218 2156 1210 2157 1193 2157 1218 2157 1196 2158 1210 2158 1219 2158 1211 2159 1196 2159 1219 2159 1214 2160 1211 2160 1220 2160 1211 2161 1219 2161 1220 2161 1212 2162 1221 2162 1222 2162 1213 2163 1212 2163 1222 2163 1209 2164 1213 2164 1222 2164 1218 2165 1209 2165 1222 2165 1206 2166 1214 2166 1223 2166 1216 2167 1206 2167 1223 2167 1224 2168 1217 2168 1225 2168 1217 2169 1216 2169 1225 2169 1219 2170 1210 2170 1226 2170 1210 2171 1218 2171 1226 2171 1219 2172 1226 2172 1227 2172 1220 2173 1219 2173 1227 2173 1214 2174 1220 2174 1228 2174 1223 2175 1214 2175 1228 2175 1221 2176 1229 2176 1230 2176 1218 2177 1222 2177 1230 2177 1226 2178 1218 2178 1230 2178 1222 2179 1221 2179 1230 2179 1216 2180 1223 2180 1231 2180 1225 2181 1216 2181 1231 2181 1225 2182 1231 2182 1232 2182 1224 2183 1225 2183 1232 2183 1227 2184 1226 2184 1233 2184 1226 2185 1230 2185 1233 2185 1228 2186 1220 2186 1234 2186 1220 2187 1227 2187 1234 2187 1223 2188 1228 2188 1235 2188 1231 2189 1223 2189 1235 2189 1229 2190 1236 2190 1237 2190 1230 2191 1229 2191 1237 2191 1233 2192 1230 2192 1237 2192 1231 2193 1235 2193 1238 2193 1232 2194 1231 2194 1238 2194 1239 2195 1224 2195 1240 2195 1224 2196 1232 2196 1240 2196 1234 2197 1227 2197 1241 2197 1227 2198 1233 2198 1241 2198 1228 2199 1234 2199 1242 2199 1235 2200 1228 2200 1242 2200 1238 2201 1235 2201 1243 2201 1235 2202 1242 2202 1243 2202 1236 2203 1244 2203 1245 2203 1237 2204 1236 2204 1245 2204 1233 2205 1237 2205 1245 2205 1241 2206 1233 2206 1245 2206 1232 2207 1238 2207 1246 2207 1240 2208 1232 2208 1246 2208 1247 2209 1239 2209 1248 2209 1239 2210 1240 2210 1248 2210 1242 2211 1234 2211 1249 2211 1234 2212 1241 2212 1249 2212 1243 2213 1242 2213 1250 2213 1242 2214 1249 2214 1250 2214 1238 2215 1243 2215 1251 2215 1246 2216 1238 2216 1251 2216 1244 2217 1252 2217 1253 2217 1245 2218 1244 2218 1253 2218 1241 2219 1245 2219 1253 2219 1249 2220 1241 2220 1253 2220 1240 2221 1246 2221 1254 2221 1248 2222 1240 2222 1254 2222 1255 2223 1247 2223 1256 2223 1247 2224 1248 2224 1256 2224 1249 2225 1253 2225 1257 2225 1250 2226 1249 2226 1257 2226 1243 2227 1250 2227 1258 2227 1251 2228 1243 2228 1258 2228 1246 2229 1251 2229 1259 2229 1254 2230 1246 2230 1259 2230 1253 2231 1252 2231 1260 2231 1257 2232 1253 2232 1260 2232 1252 2233 1261 2233 1260 2233 1256 2234 1248 2234 1262 2234 1248 2235 1254 2235 1262 2235 1263 2236 1255 2236 1264 2236 1255 2237 1256 2237 1264 2237 1250 2238 1257 2238 1265 2238 1258 2239 1250 2239 1265 2239 1259 2240 1251 2240 1266 2240 1251 2241 1258 2241 1266 2241 1254 2242 1259 2242 1267 2242 1262 2243 1254 2243 1267 2243 1265 2244 1257 2244 1268 2244 1257 2245 1260 2245 1268 2245 1260 2246 1261 2246 1268 2246 1261 2247 1269 2247 1268 2247 1264 2248 1256 2248 1270 2248 1256 2249 1262 2249 1270 2249 1263 2250 1264 2250 1271 2250 1272 2251 1263 2251 1271 2251 1266 2252 1258 2252 1273 2252 1258 2253 1265 2253 1273 2253 1259 2254 1266 2254 1274 2254 1267 2255 1259 2255 1274 2255 1262 2256 1267 2256 1275 2256 1270 2257 1262 2257 1275 2257 1265 2258 1268 2258 1276 2258 1273 2259 1265 2259 1276 2259 1268 2260 1269 2260 1276 2260 1269 2261 1277 2261 1276 2261 1271 2262 1264 2262 1278 2262 1264 2263 1270 2263 1278 2263 1272 2264 1271 2264 1279 2264 1280 2265 1272 2265 1279 2265 1266 2266 1273 2266 1281 2266 1274 2267 1266 2267 1281 2267 1275 2268 1267 2268 1282 2268 1267 2269 1274 2269 1282 2269 1278 2270 1270 2270 1283 2270 1270 2271 1275 2271 1283 2271 1273 2272 1276 2272 1284 2272 1281 2273 1273 2273 1284 2273 1276 2274 1277 2274 1284 2274 1277 2275 1285 2275 1284 2275 1271 2276 1278 2276 1286 2276 1279 2277 1271 2277 1286 2277 1287 2278 1280 2278 1288 2278 1280 2279 1279 2279 1288 2279 1279 2280 1286 2280 1288 2280 1274 2281 1281 2281 1289 2281 1282 2282 1274 2282 1289 2282 1275 2283 1282 2283 1290 2283 1283 2284 1275 2284 1290 2284 1286 2285 1278 2285 1291 2285 1278 2286 1283 2286 1291 2286 1281 2287 1284 2287 1292 2287 1289 2288 1281 2288 1292 2288 1284 2289 1285 2289 1292 2289 1285 2290 1293 2290 1292 2290 1286 2291 1291 2291 1294 2291 1288 2292 1286 2292 1294 2292 1287 2293 1288 2293 1295 2293 1296 2294 1287 2294 1295 2294 1282 2295 1289 2295 1297 2295 1290 2296 1282 2296 1297 2296 1283 2297 1290 2297 1298 2297 1291 2298 1283 2298 1298 2298 1205 2299 1207 2299 1299 2299 1300 2300 1171 2300 1301 2300 1291 2301 1298 2301 1302 2301 1171 2302 1172 2302 1301 2302 1294 2303 1291 2303 1302 2303 1289 2304 1292 2304 1303 2304 1297 2305 1289 2305 1303 2305 1292 2306 1293 2306 1303 2306 1172 2307 1173 2307 1304 2307 1293 2308 1305 2308 1303 2308 1295 2309 1288 2309 1306 2309 1301 2310 1172 2310 1304 2310 1307 2311 1300 2311 1308 2311 1288 2312 1294 2312 1306 2312 1300 2313 1301 2313 1308 2313 1296 2314 1295 2314 1309 2314 1310 2315 1296 2315 1309 2315 1304 2316 1173 2316 1311 2316 1173 2317 1190 2317 1311 2317 1290 2318 1297 2318 1312 2318 1298 2319 1290 2319 1312 2319 1301 2320 1304 2320 1313 2320 1302 2321 1298 2321 1314 2321 1308 2322 1301 2322 1313 2322 1315 2323 1307 2323 1316 2323 1298 2324 1312 2324 1314 2324 1294 2325 1302 2325 1317 2325 1307 2326 1308 2326 1316 2326 1306 2327 1294 2327 1317 2327 1297 2328 1303 2328 1318 2328 1312 2329 1297 2329 1318 2329 1190 2330 1191 2330 1319 2330 1303 2331 1305 2331 1318 2331 1311 2332 1190 2332 1319 2332 1305 2333 1320 2333 1318 2333 1295 2334 1306 2334 1321 2334 1304 2335 1311 2335 1322 2335 1313 2336 1304 2336 1322 2336 1309 2337 1295 2337 1321 2337 1310 2338 1309 2338 1323 2338 1308 2339 1313 2339 1324 2339 1316 2340 1308 2340 1324 2340 1325 2341 1310 2341 1323 2341 1309 2342 1321 2342 1323 2342 1326 2343 1315 2343 1327 2343 1314 2344 1312 2344 1328 2344 1315 2345 1316 2345 1327 2345 1312 2346 1318 2346 1328 2346 1302 2347 1314 2347 1329 2347 1317 2348 1302 2348 1329 2348 1191 2349 1204 2349 1330 2349 1204 2350 1205 2350 1330 2350 1319 2351 1191 2351 1330 2351 1321 2352 1306 2352 1331 2352 1322 2353 1311 2353 1332 2353 1306 2354 1317 2354 1331 2354 1311 2355 1319 2355 1332 2355 1318 2356 1320 2356 1333 2356 1328 2357 1318 2357 1333 2357 1320 2358 1334 2358 1333 2358 1313 2359 1322 2359 1335 2359 1321 2360 1331 2360 1336 2360 1324 2361 1313 2361 1335 2361 1323 2362 1321 2362 1336 2362 1330 2363 1205 2363 1337 2363 1299 2364 1338 2364 1337 2364 1205 2365 1299 2365 1337 2365 1325 2366 1323 2366 1339 2366 1340 2367 1325 2367 1339 2367 1327 2368 1316 2368 1341 2368 1323 2369 1336 2369 1339 2369 1316 2370 1324 2370 1341 2370 1329 2371 1314 2371 1342 2371 1343 2372 1326 2372 1344 2372 1314 2373 1328 2373 1342 2373 1326 2374 1327 2374 1344 2374 1327 2375 1341 2375 1344 2375 1317 2376 1329 2376 1345 2376 1319 2377 1330 2377 1346 2377 1331 2378 1317 2378 1345 2378 1332 2379 1319 2379 1346 2379 1335 2380 1322 2380 1347 2380 1340 2381 1339 2381 1348 2381 1322 2382 1332 2382 1347 2382 1336 2383 1331 2383 1349 2383 1331 2384 1345 2384 1349 2384 1324 2385 1335 2385 1350 2385 1342 2386 1328 2386 1351 2386 1328 2387 1333 2387 1351 2387 1341 2388 1324 2388 1350 2388 1333 2389 1334 2389 1351 2389 1337 2390 1338 2390 1352 2390 1338 2391 1353 2391 1352 2391 1334 2392 1354 2392 1351 2392 1330 2393 1337 2393 1352 2393 1339 2394 1336 2394 1355 2394 1346 2395 1330 2395 1352 2395 1336 2396 1349 2396 1355 2396 1348 2397 1339 2397 1355 2397 1344 2398 1341 2398 1356 2398 1341 2399 1350 2399 1356 2399 1357 2400 1340 2400 1358 2400 1359 2401 1343 2401 1360 2401 1340 2402 1348 2402 1358 2402 1329 2403 1342 2403 1361 2403 1343 2404 1344 2404 1360 2404 1345 2405 1329 2405 1361 2405 1332 2406 1346 2406 1362 2406 1347 2407 1332 2407 1362 2407 1346 2408 1352 2408 1362 2408 1348 2409 1355 2409 1363 2409 1358 2410 1348 2410 1363 2410 1345 2411 1361 2411 1364 2411 1350 2412 1335 2412 1365 2412 1349 2413 1345 2413 1364 2413 1335 2414 1347 2414 1365 2414 1357 2415 1358 2415 1366 2415 1350 2416 1365 2416 1367 2416 1356 2417 1350 2417 1367 2417 1353 2418 1368 2418 1369 2418 1362 2419 1352 2419 1369 2419 1349 2420 1364 2420 1370 2420 1352 2421 1353 2421 1369 2421 1355 2422 1349 2422 1370 2422 1363 2423 1355 2423 1370 2423 1360 2424 1344 2424 1371 2424 1342 2425 1351 2425 1372 2425 1344 2426 1356 2426 1371 2426 1361 2427 1342 2427 1372 2427 1373 2428 1359 2428 1374 2428 1351 2429 1354 2429 1372 2429 1354 2430 1375 2430 1372 2430 1359 2431 1360 2431 1374 2431 1360 2432 1371 2432 1374 2432 1358 2433 1363 2433 1376 2433 1365 2434 1347 2434 1377 2434 1363 2435 1370 2435 1378 2435 1347 2436 1362 2436 1377 2436 1376 2437 1363 2437 1378 2437 1379 2438 1357 2438 1380 2438 1365 2439 1377 2439 1381 2439 1357 2440 1366 2440 1380 2440 1367 2441 1365 2441 1381 2441 1361 2442 1372 2442 1382 2442 1364 2443 1361 2443 1382 2443 1371 2444 1356 2444 1383 2444 1356 2445 1367 2445 1383 2445 1368 2446 1384 2446 1385 2446 1358 2447 1376 2447 1386 2447 1377 2448 1362 2448 1385 2448 1366 2449 1358 2449 1386 2449 1369 2450 1368 2450 1385 2450 1362 2451 1369 2451 1385 2451 1374 2452 1371 2452 1387 2452 1380 2453 1366 2453 1386 2453 1371 2454 1383 2454 1387 2454 1370 2455 1364 2455 1388 2455 1364 2456 1382 2456 1388 2456 1389 2457 1373 2457 1390 2457 1378 2458 1370 2458 1388 2458 1373 2459 1374 2459 1390 2459 1379 2460 1380 2460 1391 2460 1377 2461 1385 2461 1392 2461 1381 2462 1377 2462 1392 2462 1383 2463 1367 2463 1393 2463 1376 2464 1378 2464 1394 2464 1394 2465 1378 2465 1395 2465 1367 2466 1381 2466 1393 2466 1378 2467 1388 2467 1395 2467 1382 2468 1372 2468 1396 2468 1383 2469 1393 2469 1397 2469 1387 2470 1383 2470 1397 2470 1375 2471 1398 2471 1396 2471 1372 2472 1375 2472 1396 2472 1384 2473 1399 2473 1400 2473 1385 2474 1384 2474 1400 2474 1392 2475 1385 2475 1400 2475 1380 2476 1386 2476 1401 2476 1374 2477 1387 2477 1402 2477 1376 2478 1394 2478 1403 2478 1390 2479 1374 2479 1402 2479 1401 2480 1386 2480 1403 2480 1386 2481 1376 2481 1403 2481 1404 2482 1389 2482 1405 2482 1379 2483 1391 2483 1406 2483 1390 2484 1402 2484 1405 2484 1407 2485 1379 2485 1406 2485 1389 2486 1390 2486 1405 2486 1388 2487 1382 2487 1408 2487 1382 2488 1396 2488 1408 2488 1381 2489 1392 2489 1409 2489 1395 2490 1388 2490 1408 2490 1393 2491 1381 2491 1409 2491 1380 2492 1401 2492 1410 2492 1393 2493 1409 2493 1411 2493 1397 2494 1393 2494 1411 2494 1391 2495 1380 2495 1410 2495 1394 2496 1395 2496 1412 2496 1387 2497 1397 2497 1413 2497 1402 2498 1387 2498 1413 2498 1407 2499 1406 2499 1414 2499 1409 2500 1392 2500 1415 2500 1399 2501 1416 2501 1415 2501 1400 2502 1399 2502 1415 2502 1412 2503 1395 2503 1417 2503 1392 2504 1400 2504 1415 2504 1395 2505 1408 2505 1417 2505 1402 2506 1413 2506 1418 2506 1405 2507 1402 2507 1418 2507 1419 2508 1404 2508 1420 2508 1401 2509 1403 2509 1421 2509 1421 2510 1403 2510 1422 2510 1403 2511 1394 2511 1422 2511 1394 2512 1412 2512 1422 2512 1404 2513 1405 2513 1420 2513 1411 2514 1409 2514 1423 2514 1408 2515 1396 2515 1424 2515 1396 2516 1398 2516 1424 2516 1409 2517 1415 2517 1423 2517 1417 2518 1408 2518 1424 2518 1398 2519 1425 2519 1424 2519 1406 2520 1391 2520 1426 2520 1413 2521 1397 2521 1427 2521 1391 2522 1410 2522 1426 2522 1414 2523 1406 2523 1426 2523 1397 2524 1411 2524 1427 2524 1401 2525 1421 2525 1428 2525 1410 2526 1401 2526 1428 2526 1419 2527 1420 2527 1429 2527 1407 2528 1414 2528 1430 2528 1418 2529 1413 2529 1431 2529 1432 2530 1407 2530 1430 2530 1413 2531 1427 2531 1431 2531 1416 2532 1433 2532 1434 2532 1423 2533 1415 2533 1434 2533 1417 2534 1424 2534 1435 2534 1424 2535 1425 2535 1435 2535 1415 2536 1416 2536 1434 2536 1425 2537 1436 2537 1435 2537 1412 2538 1417 2538 1437 2538 1429 2539 1420 2539 1438 2539 1420 2540 1405 2540 1438 2540 1417 2541 1435 2541 1437 2541 1405 2542 1418 2542 1438 2542 1414 2543 1426 2543 1439 2543 1430 2544 1414 2544 1439 2544 1440 2545 1419 2545 1441 2545 1419 2546 1429 2546 1441 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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_finger.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_finger.dae
new file mode 100644
index 0000000..e932242
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_finger.dae
@@ -0,0 +1,98 @@
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diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae
new file mode 100644
index 0000000..c58db53
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae
@@ -0,0 +1,98 @@
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+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
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+        </vertices>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material name="mymaterial" id="material0">
+      <instance_effect url="#effect0"/>
+    </material>
+  </library_materials>
+  <library_visual_scenes>
+    <visual_scene id="myscene">
+      <node name="node0" id="node0">
+        <instance_geometry url="#geometry0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="materialref" target="#material0"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myscene"/>
+  </scene>
+</COLLADA>
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_finger.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_finger.dae
new file mode 100644
index 0000000..6050188
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_finger.dae
@@ -0,0 +1,98 @@
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <created>2016-07-17T22:12:38.778959</created>
+    <modified>2016-07-17T22:12:38.778970</modified>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect name="effect0" id="effect0">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <ambient>
+                 <color>0.007843 0.007843 0.007843 1</color>
+            </ambient>
+            <diffuse>
+                 <color>0.08 0.08 0.08 1</color>
+            </diffuse>
+            <specular>
+                 <color>0.08 0.08 0.08 1</color>
+            </specular>
+            <shininess>
+                 <float>0.312500</float>
+            </shininess>
+            <reflective>
+                 <color>0   0   0   1</color>
+            </reflective>
+            <transparent opaque="A_ONE">
+                 <color>1   1   1   1</color>
+            </transparent>
+            <transparency>
+                 <float>1.000000</float>
+            </transparency>
+          </phong>
+        </technique>
+        <extra>
+          <technique profile="GOOGLEEARTH">
+            <double_sided>0</double_sided>
+          </technique>
+        </extra>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_geometries>
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1737 77 1737 99 1738 97 1738 839 1738 93 1739 842 1739 840 1739 93 1740 840 1740 95 1740 855 1741 59 1741 854 1741 855 1742 60 1742 59 1742 841 1743 99 1743 839 1743 75 1744 869 1744 77 1744 859 1745 869 1745 75 1745 51 1746 99 1746 841 1746 91 1747 842 1747 93 1747 844 1748 842 1748 91 1748 73 1749 859 1749 75 1749 843 1750 51 1750 841 1750 856 1751 65 1751 60 1751 856 1752 60 1752 855 1752 52 1753 51 1753 843 1753 857 1754 70 1754 65 1754 857 1755 73 1755 70 1755 857 1756 65 1756 856 1756 89 1757 844 1757 91 1757 857 1758 858 1758 73 1758 73 1759 858 1759 859 1759 846 1760 844 1760 89 1760 845 1761 52 1761 843 1761 55 1762 52 1762 845 1762 87 1763 846 1763 89 1763 848 1764 846 1764 87 1764 847 1765 55 1765 845 1765 57 1766 55 1766 847 1766 85 1767 848 1767 87 1767 850 1768 848 1768 85 1768 849 1769 57 1769 847 1769 63 1770 57 1770 849 1770 83 1771 850 1771 85 1771 852 1772 850 1772 83 1772 851 1773 63 1773 849 1773 67 1774 63 1774 851 1774 81 1775 852 1775 83 1775 863 1776 852 1776 81 1776 853 1777 67 1777 851 1777 68 1778 67 1778 853 1778 79 1779 863 1779 81 1779</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material name="mymaterial" id="material0">
+      <instance_effect url="#effect0"/>
+    </material>
+  </library_materials>
+  <library_visual_scenes>
+    <visual_scene id="myscene">
+      <node name="node0" id="node0">
+        <instance_geometry url="#geometry0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="materialref" target="#material0"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myscene"/>
+  </scene>
+</COLLADA>
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae
new file mode 100644
index 0000000..41abc83
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
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1104 219 1105 223 1105 221 1105 219 1106 233 1106 223 1106 219 1107 215 1107 233 1107 217 1108 215 1108 219 1108 251 1109 255 1109 253 1109 185 1110 183 1110 181 1110 187 1111 185 1111 181 1111 247 1112 251 1112 249 1112 247 1113 255 1113 251 1113 189 1114 181 1114 179 1114 189 1115 187 1115 181 1115 189 1116 267 1116 265 1116 189 1117 277 1117 267 1117 189 1118 281 1118 277 1118 189 1119 179 1119 281 1119 243 1120 247 1120 245 1120 193 1121 191 1121 189 1121 193 1122 265 1122 263 1122 193 1123 263 1123 255 1123 193 1124 189 1124 265 1124 239 1125 243 1125 241 1125 127 1126 137 1126 133 1126 161 1127 165 1127 163 1127 127 1128 131 1128 130 1128 127 1129 133 1129 131 1129 127 1130 139 1130 137 1130 93 1131 86 1131 83 1131 93 1132 92 1132 89 1132 93 1133 89 1133 86 1133 159 1134 165 1134 161 1134 93 1135 155 1135 150 1135 93 1136 83 1136 155 1136 169 1137 168 1137 165 1137 169 1138 165 1138 159 1138 124 1139 127 1139 125 1139 155 1140 159 1140 158 1140 173 1141 171 1141 169 1141 121 1142 139 1142 127 1142 121 1143 127 1143 124 1143 173 1144 169 1144 159 1144 100 1145 144 1145 139 1145 100 1146 96 1146 93 1146 100 1147 98 1147 96 1147 100 1148 93 1148 150 1148 100 1149 139 1149 121 1149 100 1150 150 1150 144 1150 150 1151 153 1151 151 1151 150 1152 155 1152 153 1152 115 1153 120 1153 117 1153 105 1154 101 1154 100 1154 71 1155 176 1155 173 1155 105 1156 103 1156 101 1156 71 1157 70 1157 176 1157 114 1158 121 1158 120 1158 114 1159 100 1159 121 1159 114 1160 120 1160 115 1160 114 1161 105 1161 100 1161 111 1162 105 1162 114 1162 110 1163 108 1163 105 1163 110 1164 105 1164 111 1164 144 1165 147 1165 145 1165 144 1166 150 1166 147 1166 139 1167 144 1167 142 1167 83 1168 74 1168 71 1168 83 1169 76 1169 74 1169 83 1170 78 1170 76 1170 83 1171 79 1171 78 1171 83 1172 81 1172 79 1172 83 1173 159 1173 155 1173 83 1174 173 1174 159 1174 83 1175 71 1175 173 1175 133 1176 137 1176 136 1176 89 1177 88 1177 86 1177 428 1178 426 1178 424 1178 375 1179 371 1179 367 1179 428 1180 432 1180 430 1180 428 1181 424 1181 432 1181 292 1182 296 1182 294 1182 379 1183 367 1183 359 1183 379 1184 375 1184 367 1184 332 1185 326 1185 324 1185 332 1186 328 1186 326 1186 332 1187 330 1187 328 1187 287 1188 292 1188 290 1188 320 1189 324 1189 322 1189 386 1190 383 1190 379 1190 339 1191 334 1191 332 1191 454 1192 287 1192 286 1192 316 1193 320 1193 318 1193 454 1194 292 1194 287 1194 394 1195 390 1195 386 1195 394 1196 386 1196 379 1196 452 1197 296 1197 292 1197 452 1198 292 1198 454 1198 335 1199 337 1199 339 1199 335 1200 324 1200 320 1200 335 1201 332 1201 324 1201 335 1202 339 1202 332 1202 312 1203 316 1203 314 1203 448 1204 452 1204 450 1204 344 1205 341 1205 335 1205 405 1206 394 1206 379 1206 405 1207 398 1207 394 1207 405 1208 402 1208 398 1208 446 1209 452 1209 448 1209 446 1210 296 1210 452 1210 306 1211 310 1211 308 1211 306 1212 312 1212 310 1212 306 1213 316 1213 312 1213 352 1214 348 1214 344 1214 444 1215 355 1215 335 1215 444 1216 335 1216 296 1216 444 1217 359 1217 355 1217 444 1218 405 1218 379 1218 444 1219 379 1219 359 1219 444 1220 412 1220 405 1220 444 1221 296 1221 446 1221 355 1222 344 1222 335 1222 355 1223 352 1223 344 1223 442 1224 412 1224 444 1224 416 1225 414 1225 412 1225 416 1226 412 1226 442 1226 440 1227 416 1227 442 1227 300 1228 304 1228 302 1228 300 1229 306 1229 304 1229 300 1230 316 1230 306 1230 420 1231 418 1231 416 1231 300 1232 320 1232 316 1232 434 1233 438 1233 436 1233 434 1234 440 1234 438 1234 367 1235 363 1235 359 1235 296 1236 300 1236 298 1236 424 1237 422 1237 420 1237 424 1238 420 1238 416 1238 296 1239 320 1239 300 1239 432 1240 416 1240 440 1240 296 1241 335 1241 320 1241 432 1242 440 1242 434 1242 432 1243 424 1243 416 1243 338 1244 342 1244 346 1244 301 1245 303 1245 305 1245 301 1246 297 1246 299 1246 301 1247 346 1247 293 1247 437 1248 427 1248 431 1248 301 1249 293 1249 297 1249 301 1250 305 1250 346 1250 437 1251 431 1251 435 1251 396 1252 400 1252 404 1252 331 1253 333 1253 338 1253 441 1254 437 1254 439 1254 392 1255 396 1255 404 1255 410 1256 407 1256 409 1256 329 1257 331 1257 338 1257 411 1258 404 1258 407 1258 327 1259 338 1259 346 1259 327 1260 329 1260 338 1260 411 1261 407 1261 410 1261 411 1262 392 1262 404 1262 447 1263 443 1263 445 1263 447 1264 441 1264 443 1264 380 1265 384 1265 388 1265 447 1266 437 1266 441 1266 377 1267 380 1267 388 1267 417 1268 413 1268 415 1268 417 1269 411 1269 413 1269 417 1270 392 1270 411 1270 321 1271 323 1271 325 1271 451 1272 447 1272 449 1272 451 1273 392 1273 423 1273 451 1274 423 1274 427 1274 451 1275 427 1275 437 1275 451 1276 437 1276 447 1276 451 1277 365 1277 392 1277 319 1278 325 1278 327 1278 319 1279 327 1279 346 1279 319 1280 321 1280 325 1280 421 1281 417 1281 419 1281 365 1282 388 1282 392 1282 365 1283 373 1283 377 1283 365 1284 369 1284 373 1284 365 1285 377 1285 388 1285 423 1286 392 1286 417 1286 423 1287 417 1287 421 1287 285 1288 453 1288 288 1288 285 1289 451 1289 453 1289 313 1290 317 1290 319 1290 313 1291 315 1291 317 1291 313 1292 319 1292 346 1292 358 1293 362 1293 365 1293 427 1294 423 1294 425 1294 309 1295 311 1295 313 1295 309 1296 313 1296 346 1296 431 1297 427 1297 429 1297 293 1298 346 1298 365 1298 293 1299 365 1299 451 1299 293 1300 289 1300 291 1300 293 1301 285 1301 289 1301 293 1302 451 1302 285 1302 346 1303 358 1303 365 1303 346 1304 354 1304 358 1304 346 1305 350 1305 354 1305 305 1306 307 1306 309 1306 305 1307 309 1307 346 1307 297 1308 293 1308 295 1308 435 1309 431 1309 433 1309 49 1310 46 1310 41 1310 49 1311 41 1311 40 1311 49 1312 40 1312 68 1312 49 1313 68 1313 67 1313 49 1314 67 1314 66 1314 49 1315 66 1315 65 1315 49 1316 65 1316 64 1316 49 1317 64 1317 63 1317 49 1318 63 1318 62 1318 49 1319 62 1319 61 1319 49 1320 61 1320 60 1320 49 1321 60 1321 59 1321 49 1322 59 1322 58 1322 49 1323 58 1323 57 1323 49 1324 57 1324 56 1324 49 1325 56 1325 55 1325 49 1326 55 1326 54 1326 53 1327 49 1327 54 1327 52 1328 49 1328 53 1328 45 1329 44 1329 49 1329 51 1330 49 1330 52 1330 48 1331 45 1331 49 1331 48 1332 49 1332 51 1332 47 1333 49 1333 50 1333 42 1334 47 1334 43 1334 47 1335 50 1335 43 1335 39 1336 42 1336 1 1336 42 1337 43 1337 1 1337 39 1338 1 1338 38 1338 38 1339 1 1339 0 1339</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_pad.dae b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_pad.dae
new file mode 100644
index 0000000..e0c6e64
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_pad.dae
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ziUeIINA2`oDkRJ-Q9nLx3=(vinr&wcQXygHmHKgRW00Ur))ZN%jHzaPP$8iwIt>WA
zgpTJicfP8P5xXR}vZ~hSiVD+}T5!(v4Jt2tua=}mm(;rK4veX$<WxvVYdX&+Yy^ox
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w$rTB@WVJJzr*^53kX6(fA4v=nbjhmiAA?j#$ZjAW!S3FN1YO*H+<5B$1H2r&(*OVf

literal 0
HcmV?d00001

diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
new file mode 100644
index 0000000..bbe7e59
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_macro.xacro
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<robot name="robotiq_arg2f_85_model" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="load_gripper" params="parent prefix">
+    <xacro:include filename="$(find kortex_description)/grippers/robotiq_2f_85/urdf/robotiq_arg2f_85_model_macro.xacro" />
+    <xacro:robotiq_arg2f_85 parent="${parent}" prefix="${prefix}"/>
+  </xacro:macro>
+</robot>
diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro
new file mode 100644
index 0000000..4ed28ba
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro
@@ -0,0 +1,79 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="load_gazebo_gripper_transmissions" params="prefix">
+
+        <transmission name="${prefix}finger_joint_trans">
+            <type>transmission_interface/SimpleTransmission</type>
+            <joint name="${prefix}finger_joint">
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            </joint>
+            <actuator name="${prefix}finger_joint_motor">
+                <mechanicalReduction>1</mechanicalReduction>
+                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+            </actuator>
+        </transmission>
+        
+        <gazebo>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_1">
+                <joint>${prefix}finger_joint</joint>
+                <mimicJoint>${prefix}right_outer_knuckle_joint</mimicJoint>
+                <multiplier>1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID/>
+            </plugin>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_2">
+                <joint>${prefix}finger_joint</joint>
+                <mimicJoint>${prefix}right_inner_knuckle_joint</mimicJoint>
+                <multiplier>1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID/>
+            </plugin>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_3">
+                <joint>${prefix}finger_joint</joint>
+                <mimicJoint>${prefix}left_inner_knuckle_joint</mimicJoint>
+                <multiplier>1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID/>
+            </plugin>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_4">
+                <joint>${prefix}finger_joint</joint>
+                <mimicJoint>${prefix}left_inner_finger_joint</mimicJoint>
+                <multiplier>-1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID/>
+            </plugin>
+            <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_robotiq_85_5">
+                <joint>${prefix}finger_joint</joint>
+                <mimicJoint>${prefix}right_inner_finger_joint</mimicJoint>
+                <multiplier>-1.0</multiplier>
+                <offset>0.0</offset>
+                <maxEffort>5.0</maxEffort>
+                <hasPID/>
+            </plugin>
+
+            <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
+                <arm>
+                    <arm_name>my_robotiq_gripper</arm_name>
+                    <palm_link>${prefix}bracelet_link</palm_link> <!-- Gazebo merges links connected by fixed joints, so here we would have put gripper_base_link but it is merged with Bracelet_Link internally -->
+                    <gripper_link> ${prefix}left_inner_finger </gripper_link>
+                    <gripper_link> ${prefix}right_inner_finger </gripper_link>
+                </arm>
+                <forces_angle_tolerance>100</forces_angle_tolerance>
+                <update_rate>10</update_rate>
+                <grip_count_threshold>3</grip_count_threshold>
+                <max_grip_count>10</max_grip_count>
+                <release_tolerance>0.001</release_tolerance>
+                <disable_collisions_on_attach>false</disable_collisions_on_attach>
+                <contact_topic>__default_topic__</contact_topic>
+            </plugin>
+
+        </gazebo>
+
+    </xacro:macro>
+
+</robot>
diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f.xacro
new file mode 100644
index 0000000..5f4035b
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f.xacro
@@ -0,0 +1,57 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="robotiq_arg2f_base_link" params="parent prefix">
+
+    <!-- This joint was added by Kinova -->
+    <joint name="${prefix}gripper_base_joint" type="fixed">
+        <parent link="${parent}"/>
+        <child link="${prefix}robotiq_arg2f_base_link"/>
+        <origin rpy="0.0 0.0 1.57" xyz="0.0 0.0 0.0"/>
+    </joint>
+
+    <link name="${prefix}robotiq_arg2f_base_link">
+      <inertial>
+        <origin xyz="8.625E-08 -4.6583E-06 0.03145" rpy="0 0 0" />
+        <mass value="0.22652" />
+        <inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <!-- The DAE file doesn't show well in Gazebo so we're using the STL instead -->
+          <!-- <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/> -->
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_base_link.stl" />
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+
+    <gazebo reference="${prefix}robotiq_arg2f_base_link">
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+  </xacro:macro>
+
+  <xacro:macro name="finger_joints" params="prefix fingerprefix reflect">
+    <xacro:outer_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    <xacro:inner_knuckle_joint prefix="${prefix}" fingerprefix="${fingerprefix}" reflect="${reflect}"/>
+    <xacro:inner_finger_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    <xacro:inner_finger_pad_joint prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+  </xacro:macro>
+
+  <xacro:macro name="finger_links" params="prefix fingerprefix stroke">
+    <xacro:outer_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
+    <xacro:outer_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
+    <xacro:inner_finger prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
+    <xacro:inner_finger_pad prefix="${prefix}" fingerprefix="${fingerprefix}"/>
+    <xacro:inner_knuckle prefix="${prefix}" fingerprefix="${fingerprefix}" stroke="${stroke}"/>
+  </xacro:macro>
+</robot>
diff --git a/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f_85_model_macro.xacro b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f_85_model_macro.xacro
new file mode 100644
index 0000000..b8247e7
--- /dev/null
+++ b/kortex_description/grippers/robotiq_2f_85/urdf/robotiq_arg2f_85_model_macro.xacro
@@ -0,0 +1,215 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- This line was removed by Kinova because we replaced the transmission file with our own 
+    <xacro:include filename="$(find robotiq_2f_85_gripper_visualization)/urdf/robotiq_arg2f_transmission.xacro" /> -->
+
+  <xacro:macro name="outer_knuckle" params="prefix fingerprefix stroke">
+    <link name="${prefix}${fingerprefix}_outer_knuckle">
+      <inertial>
+        <origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
+        <mass value="0.00853198276973456" />
+        <inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="outer_finger" params="prefix fingerprefix stroke">
+    <link name="${prefix}${fingerprefix}_outer_finger">
+      <inertial>
+        <origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
+        <mass value="0.022614240507152" />
+        <inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="inner_knuckle" params="prefix fingerprefix stroke">
+    <link name="${prefix}${fingerprefix}_inner_knuckle">
+      <inertial>
+        <origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
+       <mass value="0.0271177346495152" />
+        <inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+      </collision>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="inner_finger" params="prefix fingerprefix stroke">
+    <link name="${prefix}${fingerprefix}_inner_finger">
+      <inertial>
+        <origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
+        <mass value="0.0104003125914103" />
+        <inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06" />
+      </inertial> 
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.1 0.1 0.1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kortex_description/grippers/robotiq_2f_85/meshes/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001" />
+        </geometry>
+      </collision>
+    </link>
+  </xacro:macro>
+
+   <!-- Finger pad link, the default are the "big pads" with rubber-->
+  <xacro:macro name="inner_finger_pad" params="prefix fingerprefix">
+    <link name="${prefix}${fingerprefix}_inner_finger_pad">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.022 0.00635 0.0375"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.9 0.9 0.9 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <box size="0.022 0.00635 0.0375"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.9 0.0 0.0 1" />
+        </material>
+      </collision>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="outer_finger_joint" params="prefix fingerprefix">
+    <joint name="${prefix}${fingerprefix}_outer_finger_joint" type="fixed">
+      <origin xyz="0 0.0315 -0.0041" rpy="0 0 0"/>
+      <parent link="${prefix}${fingerprefix}_outer_knuckle" />
+      <child link="${prefix}${fingerprefix}_outer_finger" />
+      <axis xyz="1 0 0" />
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="inner_knuckle_joint" params="prefix fingerprefix reflect">
+    <joint name="${prefix}${fingerprefix}_inner_knuckle_joint" type="revolute">
+      <!-- <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="${pi / 2 + .725} 0 ${(reflect - 1) * pi / 2}" /> -->
+      <origin xyz="0 ${reflect * -0.0127} 0.06142" rpy="0 0 ${(1 + reflect) * pi / 2}"/>
+      <parent link="${prefix}robotiq_arg2f_base_link" />
+      <child link="${prefix}${fingerprefix}_inner_knuckle" />
+      <axis xyz="1 0 0" />
+      <limit lower="0" upper="0.8757" velocity="2.0" effort="1000" />
+      <mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="inner_finger_joint" params="prefix fingerprefix">
+    <joint name="${prefix}${fingerprefix}_inner_finger_joint" type="revolute">
+      <origin xyz="0 0.0061 0.0471" rpy="0 0 0"/>
+      <parent link="${prefix}${fingerprefix}_outer_finger" />
+      <child link="${prefix}${fingerprefix}_inner_finger" />
+      <axis xyz="1 0 0" />
+      <limit lower="-0.8757" upper="0.8757" velocity="2.0" effort="1000" />
+      <mimic joint="${prefix}finger_joint" multiplier="-1" offset="0" />
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="inner_finger_pad_joint" params="prefix fingerprefix">
+    <joint name="${prefix}${fingerprefix}_inner_finger_pad_joint" type="fixed">
+      <origin xyz="0 -0.0220203446692936 0.03242" rpy="0 0 0"/>
+      <parent link="${prefix}${fingerprefix}_inner_finger" />
+      <child link="${prefix}${fingerprefix}_inner_finger_pad" />
+      <axis xyz="0 0 1" />
+    </joint>
+  </xacro:macro>
+
+  <xacro:include filename="$(find kortex_description)/grippers/robotiq_2f_85/urdf/robotiq_arg2f.xacro" />
+
+  <xacro:macro name="finger_joint" params="prefix">
+    <joint name="${prefix}finger_joint" type="revolute">
+      <origin xyz="0 -0.0306011 0.054904" rpy="0 0 ${pi}"/>
+      <parent link="${prefix}robotiq_arg2f_base_link" />
+      <child link="${prefix}left_outer_knuckle" />
+      <axis xyz="1 0 0" />
+      <limit lower="0" upper="0.8" velocity="2.0" effort="1000" />
+    </joint>
+    <xacro:finger_joints prefix="${prefix}" fingerprefix="left" reflect="1.0"/>
+  </xacro:macro>
+
+  <xacro:macro name="right_outer_knuckle_joint" params="prefix">
+    <joint name="${prefix}right_outer_knuckle_joint" type="revolute">
+      <origin xyz="0 0.0306011 0.054904" rpy="0 0 0"/>
+      <parent link="${prefix}robotiq_arg2f_base_link" />
+      <child link="${prefix}right_outer_knuckle" />
+      <axis xyz="1 0 0" />
+      <limit lower="0" upper="0.81" velocity="2.0" effort="1000" />
+      <mimic joint="${prefix}finger_joint" multiplier="1" offset="0" />
+    </joint>
+    <xacro:finger_joints prefix="${prefix}" fingerprefix="right" reflect="-1.0"/>
+  </xacro:macro>
+
+  <!-- Initialization of all joints and links -->
+  <xacro:macro name="robotiq_arg2f_85" params="prefix parent">
+    <!-- Tool frame used by the arm -->
+    <link name="${prefix}tool_frame"/>
+    <joint name="${prefix}tool_frame_joint" type="fixed">
+        <origin xyz="0 0 0.120" rpy="0 0 0" />
+        <parent link="${parent}" />
+        <child link="${prefix}tool_frame" />
+        <axis xyz="0 0 0" />
+    </joint>
+    <!-- Gripper description -->
+    <xacro:robotiq_arg2f_base_link prefix="${prefix}" parent="${parent}"/>
+    <xacro:finger_links prefix="${prefix}" fingerprefix="left" stroke="85"/>
+    <xacro:finger_links prefix="${prefix}" fingerprefix="right" stroke="85"/>
+    <xacro:finger_joint prefix="${prefix}"/>
+    <xacro:right_outer_knuckle_joint prefix="${prefix}"/>
+    <!-- Transmissions are loaded in the generic kortex xacro when simulation is enabled -->
+    <!-- <xacro:robotiq_arg2f_transmission prefix="${prefix}"/> -->
+  </xacro:macro>
+</robot>
diff --git a/kortex_description/launch/visualize.launch b/kortex_description/launch/visualize.launch
new file mode 100644
index 0000000..3091419
--- /dev/null
+++ b/kortex_description/launch/visualize.launch
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<launch>
+
+    <arg name="arm" default="gen3"/>
+    <arg name="dof" default="7" if="$(eval arg('arm') == 'gen3')"/> <!-- Number of degrees of freedom of the arm -->
+    <arg name="dof" default="6" if="$(eval arg('arm') == 'gen3_lite')"/> <!-- Number of degrees of freedom of the arm -->
+    <arg name="vision" default="true"/> <!-- True if the arm has a Vision module -->
+
+    <!-- Gripper configuration -->
+    <arg name="gripper" default=""/>
+
+    <!-- Start Rviz -->
+    <arg name="start_rviz" default="true"/>
+
+    <!-- Load the description for the robot -->
+    <!-- Without gripper -->
+    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/$(arg arm).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=true"
+        if="$(eval not arg('gripper'))"/>
+    <!-- With gripper -->
+    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/$(arg arm)_$(arg gripper).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=true"
+        unless="$(eval not arg('gripper'))"/>
+
+    <!-- Joint state publisher and robot state publisher -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+        <rosparam param="source_list">[base_feedback/joint_state]</rosparam>
+        <param name="use_gui" value="true"/>
+        <param name="rate" value="30" />
+    </node>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+    <!-- Start RViz -->
+    <node name="rviz" pkg="rviz" type="rviz" output="log" args="-f base_link" if="$(arg start_rviz)"/> 
+</launch>
\ No newline at end of file
diff --git a/kortex_description/multiple_robots/kortex_dual_robots.xacro b/kortex_description/multiple_robots/kortex_dual_robots.xacro
new file mode 100644
index 0000000..764eb04
--- /dev/null
+++ b/kortex_description/multiple_robots/kortex_dual_robots.xacro
@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+
+<robot name="dual_robot" xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:arg name="left_arm"  default=""/>
+    <xacro:arg name="left_gripper" default=""/>
+    <xacro:arg name="left_dof"  default=""/>
+    <xacro:arg name="left_vision" default=""/>
+    <xacro:arg name="left_sim" default=""/>
+    <xacro:arg name="left_prefix" default=""/>
+
+    <xacro:arg name="right_arm"  default=""/>
+    <xacro:arg name="right_gripper" default=""/>
+    <xacro:arg name="right_dof"  default=""/>
+    <xacro:arg name="right_vision" default=""/>
+    <xacro:arg name="right_sim" default=""/>
+    <xacro:arg name="right_prefix" default=""/>
+
+    <xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
+
+    <link name="world" />
+    <joint name="world_to_$(arg left_prefix)root" type="fixed">
+        <child link="$(arg left_prefix)base_link" />
+        <parent link="world" />
+        <!-- Here you can change the origin of the left arm-->
+        <origin xyz="-1 0 0" rpy="0 0 0" />    
+    </joint> 
+    <joint name="world_to_$(arg right_prefix)root" type="fixed">
+        <child link="$(arg right_prefix)base_link" />
+        <parent link="world" />
+        <!-- Here you can change the origin of the right arm -->
+        <origin xyz="1 0 0" rpy="0 0 0" />    
+    </joint> 
+
+    <xacro:load_robot 
+        arm="$(arg left_arm)"
+        gripper="$(arg left_gripper)" 
+        dof="$(arg left_dof)"
+        vision="$(arg left_vision)" 
+        sim="$(arg left_sim)"
+        prefix="$(arg left_prefix)"
+    />
+    <xacro:load_robot 
+        arm="$(arg right_arm)"
+        gripper="$(arg right_gripper)" 
+        dof="$(arg right_dof)"
+        vision="$(arg right_vision)" 
+        sim="$(arg right_sim)"
+        prefix="$(arg right_prefix)"
+    />
+</robot>
\ No newline at end of file
diff --git a/kortex_description/package.xml b/kortex_description/package.xml
new file mode 100644
index 0000000..018c38c
--- /dev/null
+++ b/kortex_description/package.xml
@@ -0,0 +1,22 @@
+<package>
+  <name>kortex_description</name>
+  <version>2.2.2</version>
+  <description>
+    <p>URDF and xacro description package for Kortex robots</p>
+    <p>This package contains configuration data, 3D models and launch files
+for Kortex arms and supported grippers</p>
+  </description>
+  <author email="avannobel@kinova.ca">Alexandre Vannobel</author>
+  <maintainer email="avannobel@kinova.ca" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>gazebo</run_depend>
+  <run_depend>xacro</run_depend>
+  <export>
+    <architecture_independent />
+  </export>
+</package>
diff --git a/kortex_description/readme.md b/kortex_description/readme.md
new file mode 100644
index 0000000..2ecf830
--- /dev/null
+++ b/kortex_description/readme.md
@@ -0,0 +1,33 @@
+<!-- 
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2018 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed 
+* under the terms of the BSD 3-Clause license. 
+*
+* Refer to the LICENSE file for details.
+*
+* -->
+
+# Kortex Description
+This package contains the URDF (Unified Robot Description Format), STL and configuration files for the Kortex-compatible robots.
+
+## Usage 
+
+To load the description of a robot, you simply have to load the **ARM.xacro** or the **ARM_GRIPPER.xacro** file, with **ARM** being your arm's name (gen3, gen3_lite), and if you have a gripper, **GRIPPER** being your gripper's name (robotiq_2f_85, gen3_lite_2f).
+
+**Arguments**:
+- **sim** : If this argument is true, the Gazebo-specific files will be loaded. The default value is **false **.
+
+For example:
+
+- To load the Gen3 description with a Robotiq 2-F 85 gripper for simulation, you would put in your launch file : 
+<code><param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/gen3_robotiq_2f_85.xacro sim:=true"\/></code>
+
+- To load the Gen3 lite description, you would put in your launch file : 
+<code><param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/gen3_lite_gen3_lite_2f.xacro sim:=false"\/></code>
+
+## Tool frame
+
+The `tool_frame` link refers to the tool frame used by the arm when it reports end effector position feedback.
\ No newline at end of file
diff --git a/kortex_description/robots/gen3.xacro b/kortex_description/robots/gen3.xacro
new file mode 100644
index 0000000..163b8ee
--- /dev/null
+++ b/kortex_description/robots/gen3.xacro
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<robot name="gen3" xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- Arguments -->
+    <xacro:arg name="arm" default="gen3" />
+    <xacro:arg name="dof" default="7" />
+    <xacro:arg name="vision" default="true" />
+
+    <xacro:arg name="gripper" default="" />
+
+    <xacro:arg name="sim" default="false" />
+    <xacro:arg name="prefix" default="" />
+
+    <xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
+    <xacro:load_robot arm="$(arg arm)" gripper="$(arg gripper)" dof="$(arg dof)" vision="$(arg vision)" sim="$(arg sim)" prefix="$(arg prefix)" />
+
+</robot>
\ No newline at end of file
diff --git a/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro b/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro
new file mode 100644
index 0000000..be36b56
--- /dev/null
+++ b/kortex_description/robots/gen3_lite_gen3_lite_2f.xacro
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+
+<robot name="gen3_lite_gen3_lite_2f" xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <!-- Arguments -->
+    <xacro:arg name="arm" default="gen3_lite" />
+
+    <!-- Those arguments are ignored for now on Gen3 lite because there is only one supported configuration -->
+    <xacro:arg name="dof" default="6" />
+    <xacro:arg name="vision" default="false" />
+
+    <xacro:arg name="gripper" default="gen3_lite_2f" />
+
+    <xacro:arg name="sim" default="false" />
+    <xacro:arg name="prefix" default="" />
+
+    <xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
+    <xacro:load_robot arm="$(arg arm)" gripper="$(arg gripper)" dof="$(arg dof)" vision="false" sim="$(arg sim)"  prefix="$(arg prefix)" />
+
+</robot>
\ No newline at end of file
diff --git a/kortex_description/robots/gen3_robotiq_2f_140.xacro b/kortex_description/robots/gen3_robotiq_2f_140.xacro
new file mode 100644
index 0000000..969be46
--- /dev/null
+++ b/kortex_description/robots/gen3_robotiq_2f_140.xacro
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<robot name="gen3_robotiq_2f_140" xmlns:xacro="http://ros.org/wiki/xacro">
+    
+    <!-- Arguments -->
+    <xacro:arg name="arm" default="gen3" />
+    <xacro:arg name="dof" default="7" />
+    <xacro:arg name="vision" default="true" />
+
+    <xacro:arg name="gripper" default="robotiq_2f_140" />
+
+    <xacro:arg name="sim" default="false" />
+    <xacro:arg name="prefix" default="" />
+
+    <xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
+    <xacro:load_robot arm="$(arg arm)" gripper="$(arg gripper)" dof="$(arg dof)" vision="$(arg vision)" sim="$(arg sim)" prefix="$(arg prefix)"/>
+
+</robot>
\ No newline at end of file
diff --git a/kortex_description/robots/gen3_robotiq_2f_85.xacro b/kortex_description/robots/gen3_robotiq_2f_85.xacro
new file mode 100644
index 0000000..03859d9
--- /dev/null
+++ b/kortex_description/robots/gen3_robotiq_2f_85.xacro
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+
+<robot name="gen3_robotiq_2f_85" xmlns:xacro="http://ros.org/wiki/xacro">
+    
+    <!-- Arguments -->
+    <xacro:arg name="arm" default="gen3" />
+    <xacro:arg name="dof" default="7" />
+    <xacro:arg name="vision" default="true" />
+
+    <xacro:arg name="gripper" default="robotiq_2f_85" />
+
+    <xacro:arg name="sim" default="false" />
+    <xacro:arg name="prefix" default="" />
+
+    <xacro:include filename="$(find kortex_description)/robots/kortex_robot.xacro" />
+    <xacro:load_robot arm="$(arg arm)" gripper="$(arg gripper)" dof="$(arg dof)" vision="$(arg vision)" sim="$(arg sim)" prefix="$(arg prefix)" />
+
+</robot>
\ No newline at end of file
diff --git a/kortex_description/robots/kortex_robot.xacro b/kortex_description/robots/kortex_robot.xacro
new file mode 100644
index 0000000..684a644
--- /dev/null
+++ b/kortex_description/robots/kortex_robot.xacro
@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:macro name="load_robot" params="arm gripper dof vision sim prefix">
+            
+        <!-- Files to include -->
+        <xacro:include filename="$(find kortex_description)/arms/${arm}/${dof}dof/urdf/${arm}_macro.xacro" />
+        <xacro:unless value="${not gripper}">
+            <xacro:include filename="$(find kortex_description)/grippers/${gripper}/urdf/${gripper}_macro.xacro" />
+        </xacro:unless>
+        
+        <xacro:if value="${sim}">
+            <!-- Arm transmission elements-->
+            <xacro:include filename="$(find kortex_description)/arms/${arm}/${dof}dof/urdf/${arm}_transmission_macro.xacro" />
+            <!-- Gripper transmission elements if there is a gripper-->
+            <xacro:unless value="${not gripper}">
+                <xacro:include filename="$(find kortex_description)/grippers/${gripper}/urdf/${gripper}_transmission_macro.xacro" />
+            </xacro:unless>
+        </xacro:if>
+
+        <!-- Run the macros -->
+
+        <!-- For gazebo-->
+        <xacro:if value="${sim}">
+            <link name="world" />
+            <joint name="world_to_root" type="fixed">
+                <child link="${prefix}base_link" />
+                <parent link="world" />
+                <origin xyz="0 0 0" rpy="0 0 0" />    
+            </joint> 
+        </xacro:if>
+        
+        <!-- Load the arm -->
+        <xacro:load_arm parent="" dof="${dof}" vision="${vision}" prefix="${prefix}">
+            <origin xyz="0 0 0" rpy="0 0 0"/> 
+        </xacro:load_arm>
+
+        <!-- Load the gripper -->
+        <xacro:unless value="${not gripper}">
+            <!-- last_arm_link is defined in "$(find kortex_description)/arms/${arm}/urdf/${arm}_macro.xacro" -->
+            <xacro:load_gripper parent="${prefix}${last_arm_link}"  prefix="${prefix}"/> 
+        </xacro:unless>
+        <!-- If no gripper, define tool frame here -->
+        <xacro:if value="${not gripper}">
+            <link name="${prefix}tool_frame"/>
+            <joint name="${prefix}tool_frame_joint" type="fixed">
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <parent link="${prefix}${last_arm_link}" />
+                <child link="${prefix}tool_frame" />
+                <axis xyz="0 0 0" />
+            </joint>
+        </xacro:if>
+
+        <!-- Load the Gazebo transmissions and gazebo_ros_control plugin -->
+        <xacro:if value="${sim}">
+
+            <xacro:load_gazebo_arm_transmissions prefix="${prefix}"/>
+
+            <xacro:unless value="${not gripper}">
+                <xacro:load_gazebo_gripper_transmissions prefix="${prefix}"/>
+            </xacro:unless>
+
+            <gazebo>
+                <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+                    <legacyModeNS>true</legacyModeNS>
+                </plugin>
+            </gazebo>
+
+        </xacro:if>
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/docs/.gitignore b/kortex_driver/.gitignore
similarity index 53%
rename from docs/.gitignore
rename to kortex_driver/.gitignore
index a303fff..567609b 100644
--- a/docs/.gitignore
+++ b/kortex_driver/.gitignore
@@ -1,2 +1 @@
 build/
-site/
diff --git a/kortex_driver/CMakeLists.txt b/kortex_driver/CMakeLists.txt
new file mode 100644
index 0000000..7e2c475
--- /dev/null
+++ b/kortex_driver/CMakeLists.txt
@@ -0,0 +1,148 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(kortex_driver)
+
+add_compile_options(-std=c++11)
+add_definitions(-D_OS_UNIX)
+
+option(USE_CONAN "Use the Conan package manager to automatically fetch the Kortex API" ON)
+
+if(NOT CONAN_TARGET_PLATFORM)
+  set(CONAN_TARGET_PLATFORM "x86")
+endif()
+message("CONAN_TARGET_PLATFORM is ${CONAN_TARGET_PLATFORM}")
+
+# Explicitely specify the build type in case the user did not do it
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+## find catkin and any catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs controller_manager_msgs message_generation actionlib control_msgs urdf moveit_ros_planning_interface)
+find_package(Boost REQUIRED COMPONENTS system)
+
+file(GLOB_RECURSE generated_files RELATIVE ${PROJECT_SOURCE_DIR} "src/generated/robot/*.cpp" "src/generated/simulation/*.cpp")
+file(GLOB_RECURSE non_generated_files RELATIVE ${PROJECT_SOURCE_DIR} "src/non-generated/driver/*.cpp")
+file(GLOB_RECURSE test_files RELATIVE ${PROJECT_SOURCE_DIR} "src/non-generated/tests/*.cc")
+
+# Find all auto-generated subdirectories in msg/generated
+file(GLOB children RELATIVE ${PROJECT_SOURCE_DIR}/msg/generated ${PROJECT_SOURCE_DIR}/msg/generated/*)
+set(msg_generated_dir_list "")
+foreach(child ${children})
+    if(IS_DIRECTORY ${PROJECT_SOURCE_DIR}/msg/generated/${child})
+      list(APPEND msg_generated_dir_list ${child})
+    endif()
+endforeach()
+
+# Find all auto-generated subdirectories in srv/generated
+file(GLOB children RELATIVE ${PROJECT_SOURCE_DIR}/srv/generated ${PROJECT_SOURCE_DIR}/srv/generated/*)
+set(srv_generated_dir_list "")
+foreach(child ${children})
+    if(IS_DIRECTORY ${PROJECT_SOURCE_DIR}/srv/generated/${child})
+      list(APPEND srv_generated_dir_list ${child})
+    endif()
+endforeach()
+
+## declare ROS messages and services
+add_message_files(DIRECTORY msg/non_generated)
+add_message_files(DIRECTORY msg/generated)
+foreach(sub_dir ${msg_generated_dir_list})
+    add_message_files(DIRECTORY msg/generated/${sub_dir})
+endforeach()
+
+add_service_files(DIRECTORY srv/non_generated)
+foreach(sub_dir ${srv_generated_dir_list})
+    add_service_files(DIRECTORY srv/generated/${sub_dir})
+endforeach()
+
+## generate added messages and services
+generate_messages(DEPENDENCIES std_msgs)
+
+## declare a catkin package
+catkin_package()
+
+if(USE_CONAN)
+  # Include conan.cmake module and download Kortex API from artifactory
+  include(${PROJECT_SOURCE_DIR}/cmake/conan.cmake)
+  conan_check(REQUIRED)
+  conan_add_remote(NAME kinova_public
+                  URL https://artifactory.kinovaapps.com/artifactory/api/conan/conan-public)
+  if("${CONAN_TARGET_PLATFORM}" STREQUAL "x86")
+    conan_cmake_run(CONANFILE conanfile.py
+                    UPDATE
+                    BASIC_SETUP CMAKE_TARGETS
+                    NO_OUTPUT_DIRS
+                    SETTINGS kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=5 kortex_api_cpp:compiler.libcxx=libstdc++11)
+  elseif("${CONAN_TARGET_PLATFORM}" STREQUAL "artik710")
+    conan_cmake_run(CONANFILE conanfile.py
+                    UPDATE
+                    BASIC_SETUP CMAKE_TARGETS
+                    NO_OUTPUT_DIRS
+                    SETTINGS kortex_api_cpp:arch=armv7 kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=5 kortex_api_cpp:compiler.libcxx=libstdc++11
+                    OPTIONS kortex_api_cpp:target=artik710)
+  elseif("${CONAN_TARGET_PLATFORM}" STREQUAL "imx6")
+    conan_cmake_run(CONANFILE conanfile.py
+                    UPDATE
+                    BASIC_SETUP CMAKE_TARGETS
+                    NO_OUTPUT_DIRS
+                    SETTINGS kortex_api_cpp:arch=armv7 kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=6.4 kortex_api_cpp:compiler.libcxx=libstdc++11
+                    OPTIONS kortex_api_cpp:target=imx6)
+  elseif("${CONAN_TARGET_PLATFORM}" STREQUAL "jetson")
+    conan_cmake_run(CONANFILE conanfile.py
+                    UPDATE
+                    BASIC_SETUP CMAKE_TARGETS
+                    NO_OUTPUT_DIRS
+                    SETTINGS kortex_api_cpp:arch=armv7 kortex_api_cpp:compiler=gcc kortex_api_cpp:compiler.version=7 kortex_api_cpp:compiler.libcxx=libstdc++11
+                    OPTIONS kortex_api_cpp:target=jetson)
+  endif()
+endif()
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+include_directories(include ${Boost_INCLUDE_DIRS})
+include_directories(include ${PROJECT_SOURCE_DIR}/src)
+include_directories(include ${PROJECT_SOURCE_DIR}/include)
+
+if(NOT USE_CONAN)
+  include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client)
+  include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client_stubs)
+  include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/messages)
+  include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/common)
+  include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include)
+  link_directories(${PROJECT_SOURCE_DIR}/../kortex_api/lib/release)
+endif()
+
+# Generated files library
+add_library(kortex_driver_generated_files ${generated_files})
+if(USE_CONAN)
+  target_link_libraries(kortex_driver_generated_files CONAN_PKG::kortex_api_cpp ${catkin_LIBRARIES} gcov)
+else()
+  target_link_libraries(kortex_driver_generated_files KortexApiCpp ${catkin_LIBRARIES} gcov)
+endif()
+add_dependencies(kortex_driver_generated_files ${PROJECT_NAME}_gencpp)
+# Remove deprecation warnings from Kortex API
+target_compile_options(kortex_driver_generated_files PRIVATE "-Wno-deprecated-declarations")
+
+# Non-generated files library (driver implementation)
+add_library(kortex_arm_driver_implementation ${non_generated_files})
+if(USE_CONAN)
+  target_link_libraries(kortex_arm_driver_implementation CONAN_PKG::kortex_api_cpp ${catkin_LIBRARIES} gcov kortex_driver_generated_files)
+else()
+  target_link_libraries(kortex_arm_driver_implementation KortexApiCpp ${catkin_LIBRARIES} gcov kortex_driver_generated_files)
+endif()
+add_dependencies(kortex_arm_driver_implementation kortex_driver_generated_files)
+
+# Entry point executable for the driver
+add_executable(kortex_arm_driver src/non-generated/main.cpp)
+if(USE_CONAN)
+  target_link_libraries(kortex_arm_driver CONAN_PKG::kortex_api_cpp ${catkin_LIBRARIES} gcov kortex_arm_driver_implementation)
+else()
+  target_link_libraries(kortex_arm_driver KortexApiCpp ${catkin_LIBRARIES} gcov kortex_arm_driver_implementation)
+endif()
+add_dependencies(kortex_arm_driver kortex_arm_driver_implementation)
+
+## Add gtest based cpp test target and link libraries
+if(CATKIN_ENABLE_TESTING)
+	find_package(rostest REQUIRED)
+	catkin_add_gtest(kortex_arm_driver_func_tests ${test_files})
+  target_link_libraries(kortex_arm_driver_func_tests ${catkin_LIBRARIES} kortex_arm_driver_implementation)
+  add_dependencies(kortex_arm_driver_func_tests kortex_arm_driver_implementation)
+endif()
diff --git a/kortex_driver/cmake/README.md b/kortex_driver/cmake/README.md
new file mode 100644
index 0000000..14be9d0
--- /dev/null
+++ b/kortex_driver/cmake/README.md
@@ -0,0 +1,3 @@
+File: **conan.cmake**
+Version: **0.14**
+External Link:  https://github.com/conan-io/cmake-conan/releases
diff --git a/kortex_driver/cmake/conan.cmake b/kortex_driver/cmake/conan.cmake
new file mode 100644
index 0000000..1eae75e
--- /dev/null
+++ b/kortex_driver/cmake/conan.cmake
@@ -0,0 +1,554 @@
+# The MIT License (MIT)
+
+# Copyright (c) 2018 JFrog
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+
+
+# This file comes from: https://github.com/conan-io/cmake-conan. Please refer
+# to this repository for issues and documentation.
+
+# Its purpose is to wrap and launch Conan C/C++ Package Manager when cmake is called.
+# It will take CMake current settings (os, compiler, compiler version, architecture)
+# and translate them to conan settings for installing and retrieving dependencies.
+
+# It is intended to facilitate developers building projects that have conan dependencies,
+# but it is only necessary on the end-user side. It is not necessary to create conan
+# packages, in fact it shouldn't be use for that. Check the project documentation.
+
+
+include(CMakeParseArguments)
+
+function(_get_msvc_ide_version result)
+    set(${result} "" PARENT_SCOPE)
+    if(NOT MSVC_VERSION VERSION_LESS 1400 AND MSVC_VERSION VERSION_LESS 1500)
+        set(${result} 8 PARENT_SCOPE)
+    elseif(NOT MSVC_VERSION VERSION_LESS 1500 AND MSVC_VERSION VERSION_LESS 1600)
+        set(${result} 9 PARENT_SCOPE)
+    elseif(NOT MSVC_VERSION VERSION_LESS 1600 AND MSVC_VERSION VERSION_LESS 1700)
+        set(${result} 10 PARENT_SCOPE)
+    elseif(NOT MSVC_VERSION VERSION_LESS 1700 AND MSVC_VERSION VERSION_LESS 1800)
+        set(${result} 11 PARENT_SCOPE)
+    elseif(NOT MSVC_VERSION VERSION_LESS 1800 AND MSVC_VERSION VERSION_LESS 1900)
+        set(${result} 12 PARENT_SCOPE)
+    elseif(NOT MSVC_VERSION VERSION_LESS 1900 AND MSVC_VERSION VERSION_LESS 1910)
+        set(${result} 14 PARENT_SCOPE)
+    elseif(NOT MSVC_VERSION VERSION_LESS 1910 AND MSVC_VERSION VERSION_LESS 1920)
+        set(${result} 15 PARENT_SCOPE)
+    elseif(NOT MSVC_VERSION VERSION_LESS 1920 AND MSVC_VERSION VERSION_LESS 1930)
+        set(${result} 16 PARENT_SCOPE)
+    else()
+        message(FATAL_ERROR "Conan: Unknown MSVC compiler version [${MSVC_VERSION}]")
+    endif()
+endfunction()
+
+function(conan_cmake_settings result)
+    #message(STATUS "COMPILER " ${CMAKE_CXX_COMPILER})
+    #message(STATUS "COMPILER " ${CMAKE_CXX_COMPILER_ID})
+    #message(STATUS "VERSION " ${CMAKE_CXX_COMPILER_VERSION})
+    #message(STATUS "FLAGS " ${CMAKE_LANG_FLAGS})
+    #message(STATUS "LIB ARCH " ${CMAKE_CXX_LIBRARY_ARCHITECTURE})
+    #message(STATUS "BUILD TYPE " ${CMAKE_BUILD_TYPE})
+    #message(STATUS "GENERATOR " ${CMAKE_GENERATOR})
+    #message(STATUS "GENERATOR WIN64 " ${CMAKE_CL_64})
+
+    message(STATUS "Conan: Automatic detection of conan settings from cmake")
+
+    parse_arguments(${ARGV})
+
+    if(ARGUMENTS_BUILD_TYPE)
+        set(_CONAN_SETTING_BUILD_TYPE ${ARGUMENTS_BUILD_TYPE})
+    elseif(CMAKE_BUILD_TYPE)
+        set(_CONAN_SETTING_BUILD_TYPE ${CMAKE_BUILD_TYPE})
+    else()
+        message(FATAL_ERROR "Please specify in command line CMAKE_BUILD_TYPE (-DCMAKE_BUILD_TYPE=Release)")
+    endif()
+
+    string(TOUPPER ${_CONAN_SETTING_BUILD_TYPE} _CONAN_SETTING_BUILD_TYPE_UPPER)
+    if (_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "DEBUG")
+        set(_CONAN_SETTING_BUILD_TYPE "Debug")
+    elseif(_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "RELEASE")
+        set(_CONAN_SETTING_BUILD_TYPE "Release")
+    elseif(_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "RELWITHDEBINFO")
+        set(_CONAN_SETTING_BUILD_TYPE "RelWithDebInfo")
+    elseif(_CONAN_SETTING_BUILD_TYPE_UPPER STREQUAL "MINSIZEREL")
+        set(_CONAN_SETTING_BUILD_TYPE "MinSizeRel")
+    endif()
+
+    if(ARGUMENTS_ARCH)
+        set(_CONAN_SETTING_ARCH ${ARGUMENTS_ARCH})
+    endif()
+    #handle -s os setting
+    if(CMAKE_SYSTEM_NAME)
+        #use default conan os setting if CMAKE_SYSTEM_NAME is not defined
+        set(CONAN_SYSTEM_NAME ${CMAKE_SYSTEM_NAME})
+        if(${CMAKE_SYSTEM_NAME} STREQUAL "Darwin")
+            set(CONAN_SYSTEM_NAME Macos)
+        endif()
+        set(CONAN_SUPPORTED_PLATFORMS Windows Linux Macos Android iOS FreeBSD WindowsStore)
+        list (FIND CONAN_SUPPORTED_PLATFORMS "${CONAN_SYSTEM_NAME}" _index)
+        if (${_index} GREATER -1)
+            #check if the cmake system is a conan supported one
+            set(_CONAN_SETTING_OS ${CONAN_SYSTEM_NAME})
+        else()
+            message(FATAL_ERROR "cmake system ${CONAN_SYSTEM_NAME} is not supported by conan. Use one of ${CONAN_SUPPORTED_PLATFORMS}")
+        endif()
+    endif()
+
+    get_property(_languages GLOBAL PROPERTY ENABLED_LANGUAGES)
+    if (";${_languages};" MATCHES ";CXX;")
+        set(LANGUAGE CXX)
+        set(USING_CXX 1)
+    elseif (";${_languages};" MATCHES ";C;")
+        set(LANGUAGE C)
+        set(USING_CXX 0)
+    else ()
+        message(FATAL_ERROR "Conan: Neither C or C++ was detected as a language for the project. Unabled to detect compiler version.")
+    endif()
+
+    if (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL GNU)
+        # using GCC
+        # TODO: Handle other params
+        string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION})
+        list(GET VERSION_LIST 0 MAJOR)
+        list(GET VERSION_LIST 1 MINOR)
+        set(COMPILER_VERSION ${MAJOR}.${MINOR})
+        if(${MAJOR} GREATER 4)
+            set(COMPILER_VERSION ${MAJOR})
+        endif()
+        set(_CONAN_SETTING_COMPILER gcc)
+        set(_CONAN_SETTING_COMPILER_VERSION ${COMPILER_VERSION})
+        if (USING_CXX)
+            conan_cmake_detect_unix_libcxx(_LIBCXX)
+            set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX})
+        endif ()
+    elseif (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL AppleClang)
+        # using AppleClang
+        string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION})
+        list(GET VERSION_LIST 0 MAJOR)
+        list(GET VERSION_LIST 1 MINOR)
+        set(_CONAN_SETTING_COMPILER apple-clang)
+        set(_CONAN_SETTING_COMPILER_VERSION ${MAJOR}.${MINOR})
+        if (USING_CXX)
+            conan_cmake_detect_unix_libcxx(_LIBCXX)
+            set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX})
+        endif ()
+    elseif (${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL Clang)
+        string(REPLACE "." ";" VERSION_LIST ${CMAKE_${LANGUAGE}_COMPILER_VERSION})
+        list(GET VERSION_LIST 0 MAJOR)
+        list(GET VERSION_LIST 1 MINOR)
+        set(_CONAN_SETTING_COMPILER clang)
+        set(_CONAN_SETTING_COMPILER_VERSION ${MAJOR}.${MINOR})
+        if(APPLE)
+            cmake_policy(GET CMP0025 APPLE_CLANG_POLICY_ENABLED)
+            if(NOT APPLE_CLANG_POLICY_ENABLED)
+                message(STATUS "Conan: APPLE and Clang detected. Assuming apple-clang compiler. Set CMP0025 to avoid it")
+                set(_CONAN_SETTING_COMPILER apple-clang)
+            endif()
+        endif()
+        if(${_CONAN_SETTING_COMPILER} STREQUAL clang AND ${MAJOR} GREATER 7)
+            set(_CONAN_SETTING_COMPILER_VERSION ${MAJOR})
+        endif()
+        if (USING_CXX)
+            conan_cmake_detect_unix_libcxx(_LIBCXX)
+            set(_CONAN_SETTING_COMPILER_LIBCXX ${_LIBCXX})
+        endif ()
+    elseif(${CMAKE_${LANGUAGE}_COMPILER_ID} STREQUAL MSVC)
+        set(_VISUAL "Visual Studio")
+        _get_msvc_ide_version(_VISUAL_VERSION)
+        if("${_VISUAL_VERSION}" STREQUAL "")
+            message(FATAL_ERROR "Conan: Visual Studio not recognized")
+        else()
+            set(_CONAN_SETTING_COMPILER ${_VISUAL})
+            set(_CONAN_SETTING_COMPILER_VERSION ${_VISUAL_VERSION})
+        endif()
+
+        if(NOT _CONAN_SETTING_ARCH)
+            if (MSVC_${LANGUAGE}_ARCHITECTURE_ID MATCHES "64")
+                set(_CONAN_SETTING_ARCH x86_64)
+            elseif (MSVC_${LANGUAGE}_ARCHITECTURE_ID MATCHES "^ARM")
+                message(STATUS "Conan: Using default ARM architecture from MSVC")
+                set(_CONAN_SETTING_ARCH armv6)
+            elseif (MSVC_${LANGUAGE}_ARCHITECTURE_ID MATCHES "86")
+                set(_CONAN_SETTING_ARCH x86)
+            else ()
+                message(FATAL_ERROR "Conan: Unknown MSVC architecture [${MSVC_${LANGUAGE}_ARCHITECTURE_ID}]")
+            endif()
+        endif()
+
+        conan_cmake_detect_vs_runtime(_vs_runtime)
+        message(STATUS "Conan: Detected VS runtime: ${_vs_runtime}")
+        set(_CONAN_SETTING_COMPILER_RUNTIME ${_vs_runtime})
+
+        if (CMAKE_GENERATOR_TOOLSET)
+            set(_CONAN_SETTING_COMPILER_TOOLSET ${CMAKE_VS_PLATFORM_TOOLSET})
+        elseif(CMAKE_VS_PLATFORM_TOOLSET AND (CMAKE_GENERATOR STREQUAL "Ninja"))
+            set(_CONAN_SETTING_COMPILER_TOOLSET ${CMAKE_VS_PLATFORM_TOOLSET})
+        endif()
+    else()
+        message(FATAL_ERROR "Conan: compiler setup not recognized")
+    endif()
+
+    # If profile is defined it is used
+    if(CMAKE_BUILD_TYPE STREQUAL "Debug" AND ARGUMENTS_DEBUG_PROFILE)
+        set(_APPLIED_PROFILES ${ARGUMENTS_DEBUG_PROFILE})
+    elseif(CMAKE_BUILD_TYPE STREQUAL "Release" AND ARGUMENTS_RELEASE_PROFILE)
+        set(_APPLIED_PROFILES ${ARGUMENTS_RELEASE_PROFILE})
+    elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo" AND ARGUMENTS_RELWITHDEBINFO_PROFILE)
+        set(_APPLIED_PROFILES ${ARGUMENTS_RELWITHDEBINFO_PROFILE})
+    elseif(CMAKE_BUILD_TYPE STREQUAL "MinSizeRel" AND ARGUMENTS_MINSIZEREL_PROFILE)
+        set(_APPLIED_PROFILES ${ARGUMENTS_MINSIZEREL_PROFILE})
+    elseif(ARGUMENTS_PROFILE)
+        set(_APPLIED_PROFILES ${ARGUMENTS_PROFILE})
+    endif()
+
+    foreach(ARG ${_APPLIED_PROFILES})
+        set(_SETTINGS ${_SETTINGS} -pr ${ARG})
+    endforeach()
+
+    if(NOT _SETTINGS OR ARGUMENTS_PROFILE_AUTO STREQUAL "ALL")
+        set(ARGUMENTS_PROFILE_AUTO arch build_type compiler compiler.version
+                                   compiler.runtime compiler.libcxx compiler.toolset)
+    endif()
+
+    # Automatic from CMake
+    foreach(ARG ${ARGUMENTS_PROFILE_AUTO})
+        string(TOUPPER ${ARG} _arg_name)
+        string(REPLACE "." "_" _arg_name ${_arg_name})
+        if(_CONAN_SETTING_${_arg_name})
+            set(_SETTINGS ${_SETTINGS} -s ${ARG}=${_CONAN_SETTING_${_arg_name}})
+        endif()
+    endforeach()
+
+    foreach(ARG ${ARGUMENTS_SETTINGS})
+        set(_SETTINGS ${_SETTINGS} -s ${ARG})
+    endforeach()
+
+    message(STATUS "Conan: Settings= ${_SETTINGS}")
+
+    set(${result} ${_SETTINGS} PARENT_SCOPE)
+endfunction()
+
+
+function(conan_cmake_detect_unix_libcxx result)
+    # Take into account any -stdlib in compile options
+    get_directory_property(compile_options DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} COMPILE_OPTIONS)
+
+    # Take into account any _GLIBCXX_USE_CXX11_ABI in compile definitions
+    get_directory_property(defines DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} COMPILE_DEFINITIONS)
+    foreach(define ${defines})
+        if(define MATCHES "_GLIBCXX_USE_CXX11_ABI")
+            if(define MATCHES "^-D")
+                set(compile_options ${compile_options} "${define}")
+            else()
+                set(compile_options ${compile_options} "-D${define}")
+            endif()
+        endif()
+    endforeach()
+
+    execute_process(
+        COMMAND ${CMAKE_COMMAND} -E echo "#include <string>"
+        COMMAND ${CMAKE_CXX_COMPILER} -x c++ ${compile_options} -E -dM -
+        OUTPUT_VARIABLE string_defines
+    )
+
+    if(string_defines MATCHES "#define __GLIBCXX__")
+        # Allow -D_GLIBCXX_USE_CXX11_ABI=ON/OFF as argument to cmake
+        if(DEFINED _GLIBCXX_USE_CXX11_ABI)
+            if(_GLIBCXX_USE_CXX11_ABI)
+                set(${result} libstdc++11 PARENT_SCOPE)
+                return()
+            else()
+                set(${result} libstdc++ PARENT_SCOPE)
+                return()
+            endif()
+        endif()
+
+        if(string_defines MATCHES "#define _GLIBCXX_USE_CXX11_ABI 1\n")
+            set(${result} libstdc++11 PARENT_SCOPE)
+        else()
+            # Either the compiler is missing the define because it is old, and so
+            # it can't use the new abi, or the compiler was configured to use the
+            # old abi by the user or distro (e.g. devtoolset on RHEL/CentOS)
+            set(${result} libstdc++ PARENT_SCOPE)
+        endif()
+    else()
+        set(${result} libc++ PARENT_SCOPE)
+    endif()
+endfunction()
+
+function(conan_cmake_detect_vs_runtime result)
+    string(TOUPPER ${CMAKE_BUILD_TYPE} build_type)
+    set(variables CMAKE_CXX_FLAGS_${build_type} CMAKE_C_FLAGS_${build_type} CMAKE_CXX_FLAGS CMAKE_C_FLAGS)
+    foreach(variable ${variables})
+        string(REPLACE " " ";" flags ${${variable}})
+        foreach (flag ${flags})
+            if(${flag} STREQUAL "/MD" OR ${flag} STREQUAL "/MDd" OR ${flag} STREQUAL "/MT" OR ${flag} STREQUAL "/MTd")
+                string(SUBSTRING ${flag} 1 -1 runtime)
+                set(${result} ${runtime} PARENT_SCOPE)
+                return()
+            endif()
+        endforeach()
+    endforeach()
+    if(${build_type} STREQUAL "DEBUG")
+        set(${result} "MDd" PARENT_SCOPE)
+    else()
+        set(${result} "MD" PARENT_SCOPE)
+    endif()
+endfunction()
+
+
+macro(parse_arguments)
+  set(options BASIC_SETUP CMAKE_TARGETS UPDATE KEEP_RPATHS NO_LOAD NO_OUTPUT_DIRS OUTPUT_QUIET NO_IMPORTS)
+  set(oneValueArgs CONANFILE  ARCH BUILD_TYPE INSTALL_FOLDER CONAN_COMMAND)
+  set(multiValueArgs DEBUG_PROFILE RELEASE_PROFILE RELWITHDEBINFO_PROFILE MINSIZEREL_PROFILE
+                     PROFILE REQUIRES OPTIONS IMPORTS SETTINGS BUILD ENV GENERATORS PROFILE_AUTO
+                     INSTALL_ARGS)
+  cmake_parse_arguments(ARGUMENTS "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+endmacro()
+
+function(conan_cmake_install)
+    # Calls "conan install"
+    # Argument BUILD is equivalant to --build={missing, PkgName,...} or
+    # --build when argument is 'BUILD all' (which builds all packages from source)
+    # Argument CONAN_COMMAND, to specify the conan path, e.g. in case of running from source
+    # cmake does not identify conan as command, even if it is +x and it is in the path
+    parse_arguments(${ARGV})
+
+    if(CONAN_CMAKE_MULTI)
+        set(ARGUMENTS_GENERATORS ${ARGUMENTS_GENERATORS} cmake_multi)
+    else()
+        set(ARGUMENTS_GENERATORS ${ARGUMENTS_GENERATORS} cmake)
+    endif()
+
+    set(CONAN_BUILD_POLICY "")
+    foreach(ARG ${ARGUMENTS_BUILD})
+        if(${ARG} STREQUAL "all")
+            set(CONAN_BUILD_POLICY ${CONAN_BUILD_POLICY} --build)
+            break()
+        else()
+            set(CONAN_BUILD_POLICY ${CONAN_BUILD_POLICY} --build=${ARG})
+        endif()
+    endforeach()
+    if(ARGUMENTS_CONAN_COMMAND)
+       set(conan_command ${ARGUMENTS_CONAN_COMMAND})
+    else()
+      set(conan_command conan)
+    endif()
+    set(CONAN_OPTIONS "")
+    if(ARGUMENTS_CONANFILE)
+      set(CONANFILE ${CMAKE_CURRENT_SOURCE_DIR}/${ARGUMENTS_CONANFILE})
+      # A conan file has been specified - apply specified options as well if provided
+      foreach(ARG ${ARGUMENTS_OPTIONS})
+          set(CONAN_OPTIONS ${CONAN_OPTIONS} -o=${ARG})
+      endforeach()
+    else()
+      set(CONANFILE ".")
+    endif()
+    if(ARGUMENTS_UPDATE)
+      set(CONAN_INSTALL_UPDATE --update)
+    endif()
+    if(ARGUMENTS_NO_IMPORTS)
+      set(CONAN_INSTALL_NO_IMPORTS --no-imports)
+    endif()
+    set(CONAN_INSTALL_FOLDER "")
+    if(ARGUMENTS_INSTALL_FOLDER)
+      set(CONAN_INSTALL_FOLDER -if=${ARGUMENTS_INSTALL_FOLDER})
+    endif()
+    foreach(ARG ${ARGUMENTS_GENERATORS})
+        set(CONAN_GENERATORS ${CONAN_GENERATORS} -g=${ARG})
+    endforeach()
+    foreach(ARG ${ARGUMENTS_ENV})
+        set(CONAN_ENV_VARS ${CONAN_ENV_VARS} -e=${ARG})
+    endforeach()
+    set(conan_args install ${CONANFILE} ${settings} ${CONAN_ENV_VARS} ${CONAN_GENERATORS} ${CONAN_BUILD_POLICY} ${CONAN_INSTALL_UPDATE} ${CONAN_INSTALL_NO_IMPORTS} ${CONAN_OPTIONS} ${CONAN_INSTALL_FOLDER} ${ARGUMENTS_INSTALL_ARGS})
+
+    string (REPLACE ";" " " _conan_args "${conan_args}")
+    message(STATUS "Conan executing: ${conan_command} ${_conan_args}")
+
+    if(ARGUMENTS_OUTPUT_QUIET)
+        execute_process(COMMAND ${conan_command} ${conan_args}
+                        RESULT_VARIABLE return_code
+                        OUTPUT_VARIABLE conan_output
+                        ERROR_VARIABLE conan_output
+                        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+    else()
+        execute_process(COMMAND ${conan_command} ${conan_args}
+                        RESULT_VARIABLE return_code
+                        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+    endif()
+
+    if(NOT "${return_code}" STREQUAL "0")
+      message(FATAL_ERROR "Conan install failed='${return_code}'")
+    endif()
+
+endfunction()
+
+
+function(conan_cmake_setup_conanfile)
+  parse_arguments(${ARGV})
+  if(ARGUMENTS_CONANFILE)
+    get_filename_component(_CONANFILE_NAME ${ARGUMENTS_CONANFILE} NAME)
+    # configure_file will make sure cmake re-runs when conanfile is updated
+    configure_file(${ARGUMENTS_CONANFILE} ${CMAKE_CURRENT_BINARY_DIR}/${_CONANFILE_NAME}.junk)
+    file(REMOVE ${CMAKE_CURRENT_BINARY_DIR}/${_CONANFILE_NAME}.junk)
+  else()
+    conan_cmake_generate_conanfile(${ARGV})
+  endif()
+endfunction()
+
+function(conan_cmake_generate_conanfile)
+  # Generate, writing in disk a conanfile.txt with the requires, options, and imports
+  # specified as arguments
+  # This will be considered as temporary file, generated in CMAKE_CURRENT_BINARY_DIR)
+  parse_arguments(${ARGV})
+  set(_FN "${CMAKE_CURRENT_BINARY_DIR}/conanfile.txt")
+
+  file(WRITE ${_FN} "[generators]\ncmake\n\n[requires]\n")
+  foreach(ARG ${ARGUMENTS_REQUIRES})
+    file(APPEND ${_FN} ${ARG} "\n")
+  endforeach()
+
+  file(APPEND ${_FN} ${ARG} "\n[options]\n")
+  foreach(ARG ${ARGUMENTS_OPTIONS})
+    file(APPEND ${_FN} ${ARG} "\n")
+  endforeach()
+
+  file(APPEND ${_FN} ${ARG} "\n[imports]\n")
+  foreach(ARG ${ARGUMENTS_IMPORTS})
+    file(APPEND ${_FN} ${ARG} "\n")
+  endforeach()
+endfunction()
+
+
+macro(conan_load_buildinfo)
+    if(CONAN_CMAKE_MULTI)
+      set(_CONANBUILDINFO conanbuildinfo_multi.cmake)
+    else()
+      set(_CONANBUILDINFO conanbuildinfo.cmake)
+    endif()
+    if(ARGUMENTS_INSTALL_FOLDER)
+        set(_CONANBUILDINFOFOLDER ${ARGUMENTS_INSTALL_FOLDER})
+    else()
+        set(_CONANBUILDINFOFOLDER ${CMAKE_CURRENT_BINARY_DIR})
+    endif()
+    # Checks for the existence of conanbuildinfo.cmake, and loads it
+    # important that it is macro, so variables defined at parent scope
+    if(EXISTS "${_CONANBUILDINFOFOLDER}/${_CONANBUILDINFO}")
+      message(STATUS "Conan: Loading ${_CONANBUILDINFO}")
+      include(${_CONANBUILDINFOFOLDER}/${_CONANBUILDINFO})
+    else()
+      message(FATAL_ERROR "${_CONANBUILDINFO} doesn't exist in ${CMAKE_CURRENT_BINARY_DIR}")
+    endif()
+endmacro()
+
+
+macro(conan_cmake_run)
+    parse_arguments(${ARGV})
+
+    if(CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE AND NOT CONAN_EXPORTED
+            AND NOT ARGUMENTS_BUILD_TYPE)
+        set(CONAN_CMAKE_MULTI ON)
+        message(STATUS "Conan: Using cmake-multi generator")
+    else()
+        set(CONAN_CMAKE_MULTI OFF)
+    endif()
+
+    if(NOT CONAN_EXPORTED)
+        conan_cmake_setup_conanfile(${ARGV})
+        if(CONAN_CMAKE_MULTI)
+            foreach(CMAKE_BUILD_TYPE "Release" "Debug")
+                set(ENV{CONAN_IMPORT_PATH} ${CMAKE_BUILD_TYPE})
+                conan_cmake_settings(settings ${ARGV})
+                conan_cmake_install(SETTINGS ${settings} ${ARGV})
+            endforeach()
+            set(CMAKE_BUILD_TYPE)
+        else()
+            conan_cmake_settings(settings ${ARGV})
+            conan_cmake_install(SETTINGS ${settings} ${ARGV})
+        endif()
+    endif()
+
+    if (NOT ARGUMENTS_NO_LOAD)
+    	conan_load_buildinfo()
+    endif()
+
+    if(ARGUMENTS_BASIC_SETUP)
+        foreach(_option CMAKE_TARGETS KEEP_RPATHS NO_OUTPUT_DIRS)
+            if(ARGUMENTS_${_option})
+                if(${_option} STREQUAL "CMAKE_TARGETS")
+                    list(APPEND _setup_options "TARGETS")
+                else()
+                    list(APPEND _setup_options ${_option})
+                endif()
+            endif()
+        endforeach()
+        conan_basic_setup(${_setup_options})
+    endif()
+endmacro()
+
+macro(conan_check)
+    # Checks conan availability in PATH
+    # Arguments REQUIRED and VERSION are optional
+    # Example usage:
+    #    conan_check(VERSION 1.0.0 REQUIRED)
+    message(STATUS "Conan: checking conan executable in path")
+    set(options REQUIRED)
+    set(oneValueArgs VERSION)
+    cmake_parse_arguments(CONAN "${options}" "${oneValueArgs}" "" ${ARGN})
+
+    find_program(CONAN_CMD conan)
+    if(NOT CONAN_CMD AND CONAN_REQUIRED)
+        message(FATAL_ERROR "Conan executable not found!")
+    endif()
+    message(STATUS "Conan: Found program ${CONAN_CMD}")
+    execute_process(COMMAND ${CONAN_CMD} --version
+                    OUTPUT_VARIABLE CONAN_VERSION_OUTPUT
+                    ERROR_VARIABLE CONAN_VERSION_OUTPUT)
+    message(STATUS "Conan: Version found ${CONAN_VERSION_OUTPUT}")
+
+    if(DEFINED CONAN_VERSION)
+        string(REGEX MATCH ".*Conan version ([0-9]+\.[0-9]+\.[0-9]+)" FOO
+            "${CONAN_VERSION_OUTPUT}")
+        if(${CMAKE_MATCH_1} VERSION_LESS ${CONAN_VERSION})
+            message(FATAL_ERROR "Conan outdated. Installed: ${CMAKE_MATCH_1}, \
+                required: ${CONAN_VERSION}. Consider updating via 'pip \
+                install conan==${CONAN_VERSION}'.")
+        endif()
+    endif()
+endmacro()
+
+macro(conan_add_remote)
+    # Adds a remote
+    # Arguments URL and NAME are required, INDEX is optional
+    # Example usage:
+    #    conan_add_remote(NAME bincrafters INDEX 1
+    #       URL https://api.bintray.com/conan/bincrafters/public-conan)
+    set(oneValueArgs URL NAME INDEX)
+    cmake_parse_arguments(CONAN "" "${oneValueArgs}" "" ${ARGN})
+
+    if(DEFINED CONAN_INDEX)
+        set(CONAN_INDEX_ARG "-i ${CONAN_INDEX}")
+    endif()
+
+    message(STATUS "Conan: Adding ${CONAN_NAME} remote repository (${CONAN_URL})")
+    execute_process(COMMAND ${CONAN_CMD} remote add ${CONAN_NAME} ${CONAN_URL}
+      ${CONAN_INDEX_ARG} -f)
+endmacro()
diff --git a/kortex_driver/conanfile.py b/kortex_driver/conanfile.py
new file mode 100644
index 0000000..d494eff
--- /dev/null
+++ b/kortex_driver/conanfile.py
@@ -0,0 +1,9 @@
+from conans import ConanFile, CMake
+import os
+import shutil
+import time
+
+class ROSKortexConan(ConanFile):  
+
+    def requirements(self):
+        self.requires("kortex_api_cpp/2.2.0-r.31@kortex/stable")
diff --git a/kortex_driver/include/kortex_driver/generated/interfaces/actuatorconfig_services_interface.h b/kortex_driver/include/kortex_driver/generated/interfaces/actuatorconfig_services_interface.h
new file mode 100644
index 0000000..0aedc89
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/interfaces/actuatorconfig_services_interface.h
@@ -0,0 +1,111 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_ACTUATORCONFIG_SERVICES_INTERFACE_H_
+#define _KORTEX_ACTUATORCONFIG_SERVICES_INTERFACE_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+#include "kortex_driver/GetAxisOffsets.h"
+#include "kortex_driver/SetAxisOffsets.h"
+#include "kortex_driver/SetTorqueOffset.h"
+#include "kortex_driver/ActuatorConfig_GetControlMode.h"
+#include "kortex_driver/SetControlMode.h"
+#include "kortex_driver/GetActivatedControlLoop.h"
+#include "kortex_driver/SetActivatedControlLoop.h"
+#include "kortex_driver/GetControlLoopParameters.h"
+#include "kortex_driver/SetControlLoopParameters.h"
+#include "kortex_driver/SelectCustomData.h"
+#include "kortex_driver/GetSelectedCustomData.h"
+#include "kortex_driver/SetCommandMode.h"
+#include "kortex_driver/ActuatorConfig_ClearFaults.h"
+#include "kortex_driver/SetServoing.h"
+#include "kortex_driver/MoveToPosition.h"
+#include "kortex_driver/GetCommandMode.h"
+#include "kortex_driver/GetServoing.h"
+#include "kortex_driver/GetTorqueOffset.h"
+#include "kortex_driver/SetCoggingFeedforwardMode.h"
+#include "kortex_driver/GetCoggingFeedforwardMode.h"
+
+#include "kortex_driver/KortexError.h"
+#include "kortex_driver/SetDeviceID.h"
+#include "kortex_driver/SetApiOptions.h"
+#include "kortex_driver/ApiOptions.h"
+
+using namespace std;
+
+class IActuatorConfigServices
+{
+    public:
+        IActuatorConfigServices(ros::NodeHandle& node_handle) : m_node_handle(node_handle) {}
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) = 0;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) = 0;
+        virtual bool GetAxisOffsets(kortex_driver::GetAxisOffsets::Request  &req, kortex_driver::GetAxisOffsets::Response &res) = 0;
+        virtual bool SetAxisOffsets(kortex_driver::SetAxisOffsets::Request  &req, kortex_driver::SetAxisOffsets::Response &res) = 0;
+        virtual bool SetTorqueOffset(kortex_driver::SetTorqueOffset::Request  &req, kortex_driver::SetTorqueOffset::Response &res) = 0;
+        virtual bool ActuatorConfig_GetControlMode(kortex_driver::ActuatorConfig_GetControlMode::Request  &req, kortex_driver::ActuatorConfig_GetControlMode::Response &res) = 0;
+        virtual bool SetControlMode(kortex_driver::SetControlMode::Request  &req, kortex_driver::SetControlMode::Response &res) = 0;
+        virtual bool GetActivatedControlLoop(kortex_driver::GetActivatedControlLoop::Request  &req, kortex_driver::GetActivatedControlLoop::Response &res) = 0;
+        virtual bool SetActivatedControlLoop(kortex_driver::SetActivatedControlLoop::Request  &req, kortex_driver::SetActivatedControlLoop::Response &res) = 0;
+        virtual bool GetControlLoopParameters(kortex_driver::GetControlLoopParameters::Request  &req, kortex_driver::GetControlLoopParameters::Response &res) = 0;
+        virtual bool SetControlLoopParameters(kortex_driver::SetControlLoopParameters::Request  &req, kortex_driver::SetControlLoopParameters::Response &res) = 0;
+        virtual bool SelectCustomData(kortex_driver::SelectCustomData::Request  &req, kortex_driver::SelectCustomData::Response &res) = 0;
+        virtual bool GetSelectedCustomData(kortex_driver::GetSelectedCustomData::Request  &req, kortex_driver::GetSelectedCustomData::Response &res) = 0;
+        virtual bool SetCommandMode(kortex_driver::SetCommandMode::Request  &req, kortex_driver::SetCommandMode::Response &res) = 0;
+        virtual bool ActuatorConfig_ClearFaults(kortex_driver::ActuatorConfig_ClearFaults::Request  &req, kortex_driver::ActuatorConfig_ClearFaults::Response &res) = 0;
+        virtual bool SetServoing(kortex_driver::SetServoing::Request  &req, kortex_driver::SetServoing::Response &res) = 0;
+        virtual bool MoveToPosition(kortex_driver::MoveToPosition::Request  &req, kortex_driver::MoveToPosition::Response &res) = 0;
+        virtual bool GetCommandMode(kortex_driver::GetCommandMode::Request  &req, kortex_driver::GetCommandMode::Response &res) = 0;
+        virtual bool GetServoing(kortex_driver::GetServoing::Request  &req, kortex_driver::GetServoing::Response &res) = 0;
+        virtual bool GetTorqueOffset(kortex_driver::GetTorqueOffset::Request  &req, kortex_driver::GetTorqueOffset::Response &res) = 0;
+        virtual bool SetCoggingFeedforwardMode(kortex_driver::SetCoggingFeedforwardMode::Request  &req, kortex_driver::SetCoggingFeedforwardMode::Response &res) = 0;
+        virtual bool GetCoggingFeedforwardMode(kortex_driver::GetCoggingFeedforwardMode::Request  &req, kortex_driver::GetCoggingFeedforwardMode::Response &res) = 0;
+
+protected:
+        ros::NodeHandle m_node_handle;
+        ros::Publisher m_pub_Error;
+
+        ros::ServiceServer m_serviceSetDeviceID;
+        ros::ServiceServer m_serviceSetApiOptions;
+
+	ros::ServiceServer m_serviceGetAxisOffsets;
+	ros::ServiceServer m_serviceSetAxisOffsets;
+	ros::ServiceServer m_serviceSetTorqueOffset;
+	ros::ServiceServer m_serviceActuatorConfig_GetControlMode;
+	ros::ServiceServer m_serviceSetControlMode;
+	ros::ServiceServer m_serviceGetActivatedControlLoop;
+	ros::ServiceServer m_serviceSetActivatedControlLoop;
+	ros::ServiceServer m_serviceGetControlLoopParameters;
+	ros::ServiceServer m_serviceSetControlLoopParameters;
+	ros::ServiceServer m_serviceSelectCustomData;
+	ros::ServiceServer m_serviceGetSelectedCustomData;
+	ros::ServiceServer m_serviceSetCommandMode;
+	ros::ServiceServer m_serviceActuatorConfig_ClearFaults;
+	ros::ServiceServer m_serviceSetServoing;
+	ros::ServiceServer m_serviceMoveToPosition;
+	ros::ServiceServer m_serviceGetCommandMode;
+	ros::ServiceServer m_serviceGetServoing;
+	ros::ServiceServer m_serviceGetTorqueOffset;
+	ros::ServiceServer m_serviceSetCoggingFeedforwardMode;
+	ros::ServiceServer m_serviceGetCoggingFeedforwardMode;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/interfaces/base_services_interface.h b/kortex_driver/include/kortex_driver/generated/interfaces/base_services_interface.h
new file mode 100644
index 0000000..1df8686
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/interfaces/base_services_interface.h
@@ -0,0 +1,539 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_BASE_SERVICES_INTERFACE_H_
+#define _KORTEX_BASE_SERVICES_INTERFACE_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+#include "kortex_driver/CreateUserProfile.h"
+#include "kortex_driver/UpdateUserProfile.h"
+#include "kortex_driver/ReadUserProfile.h"
+#include "kortex_driver/DeleteUserProfile.h"
+#include "kortex_driver/ReadAllUserProfiles.h"
+#include "kortex_driver/ReadAllUsers.h"
+#include "kortex_driver/ChangePassword.h"
+#include "kortex_driver/CreateSequence.h"
+#include "kortex_driver/UpdateSequence.h"
+#include "kortex_driver/ReadSequence.h"
+#include "kortex_driver/DeleteSequence.h"
+#include "kortex_driver/ReadAllSequences.h"
+#include "kortex_driver/PlaySequence.h"
+#include "kortex_driver/PlayAdvancedSequence.h"
+#include "kortex_driver/StopSequence.h"
+#include "kortex_driver/PauseSequence.h"
+#include "kortex_driver/ResumeSequence.h"
+#include "kortex_driver/CreateProtectionZone.h"
+#include "kortex_driver/UpdateProtectionZone.h"
+#include "kortex_driver/ReadProtectionZone.h"
+#include "kortex_driver/DeleteProtectionZone.h"
+#include "kortex_driver/ReadAllProtectionZones.h"
+#include "kortex_driver/CreateMapping.h"
+#include "kortex_driver/ReadMapping.h"
+#include "kortex_driver/UpdateMapping.h"
+#include "kortex_driver/DeleteMapping.h"
+#include "kortex_driver/ReadAllMappings.h"
+#include "kortex_driver/CreateMap.h"
+#include "kortex_driver/ReadMap.h"
+#include "kortex_driver/UpdateMap.h"
+#include "kortex_driver/DeleteMap.h"
+#include "kortex_driver/ReadAllMaps.h"
+#include "kortex_driver/ActivateMap.h"
+#include "kortex_driver/CreateAction.h"
+#include "kortex_driver/ReadAction.h"
+#include "kortex_driver/ReadAllActions.h"
+#include "kortex_driver/DeleteAction.h"
+#include "kortex_driver/UpdateAction.h"
+#include "kortex_driver/ExecuteActionFromReference.h"
+#include "kortex_driver/ExecuteAction.h"
+#include "kortex_driver/PauseAction.h"
+#include "kortex_driver/StopAction.h"
+#include "kortex_driver/ResumeAction.h"
+#include "kortex_driver/GetIPv4Configuration.h"
+#include "kortex_driver/SetIPv4Configuration.h"
+#include "kortex_driver/SetCommunicationInterfaceEnable.h"
+#include "kortex_driver/IsCommunicationInterfaceEnable.h"
+#include "kortex_driver/GetAvailableWifi.h"
+#include "kortex_driver/GetWifiInformation.h"
+#include "kortex_driver/AddWifiConfiguration.h"
+#include "kortex_driver/DeleteWifiConfiguration.h"
+#include "kortex_driver/GetAllConfiguredWifis.h"
+#include "kortex_driver/ConnectWifi.h"
+#include "kortex_driver/DisconnectWifi.h"
+#include "kortex_driver/GetConnectedWifiInformation.h"
+#include "kortex_driver/Base_Unsubscribe.h"
+#include "kortex_driver/OnNotificationConfigurationChangeTopic.h"
+#include "kortex_driver/ConfigurationChangeNotification.h"
+#include "kortex_driver/OnNotificationMappingInfoTopic.h"
+#include "kortex_driver/MappingInfoNotification.h"
+#include "kortex_driver/OnNotificationControlModeTopic.h"
+#include "kortex_driver/ControlModeNotification.h"
+#include "kortex_driver/OnNotificationOperatingModeTopic.h"
+#include "kortex_driver/OperatingModeNotification.h"
+#include "kortex_driver/OnNotificationSequenceInfoTopic.h"
+#include "kortex_driver/SequenceInfoNotification.h"
+#include "kortex_driver/OnNotificationProtectionZoneTopic.h"
+#include "kortex_driver/ProtectionZoneNotification.h"
+#include "kortex_driver/OnNotificationUserTopic.h"
+#include "kortex_driver/UserNotification.h"
+#include "kortex_driver/OnNotificationControllerTopic.h"
+#include "kortex_driver/ControllerNotification.h"
+#include "kortex_driver/OnNotificationActionTopic.h"
+#include "kortex_driver/ActionNotification.h"
+#include "kortex_driver/OnNotificationRobotEventTopic.h"
+#include "kortex_driver/RobotEventNotification.h"
+#include "kortex_driver/PlayCartesianTrajectory.h"
+#include "kortex_driver/PlayCartesianTrajectoryPosition.h"
+#include "kortex_driver/PlayCartesianTrajectoryOrientation.h"
+#include "kortex_driver/Stop.h"
+#include "kortex_driver/GetMeasuredCartesianPose.h"
+#include "kortex_driver/SendWrenchCommand.h"
+#include "kortex_driver/SendWrenchJoystickCommand.h"
+#include "kortex_driver/SendTwistJoystickCommand.h"
+#include "kortex_driver/SendTwistCommand.h"
+#include "kortex_driver/PlayJointTrajectory.h"
+#include "kortex_driver/PlaySelectedJointTrajectory.h"
+#include "kortex_driver/GetMeasuredJointAngles.h"
+#include "kortex_driver/SendJointSpeedsCommand.h"
+#include "kortex_driver/SendSelectedJointSpeedCommand.h"
+#include "kortex_driver/SendGripperCommand.h"
+#include "kortex_driver/GetMeasuredGripperMovement.h"
+#include "kortex_driver/SetAdmittance.h"
+#include "kortex_driver/SetOperatingMode.h"
+#include "kortex_driver/ApplyEmergencyStop.h"
+#include "kortex_driver/Base_ClearFaults.h"
+#include "kortex_driver/Base_GetControlMode.h"
+#include "kortex_driver/GetOperatingMode.h"
+#include "kortex_driver/SetServoingMode.h"
+#include "kortex_driver/GetServoingMode.h"
+#include "kortex_driver/OnNotificationServoingModeTopic.h"
+#include "kortex_driver/ServoingModeNotification.h"
+#include "kortex_driver/RestoreFactorySettings.h"
+#include "kortex_driver/OnNotificationFactoryTopic.h"
+#include "kortex_driver/FactoryNotification.h"
+#include "kortex_driver/GetAllConnectedControllers.h"
+#include "kortex_driver/GetControllerState.h"
+#include "kortex_driver/GetActuatorCount.h"
+#include "kortex_driver/StartWifiScan.h"
+#include "kortex_driver/GetConfiguredWifi.h"
+#include "kortex_driver/OnNotificationNetworkTopic.h"
+#include "kortex_driver/NetworkNotification.h"
+#include "kortex_driver/GetArmState.h"
+#include "kortex_driver/OnNotificationArmStateTopic.h"
+#include "kortex_driver/ArmStateNotification.h"
+#include "kortex_driver/GetIPv4Information.h"
+#include "kortex_driver/SetWifiCountryCode.h"
+#include "kortex_driver/GetWifiCountryCode.h"
+#include "kortex_driver/Base_SetCapSenseConfig.h"
+#include "kortex_driver/Base_GetCapSenseConfig.h"
+#include "kortex_driver/GetAllJointsSpeedHardLimitation.h"
+#include "kortex_driver/GetAllJointsTorqueHardLimitation.h"
+#include "kortex_driver/GetTwistHardLimitation.h"
+#include "kortex_driver/GetWrenchHardLimitation.h"
+#include "kortex_driver/SendJointSpeedsJoystickCommand.h"
+#include "kortex_driver/SendSelectedJointSpeedJoystickCommand.h"
+#include "kortex_driver/EnableBridge.h"
+#include "kortex_driver/DisableBridge.h"
+#include "kortex_driver/GetBridgeList.h"
+#include "kortex_driver/GetBridgeConfig.h"
+#include "kortex_driver/PlayPreComputedJointTrajectory.h"
+#include "kortex_driver/GetProductConfiguration.h"
+#include "kortex_driver/UpdateEndEffectorTypeConfiguration.h"
+#include "kortex_driver/RestoreFactoryProductConfiguration.h"
+#include "kortex_driver/GetTrajectoryErrorReport.h"
+#include "kortex_driver/GetAllJointsSpeedSoftLimitation.h"
+#include "kortex_driver/GetAllJointsTorqueSoftLimitation.h"
+#include "kortex_driver/GetTwistSoftLimitation.h"
+#include "kortex_driver/GetWrenchSoftLimitation.h"
+#include "kortex_driver/SetControllerConfigurationMode.h"
+#include "kortex_driver/GetControllerConfigurationMode.h"
+#include "kortex_driver/StartTeaching.h"
+#include "kortex_driver/StopTeaching.h"
+#include "kortex_driver/AddSequenceTasks.h"
+#include "kortex_driver/UpdateSequenceTask.h"
+#include "kortex_driver/SwapSequenceTasks.h"
+#include "kortex_driver/ReadSequenceTask.h"
+#include "kortex_driver/ReadAllSequenceTasks.h"
+#include "kortex_driver/DeleteSequenceTask.h"
+#include "kortex_driver/DeleteAllSequenceTasks.h"
+#include "kortex_driver/TakeSnapshot.h"
+#include "kortex_driver/GetFirmwareBundleVersions.h"
+#include "kortex_driver/MoveSequenceTask.h"
+#include "kortex_driver/DuplicateMapping.h"
+#include "kortex_driver/DuplicateMap.h"
+#include "kortex_driver/SetControllerConfiguration.h"
+#include "kortex_driver/GetControllerConfiguration.h"
+#include "kortex_driver/GetAllControllerConfigurations.h"
+
+#include "kortex_driver/KortexError.h"
+#include "kortex_driver/SetDeviceID.h"
+#include "kortex_driver/SetApiOptions.h"
+#include "kortex_driver/ApiOptions.h"
+
+using namespace std;
+
+class IBaseServices
+{
+    public:
+        IBaseServices(ros::NodeHandle& node_handle) : m_node_handle(node_handle) {}
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) = 0;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) = 0;
+        virtual bool CreateUserProfile(kortex_driver::CreateUserProfile::Request  &req, kortex_driver::CreateUserProfile::Response &res) = 0;
+        virtual bool UpdateUserProfile(kortex_driver::UpdateUserProfile::Request  &req, kortex_driver::UpdateUserProfile::Response &res) = 0;
+        virtual bool ReadUserProfile(kortex_driver::ReadUserProfile::Request  &req, kortex_driver::ReadUserProfile::Response &res) = 0;
+        virtual bool DeleteUserProfile(kortex_driver::DeleteUserProfile::Request  &req, kortex_driver::DeleteUserProfile::Response &res) = 0;
+        virtual bool ReadAllUserProfiles(kortex_driver::ReadAllUserProfiles::Request  &req, kortex_driver::ReadAllUserProfiles::Response &res) = 0;
+        virtual bool ReadAllUsers(kortex_driver::ReadAllUsers::Request  &req, kortex_driver::ReadAllUsers::Response &res) = 0;
+        virtual bool ChangePassword(kortex_driver::ChangePassword::Request  &req, kortex_driver::ChangePassword::Response &res) = 0;
+        virtual bool CreateSequence(kortex_driver::CreateSequence::Request  &req, kortex_driver::CreateSequence::Response &res) = 0;
+        virtual bool UpdateSequence(kortex_driver::UpdateSequence::Request  &req, kortex_driver::UpdateSequence::Response &res) = 0;
+        virtual bool ReadSequence(kortex_driver::ReadSequence::Request  &req, kortex_driver::ReadSequence::Response &res) = 0;
+        virtual bool DeleteSequence(kortex_driver::DeleteSequence::Request  &req, kortex_driver::DeleteSequence::Response &res) = 0;
+        virtual bool ReadAllSequences(kortex_driver::ReadAllSequences::Request  &req, kortex_driver::ReadAllSequences::Response &res) = 0;
+        virtual bool PlaySequence(kortex_driver::PlaySequence::Request  &req, kortex_driver::PlaySequence::Response &res) = 0;
+        virtual bool PlayAdvancedSequence(kortex_driver::PlayAdvancedSequence::Request  &req, kortex_driver::PlayAdvancedSequence::Response &res) = 0;
+        virtual bool StopSequence(kortex_driver::StopSequence::Request  &req, kortex_driver::StopSequence::Response &res) = 0;
+        virtual bool PauseSequence(kortex_driver::PauseSequence::Request  &req, kortex_driver::PauseSequence::Response &res) = 0;
+        virtual bool ResumeSequence(kortex_driver::ResumeSequence::Request  &req, kortex_driver::ResumeSequence::Response &res) = 0;
+        virtual bool CreateProtectionZone(kortex_driver::CreateProtectionZone::Request  &req, kortex_driver::CreateProtectionZone::Response &res) = 0;
+        virtual bool UpdateProtectionZone(kortex_driver::UpdateProtectionZone::Request  &req, kortex_driver::UpdateProtectionZone::Response &res) = 0;
+        virtual bool ReadProtectionZone(kortex_driver::ReadProtectionZone::Request  &req, kortex_driver::ReadProtectionZone::Response &res) = 0;
+        virtual bool DeleteProtectionZone(kortex_driver::DeleteProtectionZone::Request  &req, kortex_driver::DeleteProtectionZone::Response &res) = 0;
+        virtual bool ReadAllProtectionZones(kortex_driver::ReadAllProtectionZones::Request  &req, kortex_driver::ReadAllProtectionZones::Response &res) = 0;
+        virtual bool CreateMapping(kortex_driver::CreateMapping::Request  &req, kortex_driver::CreateMapping::Response &res) = 0;
+        virtual bool ReadMapping(kortex_driver::ReadMapping::Request  &req, kortex_driver::ReadMapping::Response &res) = 0;
+        virtual bool UpdateMapping(kortex_driver::UpdateMapping::Request  &req, kortex_driver::UpdateMapping::Response &res) = 0;
+        virtual bool DeleteMapping(kortex_driver::DeleteMapping::Request  &req, kortex_driver::DeleteMapping::Response &res) = 0;
+        virtual bool ReadAllMappings(kortex_driver::ReadAllMappings::Request  &req, kortex_driver::ReadAllMappings::Response &res) = 0;
+        virtual bool CreateMap(kortex_driver::CreateMap::Request  &req, kortex_driver::CreateMap::Response &res) = 0;
+        virtual bool ReadMap(kortex_driver::ReadMap::Request  &req, kortex_driver::ReadMap::Response &res) = 0;
+        virtual bool UpdateMap(kortex_driver::UpdateMap::Request  &req, kortex_driver::UpdateMap::Response &res) = 0;
+        virtual bool DeleteMap(kortex_driver::DeleteMap::Request  &req, kortex_driver::DeleteMap::Response &res) = 0;
+        virtual bool ReadAllMaps(kortex_driver::ReadAllMaps::Request  &req, kortex_driver::ReadAllMaps::Response &res) = 0;
+        virtual bool ActivateMap(kortex_driver::ActivateMap::Request  &req, kortex_driver::ActivateMap::Response &res) = 0;
+        virtual bool CreateAction(kortex_driver::CreateAction::Request  &req, kortex_driver::CreateAction::Response &res) = 0;
+        virtual bool ReadAction(kortex_driver::ReadAction::Request  &req, kortex_driver::ReadAction::Response &res) = 0;
+        virtual bool ReadAllActions(kortex_driver::ReadAllActions::Request  &req, kortex_driver::ReadAllActions::Response &res) = 0;
+        virtual bool DeleteAction(kortex_driver::DeleteAction::Request  &req, kortex_driver::DeleteAction::Response &res) = 0;
+        virtual bool UpdateAction(kortex_driver::UpdateAction::Request  &req, kortex_driver::UpdateAction::Response &res) = 0;
+        virtual bool ExecuteActionFromReference(kortex_driver::ExecuteActionFromReference::Request  &req, kortex_driver::ExecuteActionFromReference::Response &res) = 0;
+        virtual bool ExecuteAction(kortex_driver::ExecuteAction::Request  &req, kortex_driver::ExecuteAction::Response &res) = 0;
+        virtual bool PauseAction(kortex_driver::PauseAction::Request  &req, kortex_driver::PauseAction::Response &res) = 0;
+        virtual bool StopAction(kortex_driver::StopAction::Request  &req, kortex_driver::StopAction::Response &res) = 0;
+        virtual bool ResumeAction(kortex_driver::ResumeAction::Request  &req, kortex_driver::ResumeAction::Response &res) = 0;
+        virtual bool GetIPv4Configuration(kortex_driver::GetIPv4Configuration::Request  &req, kortex_driver::GetIPv4Configuration::Response &res) = 0;
+        virtual bool SetIPv4Configuration(kortex_driver::SetIPv4Configuration::Request  &req, kortex_driver::SetIPv4Configuration::Response &res) = 0;
+        virtual bool SetCommunicationInterfaceEnable(kortex_driver::SetCommunicationInterfaceEnable::Request  &req, kortex_driver::SetCommunicationInterfaceEnable::Response &res) = 0;
+        virtual bool IsCommunicationInterfaceEnable(kortex_driver::IsCommunicationInterfaceEnable::Request  &req, kortex_driver::IsCommunicationInterfaceEnable::Response &res) = 0;
+        virtual bool GetAvailableWifi(kortex_driver::GetAvailableWifi::Request  &req, kortex_driver::GetAvailableWifi::Response &res) = 0;
+        virtual bool GetWifiInformation(kortex_driver::GetWifiInformation::Request  &req, kortex_driver::GetWifiInformation::Response &res) = 0;
+        virtual bool AddWifiConfiguration(kortex_driver::AddWifiConfiguration::Request  &req, kortex_driver::AddWifiConfiguration::Response &res) = 0;
+        virtual bool DeleteWifiConfiguration(kortex_driver::DeleteWifiConfiguration::Request  &req, kortex_driver::DeleteWifiConfiguration::Response &res) = 0;
+        virtual bool GetAllConfiguredWifis(kortex_driver::GetAllConfiguredWifis::Request  &req, kortex_driver::GetAllConfiguredWifis::Response &res) = 0;
+        virtual bool ConnectWifi(kortex_driver::ConnectWifi::Request  &req, kortex_driver::ConnectWifi::Response &res) = 0;
+        virtual bool DisconnectWifi(kortex_driver::DisconnectWifi::Request  &req, kortex_driver::DisconnectWifi::Response &res) = 0;
+        virtual bool GetConnectedWifiInformation(kortex_driver::GetConnectedWifiInformation::Request  &req, kortex_driver::GetConnectedWifiInformation::Response &res) = 0;
+        virtual bool Base_Unsubscribe(kortex_driver::Base_Unsubscribe::Request  &req, kortex_driver::Base_Unsubscribe::Response &res) = 0;
+        virtual bool OnNotificationConfigurationChangeTopic(kortex_driver::OnNotificationConfigurationChangeTopic::Request  &req, kortex_driver::OnNotificationConfigurationChangeTopic::Response &res) = 0;
+        virtual void cb_ConfigurationChangeTopic(Kinova::Api::Base::ConfigurationChangeNotification notif) = 0;
+        virtual bool OnNotificationMappingInfoTopic(kortex_driver::OnNotificationMappingInfoTopic::Request  &req, kortex_driver::OnNotificationMappingInfoTopic::Response &res) = 0;
+        virtual void cb_MappingInfoTopic(Kinova::Api::Base::MappingInfoNotification notif) = 0;
+        virtual bool OnNotificationControlModeTopic(kortex_driver::OnNotificationControlModeTopic::Request  &req, kortex_driver::OnNotificationControlModeTopic::Response &res) = 0;
+        virtual void cb_ControlModeTopic(Kinova::Api::Base::ControlModeNotification notif) = 0;
+        virtual bool OnNotificationOperatingModeTopic(kortex_driver::OnNotificationOperatingModeTopic::Request  &req, kortex_driver::OnNotificationOperatingModeTopic::Response &res) = 0;
+        virtual void cb_OperatingModeTopic(Kinova::Api::Base::OperatingModeNotification notif) = 0;
+        virtual bool OnNotificationSequenceInfoTopic(kortex_driver::OnNotificationSequenceInfoTopic::Request  &req, kortex_driver::OnNotificationSequenceInfoTopic::Response &res) = 0;
+        virtual void cb_SequenceInfoTopic(Kinova::Api::Base::SequenceInfoNotification notif) = 0;
+        virtual bool OnNotificationProtectionZoneTopic(kortex_driver::OnNotificationProtectionZoneTopic::Request  &req, kortex_driver::OnNotificationProtectionZoneTopic::Response &res) = 0;
+        virtual void cb_ProtectionZoneTopic(Kinova::Api::Base::ProtectionZoneNotification notif) = 0;
+        virtual bool OnNotificationUserTopic(kortex_driver::OnNotificationUserTopic::Request  &req, kortex_driver::OnNotificationUserTopic::Response &res) = 0;
+        virtual void cb_UserTopic(Kinova::Api::Base::UserNotification notif) = 0;
+        virtual bool OnNotificationControllerTopic(kortex_driver::OnNotificationControllerTopic::Request  &req, kortex_driver::OnNotificationControllerTopic::Response &res) = 0;
+        virtual void cb_ControllerTopic(Kinova::Api::Base::ControllerNotification notif) = 0;
+        virtual bool OnNotificationActionTopic(kortex_driver::OnNotificationActionTopic::Request  &req, kortex_driver::OnNotificationActionTopic::Response &res) = 0;
+        virtual void cb_ActionTopic(Kinova::Api::Base::ActionNotification notif) = 0;
+        virtual bool OnNotificationRobotEventTopic(kortex_driver::OnNotificationRobotEventTopic::Request  &req, kortex_driver::OnNotificationRobotEventTopic::Response &res) = 0;
+        virtual void cb_RobotEventTopic(Kinova::Api::Base::RobotEventNotification notif) = 0;
+        virtual bool PlayCartesianTrajectory(kortex_driver::PlayCartesianTrajectory::Request  &req, kortex_driver::PlayCartesianTrajectory::Response &res) = 0;
+        virtual bool PlayCartesianTrajectoryPosition(kortex_driver::PlayCartesianTrajectoryPosition::Request  &req, kortex_driver::PlayCartesianTrajectoryPosition::Response &res) = 0;
+        virtual bool PlayCartesianTrajectoryOrientation(kortex_driver::PlayCartesianTrajectoryOrientation::Request  &req, kortex_driver::PlayCartesianTrajectoryOrientation::Response &res) = 0;
+        virtual bool Stop(kortex_driver::Stop::Request  &req, kortex_driver::Stop::Response &res) = 0;
+        virtual bool GetMeasuredCartesianPose(kortex_driver::GetMeasuredCartesianPose::Request  &req, kortex_driver::GetMeasuredCartesianPose::Response &res) = 0;
+        virtual bool SendWrenchCommand(kortex_driver::SendWrenchCommand::Request  &req, kortex_driver::SendWrenchCommand::Response &res) = 0;
+        virtual bool SendWrenchJoystickCommand(kortex_driver::SendWrenchJoystickCommand::Request  &req, kortex_driver::SendWrenchJoystickCommand::Response &res) = 0;
+        virtual bool SendTwistJoystickCommand(kortex_driver::SendTwistJoystickCommand::Request  &req, kortex_driver::SendTwistJoystickCommand::Response &res) = 0;
+        virtual bool SendTwistCommand(kortex_driver::SendTwistCommand::Request  &req, kortex_driver::SendTwistCommand::Response &res) = 0;
+        virtual bool PlayJointTrajectory(kortex_driver::PlayJointTrajectory::Request  &req, kortex_driver::PlayJointTrajectory::Response &res) = 0;
+        virtual bool PlaySelectedJointTrajectory(kortex_driver::PlaySelectedJointTrajectory::Request  &req, kortex_driver::PlaySelectedJointTrajectory::Response &res) = 0;
+        virtual bool GetMeasuredJointAngles(kortex_driver::GetMeasuredJointAngles::Request  &req, kortex_driver::GetMeasuredJointAngles::Response &res) = 0;
+        virtual bool SendJointSpeedsCommand(kortex_driver::SendJointSpeedsCommand::Request  &req, kortex_driver::SendJointSpeedsCommand::Response &res) = 0;
+        virtual bool SendSelectedJointSpeedCommand(kortex_driver::SendSelectedJointSpeedCommand::Request  &req, kortex_driver::SendSelectedJointSpeedCommand::Response &res) = 0;
+        virtual bool SendGripperCommand(kortex_driver::SendGripperCommand::Request  &req, kortex_driver::SendGripperCommand::Response &res) = 0;
+        virtual bool GetMeasuredGripperMovement(kortex_driver::GetMeasuredGripperMovement::Request  &req, kortex_driver::GetMeasuredGripperMovement::Response &res) = 0;
+        virtual bool SetAdmittance(kortex_driver::SetAdmittance::Request  &req, kortex_driver::SetAdmittance::Response &res) = 0;
+        virtual bool SetOperatingMode(kortex_driver::SetOperatingMode::Request  &req, kortex_driver::SetOperatingMode::Response &res) = 0;
+        virtual bool ApplyEmergencyStop(kortex_driver::ApplyEmergencyStop::Request  &req, kortex_driver::ApplyEmergencyStop::Response &res) = 0;
+        virtual bool Base_ClearFaults(kortex_driver::Base_ClearFaults::Request  &req, kortex_driver::Base_ClearFaults::Response &res) = 0;
+        virtual bool Base_GetControlMode(kortex_driver::Base_GetControlMode::Request  &req, kortex_driver::Base_GetControlMode::Response &res) = 0;
+        virtual bool GetOperatingMode(kortex_driver::GetOperatingMode::Request  &req, kortex_driver::GetOperatingMode::Response &res) = 0;
+        virtual bool SetServoingMode(kortex_driver::SetServoingMode::Request  &req, kortex_driver::SetServoingMode::Response &res) = 0;
+        virtual bool GetServoingMode(kortex_driver::GetServoingMode::Request  &req, kortex_driver::GetServoingMode::Response &res) = 0;
+        virtual bool OnNotificationServoingModeTopic(kortex_driver::OnNotificationServoingModeTopic::Request  &req, kortex_driver::OnNotificationServoingModeTopic::Response &res) = 0;
+        virtual void cb_ServoingModeTopic(Kinova::Api::Base::ServoingModeNotification notif) = 0;
+        virtual bool RestoreFactorySettings(kortex_driver::RestoreFactorySettings::Request  &req, kortex_driver::RestoreFactorySettings::Response &res) = 0;
+        virtual bool OnNotificationFactoryTopic(kortex_driver::OnNotificationFactoryTopic::Request  &req, kortex_driver::OnNotificationFactoryTopic::Response &res) = 0;
+        virtual void cb_FactoryTopic(Kinova::Api::Base::FactoryNotification notif) = 0;
+        virtual bool GetAllConnectedControllers(kortex_driver::GetAllConnectedControllers::Request  &req, kortex_driver::GetAllConnectedControllers::Response &res) = 0;
+        virtual bool GetControllerState(kortex_driver::GetControllerState::Request  &req, kortex_driver::GetControllerState::Response &res) = 0;
+        virtual bool GetActuatorCount(kortex_driver::GetActuatorCount::Request  &req, kortex_driver::GetActuatorCount::Response &res) = 0;
+        virtual bool StartWifiScan(kortex_driver::StartWifiScan::Request  &req, kortex_driver::StartWifiScan::Response &res) = 0;
+        virtual bool GetConfiguredWifi(kortex_driver::GetConfiguredWifi::Request  &req, kortex_driver::GetConfiguredWifi::Response &res) = 0;
+        virtual bool OnNotificationNetworkTopic(kortex_driver::OnNotificationNetworkTopic::Request  &req, kortex_driver::OnNotificationNetworkTopic::Response &res) = 0;
+        virtual void cb_NetworkTopic(Kinova::Api::Base::NetworkNotification notif) = 0;
+        virtual bool GetArmState(kortex_driver::GetArmState::Request  &req, kortex_driver::GetArmState::Response &res) = 0;
+        virtual bool OnNotificationArmStateTopic(kortex_driver::OnNotificationArmStateTopic::Request  &req, kortex_driver::OnNotificationArmStateTopic::Response &res) = 0;
+        virtual void cb_ArmStateTopic(Kinova::Api::Base::ArmStateNotification notif) = 0;
+        virtual bool GetIPv4Information(kortex_driver::GetIPv4Information::Request  &req, kortex_driver::GetIPv4Information::Response &res) = 0;
+        virtual bool SetWifiCountryCode(kortex_driver::SetWifiCountryCode::Request  &req, kortex_driver::SetWifiCountryCode::Response &res) = 0;
+        virtual bool GetWifiCountryCode(kortex_driver::GetWifiCountryCode::Request  &req, kortex_driver::GetWifiCountryCode::Response &res) = 0;
+        virtual bool Base_SetCapSenseConfig(kortex_driver::Base_SetCapSenseConfig::Request  &req, kortex_driver::Base_SetCapSenseConfig::Response &res) = 0;
+        virtual bool Base_GetCapSenseConfig(kortex_driver::Base_GetCapSenseConfig::Request  &req, kortex_driver::Base_GetCapSenseConfig::Response &res) = 0;
+        virtual bool GetAllJointsSpeedHardLimitation(kortex_driver::GetAllJointsSpeedHardLimitation::Request  &req, kortex_driver::GetAllJointsSpeedHardLimitation::Response &res) = 0;
+        virtual bool GetAllJointsTorqueHardLimitation(kortex_driver::GetAllJointsTorqueHardLimitation::Request  &req, kortex_driver::GetAllJointsTorqueHardLimitation::Response &res) = 0;
+        virtual bool GetTwistHardLimitation(kortex_driver::GetTwistHardLimitation::Request  &req, kortex_driver::GetTwistHardLimitation::Response &res) = 0;
+        virtual bool GetWrenchHardLimitation(kortex_driver::GetWrenchHardLimitation::Request  &req, kortex_driver::GetWrenchHardLimitation::Response &res) = 0;
+        virtual bool SendJointSpeedsJoystickCommand(kortex_driver::SendJointSpeedsJoystickCommand::Request  &req, kortex_driver::SendJointSpeedsJoystickCommand::Response &res) = 0;
+        virtual bool SendSelectedJointSpeedJoystickCommand(kortex_driver::SendSelectedJointSpeedJoystickCommand::Request  &req, kortex_driver::SendSelectedJointSpeedJoystickCommand::Response &res) = 0;
+        virtual bool EnableBridge(kortex_driver::EnableBridge::Request  &req, kortex_driver::EnableBridge::Response &res) = 0;
+        virtual bool DisableBridge(kortex_driver::DisableBridge::Request  &req, kortex_driver::DisableBridge::Response &res) = 0;
+        virtual bool GetBridgeList(kortex_driver::GetBridgeList::Request  &req, kortex_driver::GetBridgeList::Response &res) = 0;
+        virtual bool GetBridgeConfig(kortex_driver::GetBridgeConfig::Request  &req, kortex_driver::GetBridgeConfig::Response &res) = 0;
+        virtual bool PlayPreComputedJointTrajectory(kortex_driver::PlayPreComputedJointTrajectory::Request  &req, kortex_driver::PlayPreComputedJointTrajectory::Response &res) = 0;
+        virtual bool GetProductConfiguration(kortex_driver::GetProductConfiguration::Request  &req, kortex_driver::GetProductConfiguration::Response &res) = 0;
+        virtual bool UpdateEndEffectorTypeConfiguration(kortex_driver::UpdateEndEffectorTypeConfiguration::Request  &req, kortex_driver::UpdateEndEffectorTypeConfiguration::Response &res) = 0;
+        virtual bool RestoreFactoryProductConfiguration(kortex_driver::RestoreFactoryProductConfiguration::Request  &req, kortex_driver::RestoreFactoryProductConfiguration::Response &res) = 0;
+        virtual bool GetTrajectoryErrorReport(kortex_driver::GetTrajectoryErrorReport::Request  &req, kortex_driver::GetTrajectoryErrorReport::Response &res) = 0;
+        virtual bool GetAllJointsSpeedSoftLimitation(kortex_driver::GetAllJointsSpeedSoftLimitation::Request  &req, kortex_driver::GetAllJointsSpeedSoftLimitation::Response &res) = 0;
+        virtual bool GetAllJointsTorqueSoftLimitation(kortex_driver::GetAllJointsTorqueSoftLimitation::Request  &req, kortex_driver::GetAllJointsTorqueSoftLimitation::Response &res) = 0;
+        virtual bool GetTwistSoftLimitation(kortex_driver::GetTwistSoftLimitation::Request  &req, kortex_driver::GetTwistSoftLimitation::Response &res) = 0;
+        virtual bool GetWrenchSoftLimitation(kortex_driver::GetWrenchSoftLimitation::Request  &req, kortex_driver::GetWrenchSoftLimitation::Response &res) = 0;
+        virtual bool SetControllerConfigurationMode(kortex_driver::SetControllerConfigurationMode::Request  &req, kortex_driver::SetControllerConfigurationMode::Response &res) = 0;
+        virtual bool GetControllerConfigurationMode(kortex_driver::GetControllerConfigurationMode::Request  &req, kortex_driver::GetControllerConfigurationMode::Response &res) = 0;
+        virtual bool StartTeaching(kortex_driver::StartTeaching::Request  &req, kortex_driver::StartTeaching::Response &res) = 0;
+        virtual bool StopTeaching(kortex_driver::StopTeaching::Request  &req, kortex_driver::StopTeaching::Response &res) = 0;
+        virtual bool AddSequenceTasks(kortex_driver::AddSequenceTasks::Request  &req, kortex_driver::AddSequenceTasks::Response &res) = 0;
+        virtual bool UpdateSequenceTask(kortex_driver::UpdateSequenceTask::Request  &req, kortex_driver::UpdateSequenceTask::Response &res) = 0;
+        virtual bool SwapSequenceTasks(kortex_driver::SwapSequenceTasks::Request  &req, kortex_driver::SwapSequenceTasks::Response &res) = 0;
+        virtual bool ReadSequenceTask(kortex_driver::ReadSequenceTask::Request  &req, kortex_driver::ReadSequenceTask::Response &res) = 0;
+        virtual bool ReadAllSequenceTasks(kortex_driver::ReadAllSequenceTasks::Request  &req, kortex_driver::ReadAllSequenceTasks::Response &res) = 0;
+        virtual bool DeleteSequenceTask(kortex_driver::DeleteSequenceTask::Request  &req, kortex_driver::DeleteSequenceTask::Response &res) = 0;
+        virtual bool DeleteAllSequenceTasks(kortex_driver::DeleteAllSequenceTasks::Request  &req, kortex_driver::DeleteAllSequenceTasks::Response &res) = 0;
+        virtual bool TakeSnapshot(kortex_driver::TakeSnapshot::Request  &req, kortex_driver::TakeSnapshot::Response &res) = 0;
+        virtual bool GetFirmwareBundleVersions(kortex_driver::GetFirmwareBundleVersions::Request  &req, kortex_driver::GetFirmwareBundleVersions::Response &res) = 0;
+        virtual bool MoveSequenceTask(kortex_driver::MoveSequenceTask::Request  &req, kortex_driver::MoveSequenceTask::Response &res) = 0;
+        virtual bool DuplicateMapping(kortex_driver::DuplicateMapping::Request  &req, kortex_driver::DuplicateMapping::Response &res) = 0;
+        virtual bool DuplicateMap(kortex_driver::DuplicateMap::Request  &req, kortex_driver::DuplicateMap::Response &res) = 0;
+        virtual bool SetControllerConfiguration(kortex_driver::SetControllerConfiguration::Request  &req, kortex_driver::SetControllerConfiguration::Response &res) = 0;
+        virtual bool GetControllerConfiguration(kortex_driver::GetControllerConfiguration::Request  &req, kortex_driver::GetControllerConfiguration::Response &res) = 0;
+        virtual bool GetAllControllerConfigurations(kortex_driver::GetAllControllerConfigurations::Request  &req, kortex_driver::GetAllControllerConfigurations::Response &res) = 0;
+
+protected:
+        ros::NodeHandle m_node_handle;
+        ros::Publisher m_pub_Error;
+        ros::Publisher m_pub_ConfigurationChangeTopic;
+        bool m_is_activated_ConfigurationChangeTopic;
+        ros::Publisher m_pub_MappingInfoTopic;
+        bool m_is_activated_MappingInfoTopic;
+        ros::Publisher m_pub_ControlModeTopic;
+        bool m_is_activated_ControlModeTopic;
+        ros::Publisher m_pub_OperatingModeTopic;
+        bool m_is_activated_OperatingModeTopic;
+        ros::Publisher m_pub_SequenceInfoTopic;
+        bool m_is_activated_SequenceInfoTopic;
+        ros::Publisher m_pub_ProtectionZoneTopic;
+        bool m_is_activated_ProtectionZoneTopic;
+        ros::Publisher m_pub_UserTopic;
+        bool m_is_activated_UserTopic;
+        ros::Publisher m_pub_ControllerTopic;
+        bool m_is_activated_ControllerTopic;
+        ros::Publisher m_pub_ActionTopic;
+        bool m_is_activated_ActionTopic;
+        ros::Publisher m_pub_RobotEventTopic;
+        bool m_is_activated_RobotEventTopic;
+        ros::Publisher m_pub_ServoingModeTopic;
+        bool m_is_activated_ServoingModeTopic;
+        ros::Publisher m_pub_FactoryTopic;
+        bool m_is_activated_FactoryTopic;
+        ros::Publisher m_pub_NetworkTopic;
+        bool m_is_activated_NetworkTopic;
+        ros::Publisher m_pub_ArmStateTopic;
+        bool m_is_activated_ArmStateTopic;
+
+        ros::ServiceServer m_serviceSetDeviceID;
+        ros::ServiceServer m_serviceSetApiOptions;
+
+	ros::ServiceServer m_serviceCreateUserProfile;
+	ros::ServiceServer m_serviceUpdateUserProfile;
+	ros::ServiceServer m_serviceReadUserProfile;
+	ros::ServiceServer m_serviceDeleteUserProfile;
+	ros::ServiceServer m_serviceReadAllUserProfiles;
+	ros::ServiceServer m_serviceReadAllUsers;
+	ros::ServiceServer m_serviceChangePassword;
+	ros::ServiceServer m_serviceCreateSequence;
+	ros::ServiceServer m_serviceUpdateSequence;
+	ros::ServiceServer m_serviceReadSequence;
+	ros::ServiceServer m_serviceDeleteSequence;
+	ros::ServiceServer m_serviceReadAllSequences;
+	ros::ServiceServer m_servicePlaySequence;
+	ros::ServiceServer m_servicePlayAdvancedSequence;
+	ros::ServiceServer m_serviceStopSequence;
+	ros::ServiceServer m_servicePauseSequence;
+	ros::ServiceServer m_serviceResumeSequence;
+	ros::ServiceServer m_serviceCreateProtectionZone;
+	ros::ServiceServer m_serviceUpdateProtectionZone;
+	ros::ServiceServer m_serviceReadProtectionZone;
+	ros::ServiceServer m_serviceDeleteProtectionZone;
+	ros::ServiceServer m_serviceReadAllProtectionZones;
+	ros::ServiceServer m_serviceCreateMapping;
+	ros::ServiceServer m_serviceReadMapping;
+	ros::ServiceServer m_serviceUpdateMapping;
+	ros::ServiceServer m_serviceDeleteMapping;
+	ros::ServiceServer m_serviceReadAllMappings;
+	ros::ServiceServer m_serviceCreateMap;
+	ros::ServiceServer m_serviceReadMap;
+	ros::ServiceServer m_serviceUpdateMap;
+	ros::ServiceServer m_serviceDeleteMap;
+	ros::ServiceServer m_serviceReadAllMaps;
+	ros::ServiceServer m_serviceActivateMap;
+	ros::ServiceServer m_serviceCreateAction;
+	ros::ServiceServer m_serviceReadAction;
+	ros::ServiceServer m_serviceReadAllActions;
+	ros::ServiceServer m_serviceDeleteAction;
+	ros::ServiceServer m_serviceUpdateAction;
+	ros::ServiceServer m_serviceExecuteActionFromReference;
+	ros::ServiceServer m_serviceExecuteAction;
+	ros::ServiceServer m_servicePauseAction;
+	ros::ServiceServer m_serviceStopAction;
+	ros::ServiceServer m_serviceResumeAction;
+	ros::ServiceServer m_serviceGetIPv4Configuration;
+	ros::ServiceServer m_serviceSetIPv4Configuration;
+	ros::ServiceServer m_serviceSetCommunicationInterfaceEnable;
+	ros::ServiceServer m_serviceIsCommunicationInterfaceEnable;
+	ros::ServiceServer m_serviceGetAvailableWifi;
+	ros::ServiceServer m_serviceGetWifiInformation;
+	ros::ServiceServer m_serviceAddWifiConfiguration;
+	ros::ServiceServer m_serviceDeleteWifiConfiguration;
+	ros::ServiceServer m_serviceGetAllConfiguredWifis;
+	ros::ServiceServer m_serviceConnectWifi;
+	ros::ServiceServer m_serviceDisconnectWifi;
+	ros::ServiceServer m_serviceGetConnectedWifiInformation;
+	ros::ServiceServer m_serviceBase_Unsubscribe;
+	ros::ServiceServer m_serviceOnNotificationConfigurationChangeTopic;
+	ros::ServiceServer m_serviceOnNotificationMappingInfoTopic;
+	ros::ServiceServer m_serviceOnNotificationControlModeTopic;
+	ros::ServiceServer m_serviceOnNotificationOperatingModeTopic;
+	ros::ServiceServer m_serviceOnNotificationSequenceInfoTopic;
+	ros::ServiceServer m_serviceOnNotificationProtectionZoneTopic;
+	ros::ServiceServer m_serviceOnNotificationUserTopic;
+	ros::ServiceServer m_serviceOnNotificationControllerTopic;
+	ros::ServiceServer m_serviceOnNotificationActionTopic;
+	ros::ServiceServer m_serviceOnNotificationRobotEventTopic;
+	ros::ServiceServer m_servicePlayCartesianTrajectory;
+	ros::ServiceServer m_servicePlayCartesianTrajectoryPosition;
+	ros::ServiceServer m_servicePlayCartesianTrajectoryOrientation;
+	ros::ServiceServer m_serviceStop;
+	ros::ServiceServer m_serviceGetMeasuredCartesianPose;
+	ros::ServiceServer m_serviceSendWrenchCommand;
+	ros::ServiceServer m_serviceSendWrenchJoystickCommand;
+	ros::ServiceServer m_serviceSendTwistJoystickCommand;
+	ros::ServiceServer m_serviceSendTwistCommand;
+	ros::ServiceServer m_servicePlayJointTrajectory;
+	ros::ServiceServer m_servicePlaySelectedJointTrajectory;
+	ros::ServiceServer m_serviceGetMeasuredJointAngles;
+	ros::ServiceServer m_serviceSendJointSpeedsCommand;
+	ros::ServiceServer m_serviceSendSelectedJointSpeedCommand;
+	ros::ServiceServer m_serviceSendGripperCommand;
+	ros::ServiceServer m_serviceGetMeasuredGripperMovement;
+	ros::ServiceServer m_serviceSetAdmittance;
+	ros::ServiceServer m_serviceSetOperatingMode;
+	ros::ServiceServer m_serviceApplyEmergencyStop;
+	ros::ServiceServer m_serviceBase_ClearFaults;
+	ros::ServiceServer m_serviceBase_GetControlMode;
+	ros::ServiceServer m_serviceGetOperatingMode;
+	ros::ServiceServer m_serviceSetServoingMode;
+	ros::ServiceServer m_serviceGetServoingMode;
+	ros::ServiceServer m_serviceOnNotificationServoingModeTopic;
+	ros::ServiceServer m_serviceRestoreFactorySettings;
+	ros::ServiceServer m_serviceOnNotificationFactoryTopic;
+	ros::ServiceServer m_serviceGetAllConnectedControllers;
+	ros::ServiceServer m_serviceGetControllerState;
+	ros::ServiceServer m_serviceGetActuatorCount;
+	ros::ServiceServer m_serviceStartWifiScan;
+	ros::ServiceServer m_serviceGetConfiguredWifi;
+	ros::ServiceServer m_serviceOnNotificationNetworkTopic;
+	ros::ServiceServer m_serviceGetArmState;
+	ros::ServiceServer m_serviceOnNotificationArmStateTopic;
+	ros::ServiceServer m_serviceGetIPv4Information;
+	ros::ServiceServer m_serviceSetWifiCountryCode;
+	ros::ServiceServer m_serviceGetWifiCountryCode;
+	ros::ServiceServer m_serviceBase_SetCapSenseConfig;
+	ros::ServiceServer m_serviceBase_GetCapSenseConfig;
+	ros::ServiceServer m_serviceGetAllJointsSpeedHardLimitation;
+	ros::ServiceServer m_serviceGetAllJointsTorqueHardLimitation;
+	ros::ServiceServer m_serviceGetTwistHardLimitation;
+	ros::ServiceServer m_serviceGetWrenchHardLimitation;
+	ros::ServiceServer m_serviceSendJointSpeedsJoystickCommand;
+	ros::ServiceServer m_serviceSendSelectedJointSpeedJoystickCommand;
+	ros::ServiceServer m_serviceEnableBridge;
+	ros::ServiceServer m_serviceDisableBridge;
+	ros::ServiceServer m_serviceGetBridgeList;
+	ros::ServiceServer m_serviceGetBridgeConfig;
+	ros::ServiceServer m_servicePlayPreComputedJointTrajectory;
+	ros::ServiceServer m_serviceGetProductConfiguration;
+	ros::ServiceServer m_serviceUpdateEndEffectorTypeConfiguration;
+	ros::ServiceServer m_serviceRestoreFactoryProductConfiguration;
+	ros::ServiceServer m_serviceGetTrajectoryErrorReport;
+	ros::ServiceServer m_serviceGetAllJointsSpeedSoftLimitation;
+	ros::ServiceServer m_serviceGetAllJointsTorqueSoftLimitation;
+	ros::ServiceServer m_serviceGetTwistSoftLimitation;
+	ros::ServiceServer m_serviceGetWrenchSoftLimitation;
+	ros::ServiceServer m_serviceSetControllerConfigurationMode;
+	ros::ServiceServer m_serviceGetControllerConfigurationMode;
+	ros::ServiceServer m_serviceStartTeaching;
+	ros::ServiceServer m_serviceStopTeaching;
+	ros::ServiceServer m_serviceAddSequenceTasks;
+	ros::ServiceServer m_serviceUpdateSequenceTask;
+	ros::ServiceServer m_serviceSwapSequenceTasks;
+	ros::ServiceServer m_serviceReadSequenceTask;
+	ros::ServiceServer m_serviceReadAllSequenceTasks;
+	ros::ServiceServer m_serviceDeleteSequenceTask;
+	ros::ServiceServer m_serviceDeleteAllSequenceTasks;
+	ros::ServiceServer m_serviceTakeSnapshot;
+	ros::ServiceServer m_serviceGetFirmwareBundleVersions;
+	ros::ServiceServer m_serviceMoveSequenceTask;
+	ros::ServiceServer m_serviceDuplicateMapping;
+	ros::ServiceServer m_serviceDuplicateMap;
+	ros::ServiceServer m_serviceSetControllerConfiguration;
+	ros::ServiceServer m_serviceGetControllerConfiguration;
+	ros::ServiceServer m_serviceGetAllControllerConfigurations;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/interfaces/controlconfig_services_interface.h b/kortex_driver/include/kortex_driver/generated/interfaces/controlconfig_services_interface.h
new file mode 100644
index 0000000..6475c3d
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/interfaces/controlconfig_services_interface.h
@@ -0,0 +1,142 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_CONTROLCONFIG_SERVICES_INTERFACE_H_
+#define _KORTEX_CONTROLCONFIG_SERVICES_INTERFACE_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+#include "kortex_driver/SetGravityVector.h"
+#include "kortex_driver/GetGravityVector.h"
+#include "kortex_driver/SetPayloadInformation.h"
+#include "kortex_driver/GetPayloadInformation.h"
+#include "kortex_driver/SetToolConfiguration.h"
+#include "kortex_driver/GetToolConfiguration.h"
+#include "kortex_driver/OnNotificationControlConfigurationTopic.h"
+#include "kortex_driver/ControlConfigurationNotification.h"
+#include "kortex_driver/ControlConfig_Unsubscribe.h"
+#include "kortex_driver/SetCartesianReferenceFrame.h"
+#include "kortex_driver/GetCartesianReferenceFrame.h"
+#include "kortex_driver/ControlConfig_GetControlMode.h"
+#include "kortex_driver/SetJointSpeedSoftLimits.h"
+#include "kortex_driver/SetTwistLinearSoftLimit.h"
+#include "kortex_driver/SetTwistAngularSoftLimit.h"
+#include "kortex_driver/SetJointAccelerationSoftLimits.h"
+#include "kortex_driver/GetKinematicHardLimits.h"
+#include "kortex_driver/GetKinematicSoftLimits.h"
+#include "kortex_driver/GetAllKinematicSoftLimits.h"
+#include "kortex_driver/SetDesiredLinearTwist.h"
+#include "kortex_driver/SetDesiredAngularTwist.h"
+#include "kortex_driver/SetDesiredJointSpeeds.h"
+#include "kortex_driver/GetDesiredSpeeds.h"
+#include "kortex_driver/ResetGravityVector.h"
+#include "kortex_driver/ResetPayloadInformation.h"
+#include "kortex_driver/ResetToolConfiguration.h"
+#include "kortex_driver/ResetJointSpeedSoftLimits.h"
+#include "kortex_driver/ResetTwistLinearSoftLimit.h"
+#include "kortex_driver/ResetTwistAngularSoftLimit.h"
+#include "kortex_driver/ResetJointAccelerationSoftLimits.h"
+
+#include "kortex_driver/KortexError.h"
+#include "kortex_driver/SetDeviceID.h"
+#include "kortex_driver/SetApiOptions.h"
+#include "kortex_driver/ApiOptions.h"
+
+using namespace std;
+
+class IControlConfigServices
+{
+    public:
+        IControlConfigServices(ros::NodeHandle& node_handle) : m_node_handle(node_handle) {}
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) = 0;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) = 0;
+        virtual bool SetGravityVector(kortex_driver::SetGravityVector::Request  &req, kortex_driver::SetGravityVector::Response &res) = 0;
+        virtual bool GetGravityVector(kortex_driver::GetGravityVector::Request  &req, kortex_driver::GetGravityVector::Response &res) = 0;
+        virtual bool SetPayloadInformation(kortex_driver::SetPayloadInformation::Request  &req, kortex_driver::SetPayloadInformation::Response &res) = 0;
+        virtual bool GetPayloadInformation(kortex_driver::GetPayloadInformation::Request  &req, kortex_driver::GetPayloadInformation::Response &res) = 0;
+        virtual bool SetToolConfiguration(kortex_driver::SetToolConfiguration::Request  &req, kortex_driver::SetToolConfiguration::Response &res) = 0;
+        virtual bool GetToolConfiguration(kortex_driver::GetToolConfiguration::Request  &req, kortex_driver::GetToolConfiguration::Response &res) = 0;
+        virtual bool OnNotificationControlConfigurationTopic(kortex_driver::OnNotificationControlConfigurationTopic::Request  &req, kortex_driver::OnNotificationControlConfigurationTopic::Response &res) = 0;
+        virtual void cb_ControlConfigurationTopic(Kinova::Api::ControlConfig::ControlConfigurationNotification notif) = 0;
+        virtual bool ControlConfig_Unsubscribe(kortex_driver::ControlConfig_Unsubscribe::Request  &req, kortex_driver::ControlConfig_Unsubscribe::Response &res) = 0;
+        virtual bool SetCartesianReferenceFrame(kortex_driver::SetCartesianReferenceFrame::Request  &req, kortex_driver::SetCartesianReferenceFrame::Response &res) = 0;
+        virtual bool GetCartesianReferenceFrame(kortex_driver::GetCartesianReferenceFrame::Request  &req, kortex_driver::GetCartesianReferenceFrame::Response &res) = 0;
+        virtual bool ControlConfig_GetControlMode(kortex_driver::ControlConfig_GetControlMode::Request  &req, kortex_driver::ControlConfig_GetControlMode::Response &res) = 0;
+        virtual bool SetJointSpeedSoftLimits(kortex_driver::SetJointSpeedSoftLimits::Request  &req, kortex_driver::SetJointSpeedSoftLimits::Response &res) = 0;
+        virtual bool SetTwistLinearSoftLimit(kortex_driver::SetTwistLinearSoftLimit::Request  &req, kortex_driver::SetTwistLinearSoftLimit::Response &res) = 0;
+        virtual bool SetTwistAngularSoftLimit(kortex_driver::SetTwistAngularSoftLimit::Request  &req, kortex_driver::SetTwistAngularSoftLimit::Response &res) = 0;
+        virtual bool SetJointAccelerationSoftLimits(kortex_driver::SetJointAccelerationSoftLimits::Request  &req, kortex_driver::SetJointAccelerationSoftLimits::Response &res) = 0;
+        virtual bool GetKinematicHardLimits(kortex_driver::GetKinematicHardLimits::Request  &req, kortex_driver::GetKinematicHardLimits::Response &res) = 0;
+        virtual bool GetKinematicSoftLimits(kortex_driver::GetKinematicSoftLimits::Request  &req, kortex_driver::GetKinematicSoftLimits::Response &res) = 0;
+        virtual bool GetAllKinematicSoftLimits(kortex_driver::GetAllKinematicSoftLimits::Request  &req, kortex_driver::GetAllKinematicSoftLimits::Response &res) = 0;
+        virtual bool SetDesiredLinearTwist(kortex_driver::SetDesiredLinearTwist::Request  &req, kortex_driver::SetDesiredLinearTwist::Response &res) = 0;
+        virtual bool SetDesiredAngularTwist(kortex_driver::SetDesiredAngularTwist::Request  &req, kortex_driver::SetDesiredAngularTwist::Response &res) = 0;
+        virtual bool SetDesiredJointSpeeds(kortex_driver::SetDesiredJointSpeeds::Request  &req, kortex_driver::SetDesiredJointSpeeds::Response &res) = 0;
+        virtual bool GetDesiredSpeeds(kortex_driver::GetDesiredSpeeds::Request  &req, kortex_driver::GetDesiredSpeeds::Response &res) = 0;
+        virtual bool ResetGravityVector(kortex_driver::ResetGravityVector::Request  &req, kortex_driver::ResetGravityVector::Response &res) = 0;
+        virtual bool ResetPayloadInformation(kortex_driver::ResetPayloadInformation::Request  &req, kortex_driver::ResetPayloadInformation::Response &res) = 0;
+        virtual bool ResetToolConfiguration(kortex_driver::ResetToolConfiguration::Request  &req, kortex_driver::ResetToolConfiguration::Response &res) = 0;
+        virtual bool ResetJointSpeedSoftLimits(kortex_driver::ResetJointSpeedSoftLimits::Request  &req, kortex_driver::ResetJointSpeedSoftLimits::Response &res) = 0;
+        virtual bool ResetTwistLinearSoftLimit(kortex_driver::ResetTwistLinearSoftLimit::Request  &req, kortex_driver::ResetTwistLinearSoftLimit::Response &res) = 0;
+        virtual bool ResetTwistAngularSoftLimit(kortex_driver::ResetTwistAngularSoftLimit::Request  &req, kortex_driver::ResetTwistAngularSoftLimit::Response &res) = 0;
+        virtual bool ResetJointAccelerationSoftLimits(kortex_driver::ResetJointAccelerationSoftLimits::Request  &req, kortex_driver::ResetJointAccelerationSoftLimits::Response &res) = 0;
+
+protected:
+        ros::NodeHandle m_node_handle;
+        ros::Publisher m_pub_Error;
+        ros::Publisher m_pub_ControlConfigurationTopic;
+        bool m_is_activated_ControlConfigurationTopic;
+
+        ros::ServiceServer m_serviceSetDeviceID;
+        ros::ServiceServer m_serviceSetApiOptions;
+
+	ros::ServiceServer m_serviceSetGravityVector;
+	ros::ServiceServer m_serviceGetGravityVector;
+	ros::ServiceServer m_serviceSetPayloadInformation;
+	ros::ServiceServer m_serviceGetPayloadInformation;
+	ros::ServiceServer m_serviceSetToolConfiguration;
+	ros::ServiceServer m_serviceGetToolConfiguration;
+	ros::ServiceServer m_serviceOnNotificationControlConfigurationTopic;
+	ros::ServiceServer m_serviceControlConfig_Unsubscribe;
+	ros::ServiceServer m_serviceSetCartesianReferenceFrame;
+	ros::ServiceServer m_serviceGetCartesianReferenceFrame;
+	ros::ServiceServer m_serviceControlConfig_GetControlMode;
+	ros::ServiceServer m_serviceSetJointSpeedSoftLimits;
+	ros::ServiceServer m_serviceSetTwistLinearSoftLimit;
+	ros::ServiceServer m_serviceSetTwistAngularSoftLimit;
+	ros::ServiceServer m_serviceSetJointAccelerationSoftLimits;
+	ros::ServiceServer m_serviceGetKinematicHardLimits;
+	ros::ServiceServer m_serviceGetKinematicSoftLimits;
+	ros::ServiceServer m_serviceGetAllKinematicSoftLimits;
+	ros::ServiceServer m_serviceSetDesiredLinearTwist;
+	ros::ServiceServer m_serviceSetDesiredAngularTwist;
+	ros::ServiceServer m_serviceSetDesiredJointSpeeds;
+	ros::ServiceServer m_serviceGetDesiredSpeeds;
+	ros::ServiceServer m_serviceResetGravityVector;
+	ros::ServiceServer m_serviceResetPayloadInformation;
+	ros::ServiceServer m_serviceResetToolConfiguration;
+	ros::ServiceServer m_serviceResetJointSpeedSoftLimits;
+	ros::ServiceServer m_serviceResetTwistLinearSoftLimit;
+	ros::ServiceServer m_serviceResetTwistAngularSoftLimit;
+	ros::ServiceServer m_serviceResetJointAccelerationSoftLimits;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/interfaces/deviceconfig_services_interface.h b/kortex_driver/include/kortex_driver/generated/interfaces/deviceconfig_services_interface.h
new file mode 100644
index 0000000..4f4b7d1
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/interfaces/deviceconfig_services_interface.h
@@ -0,0 +1,151 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_DEVICECONFIG_SERVICES_INTERFACE_H_
+#define _KORTEX_DEVICECONFIG_SERVICES_INTERFACE_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+#include "kortex_driver/GetRunMode.h"
+#include "kortex_driver/SetRunMode.h"
+#include "kortex_driver/GetDeviceType.h"
+#include "kortex_driver/GetFirmwareVersion.h"
+#include "kortex_driver/GetBootloaderVersion.h"
+#include "kortex_driver/GetModelNumber.h"
+#include "kortex_driver/GetPartNumber.h"
+#include "kortex_driver/GetSerialNumber.h"
+#include "kortex_driver/GetMACAddress.h"
+#include "kortex_driver/GetIPv4Settings.h"
+#include "kortex_driver/SetIPv4Settings.h"
+#include "kortex_driver/GetPartNumberRevision.h"
+#include "kortex_driver/RebootRequest.h"
+#include "kortex_driver/SetSafetyEnable.h"
+#include "kortex_driver/SetSafetyErrorThreshold.h"
+#include "kortex_driver/SetSafetyWarningThreshold.h"
+#include "kortex_driver/SetSafetyConfiguration.h"
+#include "kortex_driver/GetSafetyConfiguration.h"
+#include "kortex_driver/GetSafetyInformation.h"
+#include "kortex_driver/GetSafetyEnable.h"
+#include "kortex_driver/GetSafetyStatus.h"
+#include "kortex_driver/ClearAllSafetyStatus.h"
+#include "kortex_driver/ClearSafetyStatus.h"
+#include "kortex_driver/GetAllSafetyConfiguration.h"
+#include "kortex_driver/GetAllSafetyInformation.h"
+#include "kortex_driver/ResetSafetyDefaults.h"
+#include "kortex_driver/OnNotificationSafetyTopic.h"
+#include "kortex_driver/SafetyNotification.h"
+#include "kortex_driver/ExecuteCalibration.h"
+#include "kortex_driver/GetCalibrationResult.h"
+#include "kortex_driver/StopCalibration.h"
+#include "kortex_driver/DeviceConfig_SetCapSenseConfig.h"
+#include "kortex_driver/DeviceConfig_GetCapSenseConfig.h"
+
+#include "kortex_driver/KortexError.h"
+#include "kortex_driver/SetDeviceID.h"
+#include "kortex_driver/SetApiOptions.h"
+#include "kortex_driver/ApiOptions.h"
+
+using namespace std;
+
+class IDeviceConfigServices
+{
+    public:
+        IDeviceConfigServices(ros::NodeHandle& node_handle) : m_node_handle(node_handle) {}
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) = 0;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) = 0;
+        virtual bool GetRunMode(kortex_driver::GetRunMode::Request  &req, kortex_driver::GetRunMode::Response &res) = 0;
+        virtual bool SetRunMode(kortex_driver::SetRunMode::Request  &req, kortex_driver::SetRunMode::Response &res) = 0;
+        virtual bool GetDeviceType(kortex_driver::GetDeviceType::Request  &req, kortex_driver::GetDeviceType::Response &res) = 0;
+        virtual bool GetFirmwareVersion(kortex_driver::GetFirmwareVersion::Request  &req, kortex_driver::GetFirmwareVersion::Response &res) = 0;
+        virtual bool GetBootloaderVersion(kortex_driver::GetBootloaderVersion::Request  &req, kortex_driver::GetBootloaderVersion::Response &res) = 0;
+        virtual bool GetModelNumber(kortex_driver::GetModelNumber::Request  &req, kortex_driver::GetModelNumber::Response &res) = 0;
+        virtual bool GetPartNumber(kortex_driver::GetPartNumber::Request  &req, kortex_driver::GetPartNumber::Response &res) = 0;
+        virtual bool GetSerialNumber(kortex_driver::GetSerialNumber::Request  &req, kortex_driver::GetSerialNumber::Response &res) = 0;
+        virtual bool GetMACAddress(kortex_driver::GetMACAddress::Request  &req, kortex_driver::GetMACAddress::Response &res) = 0;
+        virtual bool GetIPv4Settings(kortex_driver::GetIPv4Settings::Request  &req, kortex_driver::GetIPv4Settings::Response &res) = 0;
+        virtual bool SetIPv4Settings(kortex_driver::SetIPv4Settings::Request  &req, kortex_driver::SetIPv4Settings::Response &res) = 0;
+        virtual bool GetPartNumberRevision(kortex_driver::GetPartNumberRevision::Request  &req, kortex_driver::GetPartNumberRevision::Response &res) = 0;
+        virtual bool RebootRequest(kortex_driver::RebootRequest::Request  &req, kortex_driver::RebootRequest::Response &res) = 0;
+        virtual bool SetSafetyEnable(kortex_driver::SetSafetyEnable::Request  &req, kortex_driver::SetSafetyEnable::Response &res) = 0;
+        virtual bool SetSafetyErrorThreshold(kortex_driver::SetSafetyErrorThreshold::Request  &req, kortex_driver::SetSafetyErrorThreshold::Response &res) = 0;
+        virtual bool SetSafetyWarningThreshold(kortex_driver::SetSafetyWarningThreshold::Request  &req, kortex_driver::SetSafetyWarningThreshold::Response &res) = 0;
+        virtual bool SetSafetyConfiguration(kortex_driver::SetSafetyConfiguration::Request  &req, kortex_driver::SetSafetyConfiguration::Response &res) = 0;
+        virtual bool GetSafetyConfiguration(kortex_driver::GetSafetyConfiguration::Request  &req, kortex_driver::GetSafetyConfiguration::Response &res) = 0;
+        virtual bool GetSafetyInformation(kortex_driver::GetSafetyInformation::Request  &req, kortex_driver::GetSafetyInformation::Response &res) = 0;
+        virtual bool GetSafetyEnable(kortex_driver::GetSafetyEnable::Request  &req, kortex_driver::GetSafetyEnable::Response &res) = 0;
+        virtual bool GetSafetyStatus(kortex_driver::GetSafetyStatus::Request  &req, kortex_driver::GetSafetyStatus::Response &res) = 0;
+        virtual bool ClearAllSafetyStatus(kortex_driver::ClearAllSafetyStatus::Request  &req, kortex_driver::ClearAllSafetyStatus::Response &res) = 0;
+        virtual bool ClearSafetyStatus(kortex_driver::ClearSafetyStatus::Request  &req, kortex_driver::ClearSafetyStatus::Response &res) = 0;
+        virtual bool GetAllSafetyConfiguration(kortex_driver::GetAllSafetyConfiguration::Request  &req, kortex_driver::GetAllSafetyConfiguration::Response &res) = 0;
+        virtual bool GetAllSafetyInformation(kortex_driver::GetAllSafetyInformation::Request  &req, kortex_driver::GetAllSafetyInformation::Response &res) = 0;
+        virtual bool ResetSafetyDefaults(kortex_driver::ResetSafetyDefaults::Request  &req, kortex_driver::ResetSafetyDefaults::Response &res) = 0;
+        virtual bool OnNotificationSafetyTopic(kortex_driver::OnNotificationSafetyTopic::Request  &req, kortex_driver::OnNotificationSafetyTopic::Response &res) = 0;
+        virtual void cb_SafetyTopic(Kinova::Api::Common::SafetyNotification notif) = 0;
+        virtual bool ExecuteCalibration(kortex_driver::ExecuteCalibration::Request  &req, kortex_driver::ExecuteCalibration::Response &res) = 0;
+        virtual bool GetCalibrationResult(kortex_driver::GetCalibrationResult::Request  &req, kortex_driver::GetCalibrationResult::Response &res) = 0;
+        virtual bool StopCalibration(kortex_driver::StopCalibration::Request  &req, kortex_driver::StopCalibration::Response &res) = 0;
+        virtual bool DeviceConfig_SetCapSenseConfig(kortex_driver::DeviceConfig_SetCapSenseConfig::Request  &req, kortex_driver::DeviceConfig_SetCapSenseConfig::Response &res) = 0;
+        virtual bool DeviceConfig_GetCapSenseConfig(kortex_driver::DeviceConfig_GetCapSenseConfig::Request  &req, kortex_driver::DeviceConfig_GetCapSenseConfig::Response &res) = 0;
+
+protected:
+        ros::NodeHandle m_node_handle;
+        ros::Publisher m_pub_Error;
+        ros::Publisher m_pub_SafetyTopic;
+        bool m_is_activated_SafetyTopic;
+
+        ros::ServiceServer m_serviceSetDeviceID;
+        ros::ServiceServer m_serviceSetApiOptions;
+
+	ros::ServiceServer m_serviceGetRunMode;
+	ros::ServiceServer m_serviceSetRunMode;
+	ros::ServiceServer m_serviceGetDeviceType;
+	ros::ServiceServer m_serviceGetFirmwareVersion;
+	ros::ServiceServer m_serviceGetBootloaderVersion;
+	ros::ServiceServer m_serviceGetModelNumber;
+	ros::ServiceServer m_serviceGetPartNumber;
+	ros::ServiceServer m_serviceGetSerialNumber;
+	ros::ServiceServer m_serviceGetMACAddress;
+	ros::ServiceServer m_serviceGetIPv4Settings;
+	ros::ServiceServer m_serviceSetIPv4Settings;
+	ros::ServiceServer m_serviceGetPartNumberRevision;
+	ros::ServiceServer m_serviceRebootRequest;
+	ros::ServiceServer m_serviceSetSafetyEnable;
+	ros::ServiceServer m_serviceSetSafetyErrorThreshold;
+	ros::ServiceServer m_serviceSetSafetyWarningThreshold;
+	ros::ServiceServer m_serviceSetSafetyConfiguration;
+	ros::ServiceServer m_serviceGetSafetyConfiguration;
+	ros::ServiceServer m_serviceGetSafetyInformation;
+	ros::ServiceServer m_serviceGetSafetyEnable;
+	ros::ServiceServer m_serviceGetSafetyStatus;
+	ros::ServiceServer m_serviceClearAllSafetyStatus;
+	ros::ServiceServer m_serviceClearSafetyStatus;
+	ros::ServiceServer m_serviceGetAllSafetyConfiguration;
+	ros::ServiceServer m_serviceGetAllSafetyInformation;
+	ros::ServiceServer m_serviceResetSafetyDefaults;
+	ros::ServiceServer m_serviceOnNotificationSafetyTopic;
+	ros::ServiceServer m_serviceExecuteCalibration;
+	ros::ServiceServer m_serviceGetCalibrationResult;
+	ros::ServiceServer m_serviceStopCalibration;
+	ros::ServiceServer m_serviceDeviceConfig_SetCapSenseConfig;
+	ros::ServiceServer m_serviceDeviceConfig_GetCapSenseConfig;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/interfaces/devicemanager_services_interface.h b/kortex_driver/include/kortex_driver/generated/interfaces/devicemanager_services_interface.h
new file mode 100644
index 0000000..a2e544e
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/interfaces/devicemanager_services_interface.h
@@ -0,0 +1,54 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_DEVICEMANAGER_SERVICES_INTERFACE_H_
+#define _KORTEX_DEVICEMANAGER_SERVICES_INTERFACE_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+#include "kortex_driver/ReadAllDevices.h"
+
+#include "kortex_driver/KortexError.h"
+#include "kortex_driver/SetDeviceID.h"
+#include "kortex_driver/SetApiOptions.h"
+#include "kortex_driver/ApiOptions.h"
+
+using namespace std;
+
+class IDeviceManagerServices
+{
+    public:
+        IDeviceManagerServices(ros::NodeHandle& node_handle) : m_node_handle(node_handle) {}
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) = 0;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) = 0;
+        virtual bool ReadAllDevices(kortex_driver::ReadAllDevices::Request  &req, kortex_driver::ReadAllDevices::Response &res) = 0;
+
+protected:
+        ros::NodeHandle m_node_handle;
+        ros::Publisher m_pub_Error;
+
+        ros::ServiceServer m_serviceSetDeviceID;
+        ros::ServiceServer m_serviceSetApiOptions;
+
+	ros::ServiceServer m_serviceReadAllDevices;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/interfaces/interconnectconfig_services_interface.h b/kortex_driver/include/kortex_driver/generated/interfaces/interconnectconfig_services_interface.h
new file mode 100644
index 0000000..dc370d1
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/interfaces/interconnectconfig_services_interface.h
@@ -0,0 +1,93 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_INTERCONNECTCONFIG_SERVICES_INTERFACE_H_
+#define _KORTEX_INTERCONNECTCONFIG_SERVICES_INTERFACE_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+#include "kortex_driver/GetUARTConfiguration.h"
+#include "kortex_driver/SetUARTConfiguration.h"
+#include "kortex_driver/GetEthernetConfiguration.h"
+#include "kortex_driver/SetEthernetConfiguration.h"
+#include "kortex_driver/GetGPIOConfiguration.h"
+#include "kortex_driver/SetGPIOConfiguration.h"
+#include "kortex_driver/GetGPIOState.h"
+#include "kortex_driver/SetGPIOState.h"
+#include "kortex_driver/GetI2CConfiguration.h"
+#include "kortex_driver/SetI2CConfiguration.h"
+#include "kortex_driver/I2CRead.h"
+#include "kortex_driver/I2CReadRegister.h"
+#include "kortex_driver/I2CWrite.h"
+#include "kortex_driver/I2CWriteRegister.h"
+
+#include "kortex_driver/KortexError.h"
+#include "kortex_driver/SetDeviceID.h"
+#include "kortex_driver/SetApiOptions.h"
+#include "kortex_driver/ApiOptions.h"
+
+using namespace std;
+
+class IInterconnectConfigServices
+{
+    public:
+        IInterconnectConfigServices(ros::NodeHandle& node_handle) : m_node_handle(node_handle) {}
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) = 0;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) = 0;
+        virtual bool GetUARTConfiguration(kortex_driver::GetUARTConfiguration::Request  &req, kortex_driver::GetUARTConfiguration::Response &res) = 0;
+        virtual bool SetUARTConfiguration(kortex_driver::SetUARTConfiguration::Request  &req, kortex_driver::SetUARTConfiguration::Response &res) = 0;
+        virtual bool GetEthernetConfiguration(kortex_driver::GetEthernetConfiguration::Request  &req, kortex_driver::GetEthernetConfiguration::Response &res) = 0;
+        virtual bool SetEthernetConfiguration(kortex_driver::SetEthernetConfiguration::Request  &req, kortex_driver::SetEthernetConfiguration::Response &res) = 0;
+        virtual bool GetGPIOConfiguration(kortex_driver::GetGPIOConfiguration::Request  &req, kortex_driver::GetGPIOConfiguration::Response &res) = 0;
+        virtual bool SetGPIOConfiguration(kortex_driver::SetGPIOConfiguration::Request  &req, kortex_driver::SetGPIOConfiguration::Response &res) = 0;
+        virtual bool GetGPIOState(kortex_driver::GetGPIOState::Request  &req, kortex_driver::GetGPIOState::Response &res) = 0;
+        virtual bool SetGPIOState(kortex_driver::SetGPIOState::Request  &req, kortex_driver::SetGPIOState::Response &res) = 0;
+        virtual bool GetI2CConfiguration(kortex_driver::GetI2CConfiguration::Request  &req, kortex_driver::GetI2CConfiguration::Response &res) = 0;
+        virtual bool SetI2CConfiguration(kortex_driver::SetI2CConfiguration::Request  &req, kortex_driver::SetI2CConfiguration::Response &res) = 0;
+        virtual bool I2CRead(kortex_driver::I2CRead::Request  &req, kortex_driver::I2CRead::Response &res) = 0;
+        virtual bool I2CReadRegister(kortex_driver::I2CReadRegister::Request  &req, kortex_driver::I2CReadRegister::Response &res) = 0;
+        virtual bool I2CWrite(kortex_driver::I2CWrite::Request  &req, kortex_driver::I2CWrite::Response &res) = 0;
+        virtual bool I2CWriteRegister(kortex_driver::I2CWriteRegister::Request  &req, kortex_driver::I2CWriteRegister::Response &res) = 0;
+
+protected:
+        ros::NodeHandle m_node_handle;
+        ros::Publisher m_pub_Error;
+
+        ros::ServiceServer m_serviceSetDeviceID;
+        ros::ServiceServer m_serviceSetApiOptions;
+
+	ros::ServiceServer m_serviceGetUARTConfiguration;
+	ros::ServiceServer m_serviceSetUARTConfiguration;
+	ros::ServiceServer m_serviceGetEthernetConfiguration;
+	ros::ServiceServer m_serviceSetEthernetConfiguration;
+	ros::ServiceServer m_serviceGetGPIOConfiguration;
+	ros::ServiceServer m_serviceSetGPIOConfiguration;
+	ros::ServiceServer m_serviceGetGPIOState;
+	ros::ServiceServer m_serviceSetGPIOState;
+	ros::ServiceServer m_serviceGetI2CConfiguration;
+	ros::ServiceServer m_serviceSetI2CConfiguration;
+	ros::ServiceServer m_serviceI2CRead;
+	ros::ServiceServer m_serviceI2CReadRegister;
+	ros::ServiceServer m_serviceI2CWrite;
+	ros::ServiceServer m_serviceI2CWriteRegister;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/interfaces/visionconfig_services_interface.h b/kortex_driver/include/kortex_driver/generated/interfaces/visionconfig_services_interface.h
new file mode 100644
index 0000000..1bf98c7
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/interfaces/visionconfig_services_interface.h
@@ -0,0 +1,91 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_VISIONCONFIG_SERVICES_INTERFACE_H_
+#define _KORTEX_VISIONCONFIG_SERVICES_INTERFACE_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+#include "kortex_driver/SetSensorSettings.h"
+#include "kortex_driver/GetSensorSettings.h"
+#include "kortex_driver/GetOptionValue.h"
+#include "kortex_driver/SetOptionValue.h"
+#include "kortex_driver/GetOptionInformation.h"
+#include "kortex_driver/OnNotificationVisionTopic.h"
+#include "kortex_driver/VisionNotification.h"
+#include "kortex_driver/DoSensorFocusAction.h"
+#include "kortex_driver/GetIntrinsicParameters.h"
+#include "kortex_driver/GetIntrinsicParametersProfile.h"
+#include "kortex_driver/SetIntrinsicParameters.h"
+#include "kortex_driver/GetExtrinsicParameters.h"
+#include "kortex_driver/SetExtrinsicParameters.h"
+
+#include "kortex_driver/KortexError.h"
+#include "kortex_driver/SetDeviceID.h"
+#include "kortex_driver/SetApiOptions.h"
+#include "kortex_driver/ApiOptions.h"
+
+using namespace std;
+
+class IVisionConfigServices
+{
+    public:
+        IVisionConfigServices(ros::NodeHandle& node_handle) : m_node_handle(node_handle) {}
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) = 0;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) = 0;
+        virtual bool SetSensorSettings(kortex_driver::SetSensorSettings::Request  &req, kortex_driver::SetSensorSettings::Response &res) = 0;
+        virtual bool GetSensorSettings(kortex_driver::GetSensorSettings::Request  &req, kortex_driver::GetSensorSettings::Response &res) = 0;
+        virtual bool GetOptionValue(kortex_driver::GetOptionValue::Request  &req, kortex_driver::GetOptionValue::Response &res) = 0;
+        virtual bool SetOptionValue(kortex_driver::SetOptionValue::Request  &req, kortex_driver::SetOptionValue::Response &res) = 0;
+        virtual bool GetOptionInformation(kortex_driver::GetOptionInformation::Request  &req, kortex_driver::GetOptionInformation::Response &res) = 0;
+        virtual bool OnNotificationVisionTopic(kortex_driver::OnNotificationVisionTopic::Request  &req, kortex_driver::OnNotificationVisionTopic::Response &res) = 0;
+        virtual void cb_VisionTopic(Kinova::Api::VisionConfig::VisionNotification notif) = 0;
+        virtual bool DoSensorFocusAction(kortex_driver::DoSensorFocusAction::Request  &req, kortex_driver::DoSensorFocusAction::Response &res) = 0;
+        virtual bool GetIntrinsicParameters(kortex_driver::GetIntrinsicParameters::Request  &req, kortex_driver::GetIntrinsicParameters::Response &res) = 0;
+        virtual bool GetIntrinsicParametersProfile(kortex_driver::GetIntrinsicParametersProfile::Request  &req, kortex_driver::GetIntrinsicParametersProfile::Response &res) = 0;
+        virtual bool SetIntrinsicParameters(kortex_driver::SetIntrinsicParameters::Request  &req, kortex_driver::SetIntrinsicParameters::Response &res) = 0;
+        virtual bool GetExtrinsicParameters(kortex_driver::GetExtrinsicParameters::Request  &req, kortex_driver::GetExtrinsicParameters::Response &res) = 0;
+        virtual bool SetExtrinsicParameters(kortex_driver::SetExtrinsicParameters::Request  &req, kortex_driver::SetExtrinsicParameters::Response &res) = 0;
+
+protected:
+        ros::NodeHandle m_node_handle;
+        ros::Publisher m_pub_Error;
+        ros::Publisher m_pub_VisionTopic;
+        bool m_is_activated_VisionTopic;
+
+        ros::ServiceServer m_serviceSetDeviceID;
+        ros::ServiceServer m_serviceSetApiOptions;
+
+	ros::ServiceServer m_serviceSetSensorSettings;
+	ros::ServiceServer m_serviceGetSensorSettings;
+	ros::ServiceServer m_serviceGetOptionValue;
+	ros::ServiceServer m_serviceSetOptionValue;
+	ros::ServiceServer m_serviceGetOptionInformation;
+	ros::ServiceServer m_serviceOnNotificationVisionTopic;
+	ros::ServiceServer m_serviceDoSensorFocusAction;
+	ros::ServiceServer m_serviceGetIntrinsicParameters;
+	ros::ServiceServer m_serviceGetIntrinsicParametersProfile;
+	ros::ServiceServer m_serviceSetIntrinsicParameters;
+	ros::ServiceServer m_serviceGetExtrinsicParameters;
+	ros::ServiceServer m_serviceSetExtrinsicParameters;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/robot/actuatorconfig_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/actuatorconfig_proto_converter.h
new file mode 100644
index 0000000..e91312b
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/actuatorconfig_proto_converter.h
@@ -0,0 +1,83 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_ACTUATORCONFIG_PROTO_CONVERTER_H_
+#define _KORTEX_ACTUATORCONFIG_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <ActuatorConfig.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/AxisPosition.h"
+#include "kortex_driver/AxisOffsets.h"
+#include "kortex_driver/TorqueCalibration.h"
+#include "kortex_driver/TorqueOffset.h"
+#include "kortex_driver/ActuatorConfig_ControlModeInformation.h"
+#include "kortex_driver/ControlLoop.h"
+#include "kortex_driver/LoopSelection.h"
+#include "kortex_driver/VectorDriveParameters.h"
+#include "kortex_driver/EncoderDerivativeParameters.h"
+#include "kortex_driver/ControlLoopParameters.h"
+#include "kortex_driver/FrequencyResponse.h"
+#include "kortex_driver/StepResponse.h"
+#include "kortex_driver/RampResponse.h"
+#include "kortex_driver/CustomDataSelection.h"
+#include "kortex_driver/CommandModeInformation.h"
+#include "kortex_driver/Servoing.h"
+#include "kortex_driver/PositionCommand.h"
+#include "kortex_driver/CoggingFeedforwardModeInformation.h"
+
+
+int ToProtoData(kortex_driver::AxisPosition input, Kinova::Api::ActuatorConfig::AxisPosition *output);
+int ToProtoData(kortex_driver::AxisOffsets input, Kinova::Api::ActuatorConfig::AxisOffsets *output);
+int ToProtoData(kortex_driver::TorqueCalibration input, Kinova::Api::ActuatorConfig::TorqueCalibration *output);
+int ToProtoData(kortex_driver::TorqueOffset input, Kinova::Api::ActuatorConfig::TorqueOffset *output);
+int ToProtoData(kortex_driver::ActuatorConfig_ControlModeInformation input, Kinova::Api::ActuatorConfig::ControlModeInformation *output);
+int ToProtoData(kortex_driver::ControlLoop input, Kinova::Api::ActuatorConfig::ControlLoop *output);
+int ToProtoData(kortex_driver::LoopSelection input, Kinova::Api::ActuatorConfig::LoopSelection *output);
+int ToProtoData(kortex_driver::VectorDriveParameters input, Kinova::Api::ActuatorConfig::VectorDriveParameters *output);
+int ToProtoData(kortex_driver::EncoderDerivativeParameters input, Kinova::Api::ActuatorConfig::EncoderDerivativeParameters *output);
+int ToProtoData(kortex_driver::ControlLoopParameters input, Kinova::Api::ActuatorConfig::ControlLoopParameters *output);
+int ToProtoData(kortex_driver::FrequencyResponse input, Kinova::Api::ActuatorConfig::FrequencyResponse *output);
+int ToProtoData(kortex_driver::StepResponse input, Kinova::Api::ActuatorConfig::StepResponse *output);
+int ToProtoData(kortex_driver::RampResponse input, Kinova::Api::ActuatorConfig::RampResponse *output);
+int ToProtoData(kortex_driver::CustomDataSelection input, Kinova::Api::ActuatorConfig::CustomDataSelection *output);
+int ToProtoData(kortex_driver::CommandModeInformation input, Kinova::Api::ActuatorConfig::CommandModeInformation *output);
+int ToProtoData(kortex_driver::Servoing input, Kinova::Api::ActuatorConfig::Servoing *output);
+int ToProtoData(kortex_driver::PositionCommand input, Kinova::Api::ActuatorConfig::PositionCommand *output);
+int ToProtoData(kortex_driver::CoggingFeedforwardModeInformation input, Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/actuatorconfig_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/actuatorconfig_ros_converter.h
new file mode 100644
index 0000000..024e75a
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/actuatorconfig_ros_converter.h
@@ -0,0 +1,83 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_ACTUATORCONFIG_ROS_CONVERTER_H_
+#define _KORTEX_ACTUATORCONFIG_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <ActuatorConfig.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/AxisPosition.h"
+#include "kortex_driver/AxisOffsets.h"
+#include "kortex_driver/TorqueCalibration.h"
+#include "kortex_driver/TorqueOffset.h"
+#include "kortex_driver/ActuatorConfig_ControlModeInformation.h"
+#include "kortex_driver/ControlLoop.h"
+#include "kortex_driver/LoopSelection.h"
+#include "kortex_driver/VectorDriveParameters.h"
+#include "kortex_driver/EncoderDerivativeParameters.h"
+#include "kortex_driver/ControlLoopParameters.h"
+#include "kortex_driver/FrequencyResponse.h"
+#include "kortex_driver/StepResponse.h"
+#include "kortex_driver/RampResponse.h"
+#include "kortex_driver/CustomDataSelection.h"
+#include "kortex_driver/CommandModeInformation.h"
+#include "kortex_driver/Servoing.h"
+#include "kortex_driver/PositionCommand.h"
+#include "kortex_driver/CoggingFeedforwardModeInformation.h"
+
+
+int ToRosData(Kinova::Api::ActuatorConfig::AxisPosition input, kortex_driver::AxisPosition &output);
+int ToRosData(Kinova::Api::ActuatorConfig::AxisOffsets input, kortex_driver::AxisOffsets &output);
+int ToRosData(Kinova::Api::ActuatorConfig::TorqueCalibration input, kortex_driver::TorqueCalibration &output);
+int ToRosData(Kinova::Api::ActuatorConfig::TorqueOffset input, kortex_driver::TorqueOffset &output);
+int ToRosData(Kinova::Api::ActuatorConfig::ControlModeInformation input, kortex_driver::ActuatorConfig_ControlModeInformation &output);
+int ToRosData(Kinova::Api::ActuatorConfig::ControlLoop input, kortex_driver::ControlLoop &output);
+int ToRosData(Kinova::Api::ActuatorConfig::LoopSelection input, kortex_driver::LoopSelection &output);
+int ToRosData(Kinova::Api::ActuatorConfig::VectorDriveParameters input, kortex_driver::VectorDriveParameters &output);
+int ToRosData(Kinova::Api::ActuatorConfig::EncoderDerivativeParameters input, kortex_driver::EncoderDerivativeParameters &output);
+int ToRosData(Kinova::Api::ActuatorConfig::ControlLoopParameters input, kortex_driver::ControlLoopParameters &output);
+int ToRosData(Kinova::Api::ActuatorConfig::FrequencyResponse input, kortex_driver::FrequencyResponse &output);
+int ToRosData(Kinova::Api::ActuatorConfig::StepResponse input, kortex_driver::StepResponse &output);
+int ToRosData(Kinova::Api::ActuatorConfig::RampResponse input, kortex_driver::RampResponse &output);
+int ToRosData(Kinova::Api::ActuatorConfig::CustomDataSelection input, kortex_driver::CustomDataSelection &output);
+int ToRosData(Kinova::Api::ActuatorConfig::CommandModeInformation input, kortex_driver::CommandModeInformation &output);
+int ToRosData(Kinova::Api::ActuatorConfig::Servoing input, kortex_driver::Servoing &output);
+int ToRosData(Kinova::Api::ActuatorConfig::PositionCommand input, kortex_driver::PositionCommand &output);
+int ToRosData(Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation input, kortex_driver::CoggingFeedforwardModeInformation &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/actuatorconfig_services.h b/kortex_driver/include/kortex_driver/generated/robot/actuatorconfig_services.h
new file mode 100644
index 0000000..0a7adac
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/actuatorconfig_services.h
@@ -0,0 +1,61 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_ACTUATORCONFIG_ROBOT_SERVICES_H_
+#define _KORTEX_ACTUATORCONFIG_ROBOT_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/actuatorconfig_services_interface.h"
+
+#include <ActuatorConfig.pb.h>
+#include <ActuatorConfigClientRpc.h>
+
+using namespace std;
+
+class ActuatorConfigRobotServices : public IActuatorConfigServices
+{
+    public:
+        ActuatorConfigRobotServices(ros::NodeHandle& node_handle, Kinova::Api::ActuatorConfig::ActuatorConfigClient* actuatorconfig, uint32_t device_id, uint32_t timeout_ms);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        virtual bool GetAxisOffsets(kortex_driver::GetAxisOffsets::Request  &req, kortex_driver::GetAxisOffsets::Response &res) override;
+        virtual bool SetAxisOffsets(kortex_driver::SetAxisOffsets::Request  &req, kortex_driver::SetAxisOffsets::Response &res) override;
+        virtual bool SetTorqueOffset(kortex_driver::SetTorqueOffset::Request  &req, kortex_driver::SetTorqueOffset::Response &res) override;
+        virtual bool ActuatorConfig_GetControlMode(kortex_driver::ActuatorConfig_GetControlMode::Request  &req, kortex_driver::ActuatorConfig_GetControlMode::Response &res) override;
+        virtual bool SetControlMode(kortex_driver::SetControlMode::Request  &req, kortex_driver::SetControlMode::Response &res) override;
+        virtual bool GetActivatedControlLoop(kortex_driver::GetActivatedControlLoop::Request  &req, kortex_driver::GetActivatedControlLoop::Response &res) override;
+        virtual bool SetActivatedControlLoop(kortex_driver::SetActivatedControlLoop::Request  &req, kortex_driver::SetActivatedControlLoop::Response &res) override;
+        virtual bool GetControlLoopParameters(kortex_driver::GetControlLoopParameters::Request  &req, kortex_driver::GetControlLoopParameters::Response &res) override;
+        virtual bool SetControlLoopParameters(kortex_driver::SetControlLoopParameters::Request  &req, kortex_driver::SetControlLoopParameters::Response &res) override;
+        virtual bool SelectCustomData(kortex_driver::SelectCustomData::Request  &req, kortex_driver::SelectCustomData::Response &res) override;
+        virtual bool GetSelectedCustomData(kortex_driver::GetSelectedCustomData::Request  &req, kortex_driver::GetSelectedCustomData::Response &res) override;
+        virtual bool SetCommandMode(kortex_driver::SetCommandMode::Request  &req, kortex_driver::SetCommandMode::Response &res) override;
+        virtual bool ActuatorConfig_ClearFaults(kortex_driver::ActuatorConfig_ClearFaults::Request  &req, kortex_driver::ActuatorConfig_ClearFaults::Response &res) override;
+        virtual bool SetServoing(kortex_driver::SetServoing::Request  &req, kortex_driver::SetServoing::Response &res) override;
+        virtual bool MoveToPosition(kortex_driver::MoveToPosition::Request  &req, kortex_driver::MoveToPosition::Response &res) override;
+        virtual bool GetCommandMode(kortex_driver::GetCommandMode::Request  &req, kortex_driver::GetCommandMode::Response &res) override;
+        virtual bool GetServoing(kortex_driver::GetServoing::Request  &req, kortex_driver::GetServoing::Response &res) override;
+        virtual bool GetTorqueOffset(kortex_driver::GetTorqueOffset::Request  &req, kortex_driver::GetTorqueOffset::Response &res) override;
+        virtual bool SetCoggingFeedforwardMode(kortex_driver::SetCoggingFeedforwardMode::Request  &req, kortex_driver::SetCoggingFeedforwardMode::Response &res) override;
+        virtual bool GetCoggingFeedforwardMode(kortex_driver::GetCoggingFeedforwardMode::Request  &req, kortex_driver::GetCoggingFeedforwardMode::Response &res) override;
+
+private:
+        uint32_t m_current_device_id;
+        Kinova::Api::RouterClientSendOptions m_api_options;
+
+        Kinova::Api::ActuatorConfig::ActuatorConfigClient* m_actuatorconfig;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/robot/actuatorcyclic_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/actuatorcyclic_proto_converter.h
new file mode 100644
index 0000000..f463e1b
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/actuatorcyclic_proto_converter.h
@@ -0,0 +1,55 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_ACTUATORCYCLIC_PROTO_CONVERTER_H_
+#define _KORTEX_ACTUATORCYCLIC_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <ActuatorCyclic.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/ActuatorCyclic_MessageId.h"
+#include "kortex_driver/ActuatorCyclic_Command.h"
+#include "kortex_driver/ActuatorCyclic_Feedback.h"
+#include "kortex_driver/ActuatorCyclic_CustomData.h"
+
+
+int ToProtoData(kortex_driver::ActuatorCyclic_MessageId input, Kinova::Api::ActuatorCyclic::MessageId *output);
+int ToProtoData(kortex_driver::ActuatorCyclic_Command input, Kinova::Api::ActuatorCyclic::Command *output);
+int ToProtoData(kortex_driver::ActuatorCyclic_Feedback input, Kinova::Api::ActuatorCyclic::Feedback *output);
+int ToProtoData(kortex_driver::ActuatorCyclic_CustomData input, Kinova::Api::ActuatorCyclic::CustomData *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/actuatorcyclic_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/actuatorcyclic_ros_converter.h
new file mode 100644
index 0000000..02085e5
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/actuatorcyclic_ros_converter.h
@@ -0,0 +1,55 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_ACTUATORCYCLIC_ROS_CONVERTER_H_
+#define _KORTEX_ACTUATORCYCLIC_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <ActuatorCyclic.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/ActuatorCyclic_MessageId.h"
+#include "kortex_driver/ActuatorCyclic_Command.h"
+#include "kortex_driver/ActuatorCyclic_Feedback.h"
+#include "kortex_driver/ActuatorCyclic_CustomData.h"
+
+
+int ToRosData(Kinova::Api::ActuatorCyclic::MessageId input, kortex_driver::ActuatorCyclic_MessageId &output);
+int ToRosData(Kinova::Api::ActuatorCyclic::Command input, kortex_driver::ActuatorCyclic_Command &output);
+int ToRosData(Kinova::Api::ActuatorCyclic::Feedback input, kortex_driver::ActuatorCyclic_Feedback &output);
+int ToRosData(Kinova::Api::ActuatorCyclic::CustomData input, kortex_driver::ActuatorCyclic_CustomData &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/base_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/base_proto_converter.h
new file mode 100644
index 0000000..23cc90c
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/base_proto_converter.h
@@ -0,0 +1,355 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_BASE_PROTO_CONVERTER_H_
+#define _KORTEX_BASE_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <Base.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/FullUserProfile.h"
+#include "kortex_driver/UserProfile.h"
+#include "kortex_driver/UserProfileList.h"
+#include "kortex_driver/UserList.h"
+#include "kortex_driver/PasswordChange.h"
+#include "kortex_driver/SequenceHandle.h"
+#include "kortex_driver/AdvancedSequenceHandle.h"
+#include "kortex_driver/SequenceTaskHandle.h"
+#include "kortex_driver/SequenceTask.h"
+#include "kortex_driver/SequenceTasks.h"
+#include "kortex_driver/SequenceTasksConfiguration.h"
+#include "kortex_driver/SequenceTaskConfiguration.h"
+#include "kortex_driver/SequenceTasksRange.h"
+#include "kortex_driver/SequenceTasksPair.h"
+#include "kortex_driver/Sequence.h"
+#include "kortex_driver/SequenceList.h"
+#include "kortex_driver/AppendActionInformation.h"
+#include "kortex_driver/ActionHandle.h"
+#include "kortex_driver/RequestedActionType.h"
+#include "kortex_driver/Action.h"
+#include "kortex_driver/Snapshot.h"
+#include "kortex_driver/SwitchControlMapping.h"
+#include "kortex_driver/ChangeTwist.h"
+#include "kortex_driver/ChangeJointSpeeds.h"
+#include "kortex_driver/ChangeWrench.h"
+#include "kortex_driver/EmergencyStop.h"
+#include "kortex_driver/Faults.h"
+#include "kortex_driver/Delay.h"
+#include "kortex_driver/Base_Stop.h"
+#include "kortex_driver/ActionList.h"
+#include "kortex_driver/Timeout.h"
+#include "kortex_driver/Ssid.h"
+#include "kortex_driver/CommunicationInterfaceConfiguration.h"
+#include "kortex_driver/NetworkHandle.h"
+#include "kortex_driver/IPv4Configuration.h"
+#include "kortex_driver/IPv4Information.h"
+#include "kortex_driver/FullIPv4Configuration.h"
+#include "kortex_driver/WifiInformation.h"
+#include "kortex_driver/WifiInformationList.h"
+#include "kortex_driver/WifiConfiguration.h"
+#include "kortex_driver/WifiConfigurationList.h"
+#include "kortex_driver/ProtectionZoneHandle.h"
+#include "kortex_driver/Base_RotationMatrixRow.h"
+#include "kortex_driver/Base_RotationMatrix.h"
+#include "kortex_driver/Point.h"
+#include "kortex_driver/ZoneShape.h"
+#include "kortex_driver/ProtectionZone.h"
+#include "kortex_driver/ProtectionZoneList.h"
+#include "kortex_driver/CartesianLimitation.h"
+#include "kortex_driver/TwistLimitation.h"
+#include "kortex_driver/WrenchLimitation.h"
+#include "kortex_driver/CartesianLimitationList.h"
+#include "kortex_driver/JointLimitation.h"
+#include "kortex_driver/JointsLimitationsList.h"
+#include "kortex_driver/Query.h"
+#include "kortex_driver/ConfigurationChangeNotification.h"
+#include "kortex_driver/MappingInfoNotification.h"
+#include "kortex_driver/Base_ControlModeInformation.h"
+#include "kortex_driver/ControlModeNotification.h"
+#include "kortex_driver/ServoingModeInformation.h"
+#include "kortex_driver/OperatingModeInformation.h"
+#include "kortex_driver/OperatingModeNotification.h"
+#include "kortex_driver/ServoingModeNotification.h"
+#include "kortex_driver/SequenceInfoNotification.h"
+#include "kortex_driver/SequenceInformation.h"
+#include "kortex_driver/ProtectionZoneNotification.h"
+#include "kortex_driver/ProtectionZoneInformation.h"
+#include "kortex_driver/UserNotification.h"
+#include "kortex_driver/ControllerHandle.h"
+#include "kortex_driver/ControllerElementHandle.h"
+#include "kortex_driver/ControllerNotification.h"
+#include "kortex_driver/ControllerList.h"
+#include "kortex_driver/ControllerState.h"
+#include "kortex_driver/ControllerElementState.h"
+#include "kortex_driver/ActionNotification.h"
+#include "kortex_driver/ActionExecutionState.h"
+#include "kortex_driver/RobotEventNotification.h"
+#include "kortex_driver/FactoryNotification.h"
+#include "kortex_driver/NetworkNotification.h"
+#include "kortex_driver/ConfigurationChangeNotificationList.h"
+#include "kortex_driver/MappingInfoNotificationList.h"
+#include "kortex_driver/ControlModeNotificationList.h"
+#include "kortex_driver/OperatingModeNotificationList.h"
+#include "kortex_driver/ServoingModeNotificationList.h"
+#include "kortex_driver/SequenceInfoNotificationList.h"
+#include "kortex_driver/ProtectionZoneNotificationList.h"
+#include "kortex_driver/UserNotificationList.h"
+#include "kortex_driver/SafetyNotificationList.h"
+#include "kortex_driver/ControllerNotificationList.h"
+#include "kortex_driver/ActionNotificationList.h"
+#include "kortex_driver/RobotEventNotificationList.h"
+#include "kortex_driver/NetworkNotificationList.h"
+#include "kortex_driver/MappingHandle.h"
+#include "kortex_driver/SafetyEvent.h"
+#include "kortex_driver/ControllerEvent.h"
+#include "kortex_driver/GpioEvent.h"
+#include "kortex_driver/MapEvent.h"
+#include "kortex_driver/MapElement.h"
+#include "kortex_driver/ActivateMapHandle.h"
+#include "kortex_driver/Map.h"
+#include "kortex_driver/MapHandle.h"
+#include "kortex_driver/MapList.h"
+#include "kortex_driver/MapGroupHandle.h"
+#include "kortex_driver/MapGroup.h"
+#include "kortex_driver/MapGroupList.h"
+#include "kortex_driver/Mapping.h"
+#include "kortex_driver/MappingList.h"
+#include "kortex_driver/TransformationMatrix.h"
+#include "kortex_driver/TransformationRow.h"
+#include "kortex_driver/Pose.h"
+#include "kortex_driver/Base_Position.h"
+#include "kortex_driver/Orientation.h"
+#include "kortex_driver/CartesianSpeed.h"
+#include "kortex_driver/CartesianTrajectoryConstraint.h"
+#include "kortex_driver/JointTrajectoryConstraint.h"
+#include "kortex_driver/Wrench.h"
+#include "kortex_driver/Twist.h"
+#include "kortex_driver/Admittance.h"
+#include "kortex_driver/ConstrainedPose.h"
+#include "kortex_driver/ConstrainedPosition.h"
+#include "kortex_driver/ConstrainedOrientation.h"
+#include "kortex_driver/WrenchCommand.h"
+#include "kortex_driver/TwistCommand.h"
+#include "kortex_driver/ConstrainedJointAngles.h"
+#include "kortex_driver/ConstrainedJointAngle.h"
+#include "kortex_driver/JointAngles.h"
+#include "kortex_driver/JointAngle.h"
+#include "kortex_driver/Base_JointSpeeds.h"
+#include "kortex_driver/JointSpeed.h"
+#include "kortex_driver/JointTorques.h"
+#include "kortex_driver/JointTorque.h"
+#include "kortex_driver/GripperCommand.h"
+#include "kortex_driver/GripperRequest.h"
+#include "kortex_driver/Gripper.h"
+#include "kortex_driver/Finger.h"
+#include "kortex_driver/SystemTime.h"
+#include "kortex_driver/ControllerConfigurationMode.h"
+#include "kortex_driver/ControllerConfiguration.h"
+#include "kortex_driver/ControllerConfigurationList.h"
+#include "kortex_driver/ActuatorInformation.h"
+#include "kortex_driver/ArmStateInformation.h"
+#include "kortex_driver/ArmStateNotification.h"
+#include "kortex_driver/Base_CapSenseConfig.h"
+#include "kortex_driver/BridgeList.h"
+#include "kortex_driver/BridgeResult.h"
+#include "kortex_driver/BridgeIdentifier.h"
+#include "kortex_driver/BridgeConfig.h"
+#include "kortex_driver/BridgePortConfig.h"
+#include "kortex_driver/PreComputedJointTrajectory.h"
+#include "kortex_driver/PreComputedJointTrajectoryElement.h"
+#include "kortex_driver/TrajectoryErrorElement.h"
+#include "kortex_driver/TrajectoryErrorReport.h"
+#include "kortex_driver/FirmwareBundleVersions.h"
+#include "kortex_driver/FirmwareComponentVersion.h"
+
+
+int ToProtoData(kortex_driver::FullUserProfile input, Kinova::Api::Base::FullUserProfile *output);
+int ToProtoData(kortex_driver::UserProfile input, Kinova::Api::Base::UserProfile *output);
+int ToProtoData(kortex_driver::UserProfileList input, Kinova::Api::Base::UserProfileList *output);
+int ToProtoData(kortex_driver::UserList input, Kinova::Api::Base::UserList *output);
+int ToProtoData(kortex_driver::PasswordChange input, Kinova::Api::Base::PasswordChange *output);
+int ToProtoData(kortex_driver::SequenceHandle input, Kinova::Api::Base::SequenceHandle *output);
+int ToProtoData(kortex_driver::AdvancedSequenceHandle input, Kinova::Api::Base::AdvancedSequenceHandle *output);
+int ToProtoData(kortex_driver::SequenceTaskHandle input, Kinova::Api::Base::SequenceTaskHandle *output);
+int ToProtoData(kortex_driver::SequenceTask input, Kinova::Api::Base::SequenceTask *output);
+int ToProtoData(kortex_driver::SequenceTasks input, Kinova::Api::Base::SequenceTasks *output);
+int ToProtoData(kortex_driver::SequenceTasksConfiguration input, Kinova::Api::Base::SequenceTasksConfiguration *output);
+int ToProtoData(kortex_driver::SequenceTaskConfiguration input, Kinova::Api::Base::SequenceTaskConfiguration *output);
+int ToProtoData(kortex_driver::SequenceTasksRange input, Kinova::Api::Base::SequenceTasksRange *output);
+int ToProtoData(kortex_driver::SequenceTasksPair input, Kinova::Api::Base::SequenceTasksPair *output);
+int ToProtoData(kortex_driver::Sequence input, Kinova::Api::Base::Sequence *output);
+int ToProtoData(kortex_driver::SequenceList input, Kinova::Api::Base::SequenceList *output);
+int ToProtoData(kortex_driver::AppendActionInformation input, Kinova::Api::Base::AppendActionInformation *output);
+int ToProtoData(kortex_driver::ActionHandle input, Kinova::Api::Base::ActionHandle *output);
+int ToProtoData(kortex_driver::RequestedActionType input, Kinova::Api::Base::RequestedActionType *output);
+int ToProtoData(kortex_driver::Action input, Kinova::Api::Base::Action *output);
+int ToProtoData(kortex_driver::Snapshot input, Kinova::Api::Base::Snapshot *output);
+int ToProtoData(kortex_driver::SwitchControlMapping input, Kinova::Api::Base::SwitchControlMapping *output);
+int ToProtoData(kortex_driver::ChangeTwist input, Kinova::Api::Base::ChangeTwist *output);
+int ToProtoData(kortex_driver::ChangeJointSpeeds input, Kinova::Api::Base::ChangeJointSpeeds *output);
+int ToProtoData(kortex_driver::ChangeWrench input, Kinova::Api::Base::ChangeWrench *output);
+int ToProtoData(kortex_driver::EmergencyStop input, Kinova::Api::Base::EmergencyStop *output);
+int ToProtoData(kortex_driver::Faults input, Kinova::Api::Base::Faults *output);
+int ToProtoData(kortex_driver::Delay input, Kinova::Api::Base::Delay *output);
+int ToProtoData(kortex_driver::Base_Stop input, Kinova::Api::Base::Stop *output);
+int ToProtoData(kortex_driver::ActionList input, Kinova::Api::Base::ActionList *output);
+int ToProtoData(kortex_driver::Timeout input, Kinova::Api::Base::Timeout *output);
+int ToProtoData(kortex_driver::Ssid input, Kinova::Api::Base::Ssid *output);
+int ToProtoData(kortex_driver::CommunicationInterfaceConfiguration input, Kinova::Api::Base::CommunicationInterfaceConfiguration *output);
+int ToProtoData(kortex_driver::NetworkHandle input, Kinova::Api::Base::NetworkHandle *output);
+int ToProtoData(kortex_driver::IPv4Configuration input, Kinova::Api::Base::IPv4Configuration *output);
+int ToProtoData(kortex_driver::IPv4Information input, Kinova::Api::Base::IPv4Information *output);
+int ToProtoData(kortex_driver::FullIPv4Configuration input, Kinova::Api::Base::FullIPv4Configuration *output);
+int ToProtoData(kortex_driver::WifiInformation input, Kinova::Api::Base::WifiInformation *output);
+int ToProtoData(kortex_driver::WifiInformationList input, Kinova::Api::Base::WifiInformationList *output);
+int ToProtoData(kortex_driver::WifiConfiguration input, Kinova::Api::Base::WifiConfiguration *output);
+int ToProtoData(kortex_driver::WifiConfigurationList input, Kinova::Api::Base::WifiConfigurationList *output);
+int ToProtoData(kortex_driver::ProtectionZoneHandle input, Kinova::Api::Base::ProtectionZoneHandle *output);
+int ToProtoData(kortex_driver::Base_RotationMatrixRow input, Kinova::Api::Base::RotationMatrixRow *output);
+int ToProtoData(kortex_driver::Base_RotationMatrix input, Kinova::Api::Base::RotationMatrix *output);
+int ToProtoData(kortex_driver::Point input, Kinova::Api::Base::Point *output);
+int ToProtoData(kortex_driver::ZoneShape input, Kinova::Api::Base::ZoneShape *output);
+int ToProtoData(kortex_driver::ProtectionZone input, Kinova::Api::Base::ProtectionZone *output);
+int ToProtoData(kortex_driver::ProtectionZoneList input, Kinova::Api::Base::ProtectionZoneList *output);
+int ToProtoData(kortex_driver::CartesianLimitation input, Kinova::Api::Base::CartesianLimitation *output);
+int ToProtoData(kortex_driver::TwistLimitation input, Kinova::Api::Base::TwistLimitation *output);
+int ToProtoData(kortex_driver::WrenchLimitation input, Kinova::Api::Base::WrenchLimitation *output);
+int ToProtoData(kortex_driver::CartesianLimitationList input, Kinova::Api::Base::CartesianLimitationList *output);
+int ToProtoData(kortex_driver::JointLimitation input, Kinova::Api::Base::JointLimitation *output);
+int ToProtoData(kortex_driver::JointsLimitationsList input, Kinova::Api::Base::JointsLimitationsList *output);
+int ToProtoData(kortex_driver::Query input, Kinova::Api::Base::Query *output);
+int ToProtoData(kortex_driver::ConfigurationChangeNotification input, Kinova::Api::Base::ConfigurationChangeNotification *output);
+int ToProtoData(kortex_driver::MappingInfoNotification input, Kinova::Api::Base::MappingInfoNotification *output);
+int ToProtoData(kortex_driver::Base_ControlModeInformation input, Kinova::Api::Base::ControlModeInformation *output);
+int ToProtoData(kortex_driver::ControlModeNotification input, Kinova::Api::Base::ControlModeNotification *output);
+int ToProtoData(kortex_driver::ServoingModeInformation input, Kinova::Api::Base::ServoingModeInformation *output);
+int ToProtoData(kortex_driver::OperatingModeInformation input, Kinova::Api::Base::OperatingModeInformation *output);
+int ToProtoData(kortex_driver::OperatingModeNotification input, Kinova::Api::Base::OperatingModeNotification *output);
+int ToProtoData(kortex_driver::ServoingModeNotification input, Kinova::Api::Base::ServoingModeNotification *output);
+int ToProtoData(kortex_driver::SequenceInfoNotification input, Kinova::Api::Base::SequenceInfoNotification *output);
+int ToProtoData(kortex_driver::SequenceInformation input, Kinova::Api::Base::SequenceInformation *output);
+int ToProtoData(kortex_driver::ProtectionZoneNotification input, Kinova::Api::Base::ProtectionZoneNotification *output);
+int ToProtoData(kortex_driver::ProtectionZoneInformation input, Kinova::Api::Base::ProtectionZoneInformation *output);
+int ToProtoData(kortex_driver::UserNotification input, Kinova::Api::Base::UserNotification *output);
+int ToProtoData(kortex_driver::ControllerHandle input, Kinova::Api::Base::ControllerHandle *output);
+int ToProtoData(kortex_driver::ControllerElementHandle input, Kinova::Api::Base::ControllerElementHandle *output);
+int ToProtoData(kortex_driver::ControllerNotification input, Kinova::Api::Base::ControllerNotification *output);
+int ToProtoData(kortex_driver::ControllerList input, Kinova::Api::Base::ControllerList *output);
+int ToProtoData(kortex_driver::ControllerState input, Kinova::Api::Base::ControllerState *output);
+int ToProtoData(kortex_driver::ControllerElementState input, Kinova::Api::Base::ControllerElementState *output);
+int ToProtoData(kortex_driver::ActionNotification input, Kinova::Api::Base::ActionNotification *output);
+int ToProtoData(kortex_driver::ActionExecutionState input, Kinova::Api::Base::ActionExecutionState *output);
+int ToProtoData(kortex_driver::RobotEventNotification input, Kinova::Api::Base::RobotEventNotification *output);
+int ToProtoData(kortex_driver::FactoryNotification input, Kinova::Api::Base::FactoryNotification *output);
+int ToProtoData(kortex_driver::NetworkNotification input, Kinova::Api::Base::NetworkNotification *output);
+int ToProtoData(kortex_driver::ConfigurationChangeNotificationList input, Kinova::Api::Base::ConfigurationChangeNotificationList *output);
+int ToProtoData(kortex_driver::MappingInfoNotificationList input, Kinova::Api::Base::MappingInfoNotificationList *output);
+int ToProtoData(kortex_driver::ControlModeNotificationList input, Kinova::Api::Base::ControlModeNotificationList *output);
+int ToProtoData(kortex_driver::OperatingModeNotificationList input, Kinova::Api::Base::OperatingModeNotificationList *output);
+int ToProtoData(kortex_driver::ServoingModeNotificationList input, Kinova::Api::Base::ServoingModeNotificationList *output);
+int ToProtoData(kortex_driver::SequenceInfoNotificationList input, Kinova::Api::Base::SequenceInfoNotificationList *output);
+int ToProtoData(kortex_driver::ProtectionZoneNotificationList input, Kinova::Api::Base::ProtectionZoneNotificationList *output);
+int ToProtoData(kortex_driver::UserNotificationList input, Kinova::Api::Base::UserNotificationList *output);
+int ToProtoData(kortex_driver::SafetyNotificationList input, Kinova::Api::Base::SafetyNotificationList *output);
+int ToProtoData(kortex_driver::ControllerNotificationList input, Kinova::Api::Base::ControllerNotificationList *output);
+int ToProtoData(kortex_driver::ActionNotificationList input, Kinova::Api::Base::ActionNotificationList *output);
+int ToProtoData(kortex_driver::RobotEventNotificationList input, Kinova::Api::Base::RobotEventNotificationList *output);
+int ToProtoData(kortex_driver::NetworkNotificationList input, Kinova::Api::Base::NetworkNotificationList *output);
+int ToProtoData(kortex_driver::MappingHandle input, Kinova::Api::Base::MappingHandle *output);
+int ToProtoData(kortex_driver::SafetyEvent input, Kinova::Api::Base::SafetyEvent *output);
+int ToProtoData(kortex_driver::ControllerEvent input, Kinova::Api::Base::ControllerEvent *output);
+int ToProtoData(kortex_driver::GpioEvent input, Kinova::Api::Base::GpioEvent *output);
+int ToProtoData(kortex_driver::MapEvent input, Kinova::Api::Base::MapEvent *output);
+int ToProtoData(kortex_driver::MapElement input, Kinova::Api::Base::MapElement *output);
+int ToProtoData(kortex_driver::ActivateMapHandle input, Kinova::Api::Base::ActivateMapHandle *output);
+int ToProtoData(kortex_driver::Map input, Kinova::Api::Base::Map *output);
+int ToProtoData(kortex_driver::MapHandle input, Kinova::Api::Base::MapHandle *output);
+int ToProtoData(kortex_driver::MapList input, Kinova::Api::Base::MapList *output);
+int ToProtoData(kortex_driver::MapGroupHandle input, Kinova::Api::Base::MapGroupHandle *output);
+int ToProtoData(kortex_driver::MapGroup input, Kinova::Api::Base::MapGroup *output);
+int ToProtoData(kortex_driver::MapGroupList input, Kinova::Api::Base::MapGroupList *output);
+int ToProtoData(kortex_driver::Mapping input, Kinova::Api::Base::Mapping *output);
+int ToProtoData(kortex_driver::MappingList input, Kinova::Api::Base::MappingList *output);
+int ToProtoData(kortex_driver::TransformationMatrix input, Kinova::Api::Base::TransformationMatrix *output);
+int ToProtoData(kortex_driver::TransformationRow input, Kinova::Api::Base::TransformationRow *output);
+int ToProtoData(kortex_driver::Pose input, Kinova::Api::Base::Pose *output);
+int ToProtoData(kortex_driver::Base_Position input, Kinova::Api::Base::Position *output);
+int ToProtoData(kortex_driver::Orientation input, Kinova::Api::Base::Orientation *output);
+int ToProtoData(kortex_driver::CartesianSpeed input, Kinova::Api::Base::CartesianSpeed *output);
+int ToProtoData(kortex_driver::CartesianTrajectoryConstraint input, Kinova::Api::Base::CartesianTrajectoryConstraint *output);
+int ToProtoData(kortex_driver::JointTrajectoryConstraint input, Kinova::Api::Base::JointTrajectoryConstraint *output);
+int ToProtoData(kortex_driver::Wrench input, Kinova::Api::Base::Wrench *output);
+int ToProtoData(kortex_driver::Twist input, Kinova::Api::Base::Twist *output);
+int ToProtoData(kortex_driver::Admittance input, Kinova::Api::Base::Admittance *output);
+int ToProtoData(kortex_driver::ConstrainedPose input, Kinova::Api::Base::ConstrainedPose *output);
+int ToProtoData(kortex_driver::ConstrainedPosition input, Kinova::Api::Base::ConstrainedPosition *output);
+int ToProtoData(kortex_driver::ConstrainedOrientation input, Kinova::Api::Base::ConstrainedOrientation *output);
+int ToProtoData(kortex_driver::WrenchCommand input, Kinova::Api::Base::WrenchCommand *output);
+int ToProtoData(kortex_driver::TwistCommand input, Kinova::Api::Base::TwistCommand *output);
+int ToProtoData(kortex_driver::ConstrainedJointAngles input, Kinova::Api::Base::ConstrainedJointAngles *output);
+int ToProtoData(kortex_driver::ConstrainedJointAngle input, Kinova::Api::Base::ConstrainedJointAngle *output);
+int ToProtoData(kortex_driver::JointAngles input, Kinova::Api::Base::JointAngles *output);
+int ToProtoData(kortex_driver::JointAngle input, Kinova::Api::Base::JointAngle *output);
+int ToProtoData(kortex_driver::Base_JointSpeeds input, Kinova::Api::Base::JointSpeeds *output);
+int ToProtoData(kortex_driver::JointSpeed input, Kinova::Api::Base::JointSpeed *output);
+int ToProtoData(kortex_driver::JointTorques input, Kinova::Api::Base::JointTorques *output);
+int ToProtoData(kortex_driver::JointTorque input, Kinova::Api::Base::JointTorque *output);
+int ToProtoData(kortex_driver::GripperCommand input, Kinova::Api::Base::GripperCommand *output);
+int ToProtoData(kortex_driver::GripperRequest input, Kinova::Api::Base::GripperRequest *output);
+int ToProtoData(kortex_driver::Gripper input, Kinova::Api::Base::Gripper *output);
+int ToProtoData(kortex_driver::Finger input, Kinova::Api::Base::Finger *output);
+int ToProtoData(kortex_driver::SystemTime input, Kinova::Api::Base::SystemTime *output);
+int ToProtoData(kortex_driver::ControllerConfigurationMode input, Kinova::Api::Base::ControllerConfigurationMode *output);
+int ToProtoData(kortex_driver::ControllerConfiguration input, Kinova::Api::Base::ControllerConfiguration *output);
+int ToProtoData(kortex_driver::ControllerConfigurationList input, Kinova::Api::Base::ControllerConfigurationList *output);
+int ToProtoData(kortex_driver::ActuatorInformation input, Kinova::Api::Base::ActuatorInformation *output);
+int ToProtoData(kortex_driver::ArmStateInformation input, Kinova::Api::Base::ArmStateInformation *output);
+int ToProtoData(kortex_driver::ArmStateNotification input, Kinova::Api::Base::ArmStateNotification *output);
+int ToProtoData(kortex_driver::Base_CapSenseConfig input, Kinova::Api::Base::CapSenseConfig *output);
+int ToProtoData(kortex_driver::BridgeList input, Kinova::Api::Base::BridgeList *output);
+int ToProtoData(kortex_driver::BridgeResult input, Kinova::Api::Base::BridgeResult *output);
+int ToProtoData(kortex_driver::BridgeIdentifier input, Kinova::Api::Base::BridgeIdentifier *output);
+int ToProtoData(kortex_driver::BridgeConfig input, Kinova::Api::Base::BridgeConfig *output);
+int ToProtoData(kortex_driver::BridgePortConfig input, Kinova::Api::Base::BridgePortConfig *output);
+int ToProtoData(kortex_driver::PreComputedJointTrajectory input, Kinova::Api::Base::PreComputedJointTrajectory *output);
+int ToProtoData(kortex_driver::PreComputedJointTrajectoryElement input, Kinova::Api::Base::PreComputedJointTrajectoryElement *output);
+int ToProtoData(kortex_driver::TrajectoryErrorElement input, Kinova::Api::Base::TrajectoryErrorElement *output);
+int ToProtoData(kortex_driver::TrajectoryErrorReport input, Kinova::Api::Base::TrajectoryErrorReport *output);
+int ToProtoData(kortex_driver::FirmwareBundleVersions input, Kinova::Api::Base::FirmwareBundleVersions *output);
+int ToProtoData(kortex_driver::FirmwareComponentVersion input, Kinova::Api::Base::FirmwareComponentVersion *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/base_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/base_ros_converter.h
new file mode 100644
index 0000000..0cb57ed
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/base_ros_converter.h
@@ -0,0 +1,355 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_BASE_ROS_CONVERTER_H_
+#define _KORTEX_BASE_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <Base.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/FullUserProfile.h"
+#include "kortex_driver/UserProfile.h"
+#include "kortex_driver/UserProfileList.h"
+#include "kortex_driver/UserList.h"
+#include "kortex_driver/PasswordChange.h"
+#include "kortex_driver/SequenceHandle.h"
+#include "kortex_driver/AdvancedSequenceHandle.h"
+#include "kortex_driver/SequenceTaskHandle.h"
+#include "kortex_driver/SequenceTask.h"
+#include "kortex_driver/SequenceTasks.h"
+#include "kortex_driver/SequenceTasksConfiguration.h"
+#include "kortex_driver/SequenceTaskConfiguration.h"
+#include "kortex_driver/SequenceTasksRange.h"
+#include "kortex_driver/SequenceTasksPair.h"
+#include "kortex_driver/Sequence.h"
+#include "kortex_driver/SequenceList.h"
+#include "kortex_driver/AppendActionInformation.h"
+#include "kortex_driver/ActionHandle.h"
+#include "kortex_driver/RequestedActionType.h"
+#include "kortex_driver/Action.h"
+#include "kortex_driver/Snapshot.h"
+#include "kortex_driver/SwitchControlMapping.h"
+#include "kortex_driver/ChangeTwist.h"
+#include "kortex_driver/ChangeJointSpeeds.h"
+#include "kortex_driver/ChangeWrench.h"
+#include "kortex_driver/EmergencyStop.h"
+#include "kortex_driver/Faults.h"
+#include "kortex_driver/Delay.h"
+#include "kortex_driver/Base_Stop.h"
+#include "kortex_driver/ActionList.h"
+#include "kortex_driver/Timeout.h"
+#include "kortex_driver/Ssid.h"
+#include "kortex_driver/CommunicationInterfaceConfiguration.h"
+#include "kortex_driver/NetworkHandle.h"
+#include "kortex_driver/IPv4Configuration.h"
+#include "kortex_driver/IPv4Information.h"
+#include "kortex_driver/FullIPv4Configuration.h"
+#include "kortex_driver/WifiInformation.h"
+#include "kortex_driver/WifiInformationList.h"
+#include "kortex_driver/WifiConfiguration.h"
+#include "kortex_driver/WifiConfigurationList.h"
+#include "kortex_driver/ProtectionZoneHandle.h"
+#include "kortex_driver/Base_RotationMatrixRow.h"
+#include "kortex_driver/Base_RotationMatrix.h"
+#include "kortex_driver/Point.h"
+#include "kortex_driver/ZoneShape.h"
+#include "kortex_driver/ProtectionZone.h"
+#include "kortex_driver/ProtectionZoneList.h"
+#include "kortex_driver/CartesianLimitation.h"
+#include "kortex_driver/TwistLimitation.h"
+#include "kortex_driver/WrenchLimitation.h"
+#include "kortex_driver/CartesianLimitationList.h"
+#include "kortex_driver/JointLimitation.h"
+#include "kortex_driver/JointsLimitationsList.h"
+#include "kortex_driver/Query.h"
+#include "kortex_driver/ConfigurationChangeNotification.h"
+#include "kortex_driver/MappingInfoNotification.h"
+#include "kortex_driver/Base_ControlModeInformation.h"
+#include "kortex_driver/ControlModeNotification.h"
+#include "kortex_driver/ServoingModeInformation.h"
+#include "kortex_driver/OperatingModeInformation.h"
+#include "kortex_driver/OperatingModeNotification.h"
+#include "kortex_driver/ServoingModeNotification.h"
+#include "kortex_driver/SequenceInfoNotification.h"
+#include "kortex_driver/SequenceInformation.h"
+#include "kortex_driver/ProtectionZoneNotification.h"
+#include "kortex_driver/ProtectionZoneInformation.h"
+#include "kortex_driver/UserNotification.h"
+#include "kortex_driver/ControllerHandle.h"
+#include "kortex_driver/ControllerElementHandle.h"
+#include "kortex_driver/ControllerNotification.h"
+#include "kortex_driver/ControllerList.h"
+#include "kortex_driver/ControllerState.h"
+#include "kortex_driver/ControllerElementState.h"
+#include "kortex_driver/ActionNotification.h"
+#include "kortex_driver/ActionExecutionState.h"
+#include "kortex_driver/RobotEventNotification.h"
+#include "kortex_driver/FactoryNotification.h"
+#include "kortex_driver/NetworkNotification.h"
+#include "kortex_driver/ConfigurationChangeNotificationList.h"
+#include "kortex_driver/MappingInfoNotificationList.h"
+#include "kortex_driver/ControlModeNotificationList.h"
+#include "kortex_driver/OperatingModeNotificationList.h"
+#include "kortex_driver/ServoingModeNotificationList.h"
+#include "kortex_driver/SequenceInfoNotificationList.h"
+#include "kortex_driver/ProtectionZoneNotificationList.h"
+#include "kortex_driver/UserNotificationList.h"
+#include "kortex_driver/SafetyNotificationList.h"
+#include "kortex_driver/ControllerNotificationList.h"
+#include "kortex_driver/ActionNotificationList.h"
+#include "kortex_driver/RobotEventNotificationList.h"
+#include "kortex_driver/NetworkNotificationList.h"
+#include "kortex_driver/MappingHandle.h"
+#include "kortex_driver/SafetyEvent.h"
+#include "kortex_driver/ControllerEvent.h"
+#include "kortex_driver/GpioEvent.h"
+#include "kortex_driver/MapEvent.h"
+#include "kortex_driver/MapElement.h"
+#include "kortex_driver/ActivateMapHandle.h"
+#include "kortex_driver/Map.h"
+#include "kortex_driver/MapHandle.h"
+#include "kortex_driver/MapList.h"
+#include "kortex_driver/MapGroupHandle.h"
+#include "kortex_driver/MapGroup.h"
+#include "kortex_driver/MapGroupList.h"
+#include "kortex_driver/Mapping.h"
+#include "kortex_driver/MappingList.h"
+#include "kortex_driver/TransformationMatrix.h"
+#include "kortex_driver/TransformationRow.h"
+#include "kortex_driver/Pose.h"
+#include "kortex_driver/Base_Position.h"
+#include "kortex_driver/Orientation.h"
+#include "kortex_driver/CartesianSpeed.h"
+#include "kortex_driver/CartesianTrajectoryConstraint.h"
+#include "kortex_driver/JointTrajectoryConstraint.h"
+#include "kortex_driver/Wrench.h"
+#include "kortex_driver/Twist.h"
+#include "kortex_driver/Admittance.h"
+#include "kortex_driver/ConstrainedPose.h"
+#include "kortex_driver/ConstrainedPosition.h"
+#include "kortex_driver/ConstrainedOrientation.h"
+#include "kortex_driver/WrenchCommand.h"
+#include "kortex_driver/TwistCommand.h"
+#include "kortex_driver/ConstrainedJointAngles.h"
+#include "kortex_driver/ConstrainedJointAngle.h"
+#include "kortex_driver/JointAngles.h"
+#include "kortex_driver/JointAngle.h"
+#include "kortex_driver/Base_JointSpeeds.h"
+#include "kortex_driver/JointSpeed.h"
+#include "kortex_driver/JointTorques.h"
+#include "kortex_driver/JointTorque.h"
+#include "kortex_driver/GripperCommand.h"
+#include "kortex_driver/GripperRequest.h"
+#include "kortex_driver/Gripper.h"
+#include "kortex_driver/Finger.h"
+#include "kortex_driver/SystemTime.h"
+#include "kortex_driver/ControllerConfigurationMode.h"
+#include "kortex_driver/ControllerConfiguration.h"
+#include "kortex_driver/ControllerConfigurationList.h"
+#include "kortex_driver/ActuatorInformation.h"
+#include "kortex_driver/ArmStateInformation.h"
+#include "kortex_driver/ArmStateNotification.h"
+#include "kortex_driver/Base_CapSenseConfig.h"
+#include "kortex_driver/BridgeList.h"
+#include "kortex_driver/BridgeResult.h"
+#include "kortex_driver/BridgeIdentifier.h"
+#include "kortex_driver/BridgeConfig.h"
+#include "kortex_driver/BridgePortConfig.h"
+#include "kortex_driver/PreComputedJointTrajectory.h"
+#include "kortex_driver/PreComputedJointTrajectoryElement.h"
+#include "kortex_driver/TrajectoryErrorElement.h"
+#include "kortex_driver/TrajectoryErrorReport.h"
+#include "kortex_driver/FirmwareBundleVersions.h"
+#include "kortex_driver/FirmwareComponentVersion.h"
+
+
+int ToRosData(Kinova::Api::Base::FullUserProfile input, kortex_driver::FullUserProfile &output);
+int ToRosData(Kinova::Api::Base::UserProfile input, kortex_driver::UserProfile &output);
+int ToRosData(Kinova::Api::Base::UserProfileList input, kortex_driver::UserProfileList &output);
+int ToRosData(Kinova::Api::Base::UserList input, kortex_driver::UserList &output);
+int ToRosData(Kinova::Api::Base::PasswordChange input, kortex_driver::PasswordChange &output);
+int ToRosData(Kinova::Api::Base::SequenceHandle input, kortex_driver::SequenceHandle &output);
+int ToRosData(Kinova::Api::Base::AdvancedSequenceHandle input, kortex_driver::AdvancedSequenceHandle &output);
+int ToRosData(Kinova::Api::Base::SequenceTaskHandle input, kortex_driver::SequenceTaskHandle &output);
+int ToRosData(Kinova::Api::Base::SequenceTask input, kortex_driver::SequenceTask &output);
+int ToRosData(Kinova::Api::Base::SequenceTasks input, kortex_driver::SequenceTasks &output);
+int ToRosData(Kinova::Api::Base::SequenceTasksConfiguration input, kortex_driver::SequenceTasksConfiguration &output);
+int ToRosData(Kinova::Api::Base::SequenceTaskConfiguration input, kortex_driver::SequenceTaskConfiguration &output);
+int ToRosData(Kinova::Api::Base::SequenceTasksRange input, kortex_driver::SequenceTasksRange &output);
+int ToRosData(Kinova::Api::Base::SequenceTasksPair input, kortex_driver::SequenceTasksPair &output);
+int ToRosData(Kinova::Api::Base::Sequence input, kortex_driver::Sequence &output);
+int ToRosData(Kinova::Api::Base::SequenceList input, kortex_driver::SequenceList &output);
+int ToRosData(Kinova::Api::Base::AppendActionInformation input, kortex_driver::AppendActionInformation &output);
+int ToRosData(Kinova::Api::Base::ActionHandle input, kortex_driver::ActionHandle &output);
+int ToRosData(Kinova::Api::Base::RequestedActionType input, kortex_driver::RequestedActionType &output);
+int ToRosData(Kinova::Api::Base::Action input, kortex_driver::Action &output);
+int ToRosData(Kinova::Api::Base::Snapshot input, kortex_driver::Snapshot &output);
+int ToRosData(Kinova::Api::Base::SwitchControlMapping input, kortex_driver::SwitchControlMapping &output);
+int ToRosData(Kinova::Api::Base::ChangeTwist input, kortex_driver::ChangeTwist &output);
+int ToRosData(Kinova::Api::Base::ChangeJointSpeeds input, kortex_driver::ChangeJointSpeeds &output);
+int ToRosData(Kinova::Api::Base::ChangeWrench input, kortex_driver::ChangeWrench &output);
+int ToRosData(Kinova::Api::Base::EmergencyStop input, kortex_driver::EmergencyStop &output);
+int ToRosData(Kinova::Api::Base::Faults input, kortex_driver::Faults &output);
+int ToRosData(Kinova::Api::Base::Delay input, kortex_driver::Delay &output);
+int ToRosData(Kinova::Api::Base::Stop input, kortex_driver::Base_Stop &output);
+int ToRosData(Kinova::Api::Base::ActionList input, kortex_driver::ActionList &output);
+int ToRosData(Kinova::Api::Base::Timeout input, kortex_driver::Timeout &output);
+int ToRosData(Kinova::Api::Base::Ssid input, kortex_driver::Ssid &output);
+int ToRosData(Kinova::Api::Base::CommunicationInterfaceConfiguration input, kortex_driver::CommunicationInterfaceConfiguration &output);
+int ToRosData(Kinova::Api::Base::NetworkHandle input, kortex_driver::NetworkHandle &output);
+int ToRosData(Kinova::Api::Base::IPv4Configuration input, kortex_driver::IPv4Configuration &output);
+int ToRosData(Kinova::Api::Base::IPv4Information input, kortex_driver::IPv4Information &output);
+int ToRosData(Kinova::Api::Base::FullIPv4Configuration input, kortex_driver::FullIPv4Configuration &output);
+int ToRosData(Kinova::Api::Base::WifiInformation input, kortex_driver::WifiInformation &output);
+int ToRosData(Kinova::Api::Base::WifiInformationList input, kortex_driver::WifiInformationList &output);
+int ToRosData(Kinova::Api::Base::WifiConfiguration input, kortex_driver::WifiConfiguration &output);
+int ToRosData(Kinova::Api::Base::WifiConfigurationList input, kortex_driver::WifiConfigurationList &output);
+int ToRosData(Kinova::Api::Base::ProtectionZoneHandle input, kortex_driver::ProtectionZoneHandle &output);
+int ToRosData(Kinova::Api::Base::RotationMatrixRow input, kortex_driver::Base_RotationMatrixRow &output);
+int ToRosData(Kinova::Api::Base::RotationMatrix input, kortex_driver::Base_RotationMatrix &output);
+int ToRosData(Kinova::Api::Base::Point input, kortex_driver::Point &output);
+int ToRosData(Kinova::Api::Base::ZoneShape input, kortex_driver::ZoneShape &output);
+int ToRosData(Kinova::Api::Base::ProtectionZone input, kortex_driver::ProtectionZone &output);
+int ToRosData(Kinova::Api::Base::ProtectionZoneList input, kortex_driver::ProtectionZoneList &output);
+int ToRosData(Kinova::Api::Base::CartesianLimitation input, kortex_driver::CartesianLimitation &output);
+int ToRosData(Kinova::Api::Base::TwistLimitation input, kortex_driver::TwistLimitation &output);
+int ToRosData(Kinova::Api::Base::WrenchLimitation input, kortex_driver::WrenchLimitation &output);
+int ToRosData(Kinova::Api::Base::CartesianLimitationList input, kortex_driver::CartesianLimitationList &output);
+int ToRosData(Kinova::Api::Base::JointLimitation input, kortex_driver::JointLimitation &output);
+int ToRosData(Kinova::Api::Base::JointsLimitationsList input, kortex_driver::JointsLimitationsList &output);
+int ToRosData(Kinova::Api::Base::Query input, kortex_driver::Query &output);
+int ToRosData(Kinova::Api::Base::ConfigurationChangeNotification input, kortex_driver::ConfigurationChangeNotification &output);
+int ToRosData(Kinova::Api::Base::MappingInfoNotification input, kortex_driver::MappingInfoNotification &output);
+int ToRosData(Kinova::Api::Base::ControlModeInformation input, kortex_driver::Base_ControlModeInformation &output);
+int ToRosData(Kinova::Api::Base::ControlModeNotification input, kortex_driver::ControlModeNotification &output);
+int ToRosData(Kinova::Api::Base::ServoingModeInformation input, kortex_driver::ServoingModeInformation &output);
+int ToRosData(Kinova::Api::Base::OperatingModeInformation input, kortex_driver::OperatingModeInformation &output);
+int ToRosData(Kinova::Api::Base::OperatingModeNotification input, kortex_driver::OperatingModeNotification &output);
+int ToRosData(Kinova::Api::Base::ServoingModeNotification input, kortex_driver::ServoingModeNotification &output);
+int ToRosData(Kinova::Api::Base::SequenceInfoNotification input, kortex_driver::SequenceInfoNotification &output);
+int ToRosData(Kinova::Api::Base::SequenceInformation input, kortex_driver::SequenceInformation &output);
+int ToRosData(Kinova::Api::Base::ProtectionZoneNotification input, kortex_driver::ProtectionZoneNotification &output);
+int ToRosData(Kinova::Api::Base::ProtectionZoneInformation input, kortex_driver::ProtectionZoneInformation &output);
+int ToRosData(Kinova::Api::Base::UserNotification input, kortex_driver::UserNotification &output);
+int ToRosData(Kinova::Api::Base::ControllerHandle input, kortex_driver::ControllerHandle &output);
+int ToRosData(Kinova::Api::Base::ControllerElementHandle input, kortex_driver::ControllerElementHandle &output);
+int ToRosData(Kinova::Api::Base::ControllerNotification input, kortex_driver::ControllerNotification &output);
+int ToRosData(Kinova::Api::Base::ControllerList input, kortex_driver::ControllerList &output);
+int ToRosData(Kinova::Api::Base::ControllerState input, kortex_driver::ControllerState &output);
+int ToRosData(Kinova::Api::Base::ControllerElementState input, kortex_driver::ControllerElementState &output);
+int ToRosData(Kinova::Api::Base::ActionNotification input, kortex_driver::ActionNotification &output);
+int ToRosData(Kinova::Api::Base::ActionExecutionState input, kortex_driver::ActionExecutionState &output);
+int ToRosData(Kinova::Api::Base::RobotEventNotification input, kortex_driver::RobotEventNotification &output);
+int ToRosData(Kinova::Api::Base::FactoryNotification input, kortex_driver::FactoryNotification &output);
+int ToRosData(Kinova::Api::Base::NetworkNotification input, kortex_driver::NetworkNotification &output);
+int ToRosData(Kinova::Api::Base::ConfigurationChangeNotificationList input, kortex_driver::ConfigurationChangeNotificationList &output);
+int ToRosData(Kinova::Api::Base::MappingInfoNotificationList input, kortex_driver::MappingInfoNotificationList &output);
+int ToRosData(Kinova::Api::Base::ControlModeNotificationList input, kortex_driver::ControlModeNotificationList &output);
+int ToRosData(Kinova::Api::Base::OperatingModeNotificationList input, kortex_driver::OperatingModeNotificationList &output);
+int ToRosData(Kinova::Api::Base::ServoingModeNotificationList input, kortex_driver::ServoingModeNotificationList &output);
+int ToRosData(Kinova::Api::Base::SequenceInfoNotificationList input, kortex_driver::SequenceInfoNotificationList &output);
+int ToRosData(Kinova::Api::Base::ProtectionZoneNotificationList input, kortex_driver::ProtectionZoneNotificationList &output);
+int ToRosData(Kinova::Api::Base::UserNotificationList input, kortex_driver::UserNotificationList &output);
+int ToRosData(Kinova::Api::Base::SafetyNotificationList input, kortex_driver::SafetyNotificationList &output);
+int ToRosData(Kinova::Api::Base::ControllerNotificationList input, kortex_driver::ControllerNotificationList &output);
+int ToRosData(Kinova::Api::Base::ActionNotificationList input, kortex_driver::ActionNotificationList &output);
+int ToRosData(Kinova::Api::Base::RobotEventNotificationList input, kortex_driver::RobotEventNotificationList &output);
+int ToRosData(Kinova::Api::Base::NetworkNotificationList input, kortex_driver::NetworkNotificationList &output);
+int ToRosData(Kinova::Api::Base::MappingHandle input, kortex_driver::MappingHandle &output);
+int ToRosData(Kinova::Api::Base::SafetyEvent input, kortex_driver::SafetyEvent &output);
+int ToRosData(Kinova::Api::Base::ControllerEvent input, kortex_driver::ControllerEvent &output);
+int ToRosData(Kinova::Api::Base::GpioEvent input, kortex_driver::GpioEvent &output);
+int ToRosData(Kinova::Api::Base::MapEvent input, kortex_driver::MapEvent &output);
+int ToRosData(Kinova::Api::Base::MapElement input, kortex_driver::MapElement &output);
+int ToRosData(Kinova::Api::Base::ActivateMapHandle input, kortex_driver::ActivateMapHandle &output);
+int ToRosData(Kinova::Api::Base::Map input, kortex_driver::Map &output);
+int ToRosData(Kinova::Api::Base::MapHandle input, kortex_driver::MapHandle &output);
+int ToRosData(Kinova::Api::Base::MapList input, kortex_driver::MapList &output);
+int ToRosData(Kinova::Api::Base::MapGroupHandle input, kortex_driver::MapGroupHandle &output);
+int ToRosData(Kinova::Api::Base::MapGroup input, kortex_driver::MapGroup &output);
+int ToRosData(Kinova::Api::Base::MapGroupList input, kortex_driver::MapGroupList &output);
+int ToRosData(Kinova::Api::Base::Mapping input, kortex_driver::Mapping &output);
+int ToRosData(Kinova::Api::Base::MappingList input, kortex_driver::MappingList &output);
+int ToRosData(Kinova::Api::Base::TransformationMatrix input, kortex_driver::TransformationMatrix &output);
+int ToRosData(Kinova::Api::Base::TransformationRow input, kortex_driver::TransformationRow &output);
+int ToRosData(Kinova::Api::Base::Pose input, kortex_driver::Pose &output);
+int ToRosData(Kinova::Api::Base::Position input, kortex_driver::Base_Position &output);
+int ToRosData(Kinova::Api::Base::Orientation input, kortex_driver::Orientation &output);
+int ToRosData(Kinova::Api::Base::CartesianSpeed input, kortex_driver::CartesianSpeed &output);
+int ToRosData(Kinova::Api::Base::CartesianTrajectoryConstraint input, kortex_driver::CartesianTrajectoryConstraint &output);
+int ToRosData(Kinova::Api::Base::JointTrajectoryConstraint input, kortex_driver::JointTrajectoryConstraint &output);
+int ToRosData(Kinova::Api::Base::Wrench input, kortex_driver::Wrench &output);
+int ToRosData(Kinova::Api::Base::Twist input, kortex_driver::Twist &output);
+int ToRosData(Kinova::Api::Base::Admittance input, kortex_driver::Admittance &output);
+int ToRosData(Kinova::Api::Base::ConstrainedPose input, kortex_driver::ConstrainedPose &output);
+int ToRosData(Kinova::Api::Base::ConstrainedPosition input, kortex_driver::ConstrainedPosition &output);
+int ToRosData(Kinova::Api::Base::ConstrainedOrientation input, kortex_driver::ConstrainedOrientation &output);
+int ToRosData(Kinova::Api::Base::WrenchCommand input, kortex_driver::WrenchCommand &output);
+int ToRosData(Kinova::Api::Base::TwistCommand input, kortex_driver::TwistCommand &output);
+int ToRosData(Kinova::Api::Base::ConstrainedJointAngles input, kortex_driver::ConstrainedJointAngles &output);
+int ToRosData(Kinova::Api::Base::ConstrainedJointAngle input, kortex_driver::ConstrainedJointAngle &output);
+int ToRosData(Kinova::Api::Base::JointAngles input, kortex_driver::JointAngles &output);
+int ToRosData(Kinova::Api::Base::JointAngle input, kortex_driver::JointAngle &output);
+int ToRosData(Kinova::Api::Base::JointSpeeds input, kortex_driver::Base_JointSpeeds &output);
+int ToRosData(Kinova::Api::Base::JointSpeed input, kortex_driver::JointSpeed &output);
+int ToRosData(Kinova::Api::Base::JointTorques input, kortex_driver::JointTorques &output);
+int ToRosData(Kinova::Api::Base::JointTorque input, kortex_driver::JointTorque &output);
+int ToRosData(Kinova::Api::Base::GripperCommand input, kortex_driver::GripperCommand &output);
+int ToRosData(Kinova::Api::Base::GripperRequest input, kortex_driver::GripperRequest &output);
+int ToRosData(Kinova::Api::Base::Gripper input, kortex_driver::Gripper &output);
+int ToRosData(Kinova::Api::Base::Finger input, kortex_driver::Finger &output);
+int ToRosData(Kinova::Api::Base::SystemTime input, kortex_driver::SystemTime &output);
+int ToRosData(Kinova::Api::Base::ControllerConfigurationMode input, kortex_driver::ControllerConfigurationMode &output);
+int ToRosData(Kinova::Api::Base::ControllerConfiguration input, kortex_driver::ControllerConfiguration &output);
+int ToRosData(Kinova::Api::Base::ControllerConfigurationList input, kortex_driver::ControllerConfigurationList &output);
+int ToRosData(Kinova::Api::Base::ActuatorInformation input, kortex_driver::ActuatorInformation &output);
+int ToRosData(Kinova::Api::Base::ArmStateInformation input, kortex_driver::ArmStateInformation &output);
+int ToRosData(Kinova::Api::Base::ArmStateNotification input, kortex_driver::ArmStateNotification &output);
+int ToRosData(Kinova::Api::Base::CapSenseConfig input, kortex_driver::Base_CapSenseConfig &output);
+int ToRosData(Kinova::Api::Base::BridgeList input, kortex_driver::BridgeList &output);
+int ToRosData(Kinova::Api::Base::BridgeResult input, kortex_driver::BridgeResult &output);
+int ToRosData(Kinova::Api::Base::BridgeIdentifier input, kortex_driver::BridgeIdentifier &output);
+int ToRosData(Kinova::Api::Base::BridgeConfig input, kortex_driver::BridgeConfig &output);
+int ToRosData(Kinova::Api::Base::BridgePortConfig input, kortex_driver::BridgePortConfig &output);
+int ToRosData(Kinova::Api::Base::PreComputedJointTrajectory input, kortex_driver::PreComputedJointTrajectory &output);
+int ToRosData(Kinova::Api::Base::PreComputedJointTrajectoryElement input, kortex_driver::PreComputedJointTrajectoryElement &output);
+int ToRosData(Kinova::Api::Base::TrajectoryErrorElement input, kortex_driver::TrajectoryErrorElement &output);
+int ToRosData(Kinova::Api::Base::TrajectoryErrorReport input, kortex_driver::TrajectoryErrorReport &output);
+int ToRosData(Kinova::Api::Base::FirmwareBundleVersions input, kortex_driver::FirmwareBundleVersions &output);
+int ToRosData(Kinova::Api::Base::FirmwareComponentVersion input, kortex_driver::FirmwareComponentVersion &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/base_services.h b/kortex_driver/include/kortex_driver/generated/robot/base_services.h
new file mode 100644
index 0000000..27c4832
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/base_services.h
@@ -0,0 +1,199 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_BASE_ROBOT_SERVICES_H_
+#define _KORTEX_BASE_ROBOT_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/base_services_interface.h"
+
+#include <Base.pb.h>
+#include <BaseClientRpc.h>
+
+using namespace std;
+
+class BaseRobotServices : public IBaseServices
+{
+    public:
+        BaseRobotServices(ros::NodeHandle& node_handle, Kinova::Api::Base::BaseClient* base, uint32_t device_id, uint32_t timeout_ms);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        virtual bool CreateUserProfile(kortex_driver::CreateUserProfile::Request  &req, kortex_driver::CreateUserProfile::Response &res) override;
+        virtual bool UpdateUserProfile(kortex_driver::UpdateUserProfile::Request  &req, kortex_driver::UpdateUserProfile::Response &res) override;
+        virtual bool ReadUserProfile(kortex_driver::ReadUserProfile::Request  &req, kortex_driver::ReadUserProfile::Response &res) override;
+        virtual bool DeleteUserProfile(kortex_driver::DeleteUserProfile::Request  &req, kortex_driver::DeleteUserProfile::Response &res) override;
+        virtual bool ReadAllUserProfiles(kortex_driver::ReadAllUserProfiles::Request  &req, kortex_driver::ReadAllUserProfiles::Response &res) override;
+        virtual bool ReadAllUsers(kortex_driver::ReadAllUsers::Request  &req, kortex_driver::ReadAllUsers::Response &res) override;
+        virtual bool ChangePassword(kortex_driver::ChangePassword::Request  &req, kortex_driver::ChangePassword::Response &res) override;
+        virtual bool CreateSequence(kortex_driver::CreateSequence::Request  &req, kortex_driver::CreateSequence::Response &res) override;
+        virtual bool UpdateSequence(kortex_driver::UpdateSequence::Request  &req, kortex_driver::UpdateSequence::Response &res) override;
+        virtual bool ReadSequence(kortex_driver::ReadSequence::Request  &req, kortex_driver::ReadSequence::Response &res) override;
+        virtual bool DeleteSequence(kortex_driver::DeleteSequence::Request  &req, kortex_driver::DeleteSequence::Response &res) override;
+        virtual bool ReadAllSequences(kortex_driver::ReadAllSequences::Request  &req, kortex_driver::ReadAllSequences::Response &res) override;
+        virtual bool PlaySequence(kortex_driver::PlaySequence::Request  &req, kortex_driver::PlaySequence::Response &res) override;
+        virtual bool PlayAdvancedSequence(kortex_driver::PlayAdvancedSequence::Request  &req, kortex_driver::PlayAdvancedSequence::Response &res) override;
+        virtual bool StopSequence(kortex_driver::StopSequence::Request  &req, kortex_driver::StopSequence::Response &res) override;
+        virtual bool PauseSequence(kortex_driver::PauseSequence::Request  &req, kortex_driver::PauseSequence::Response &res) override;
+        virtual bool ResumeSequence(kortex_driver::ResumeSequence::Request  &req, kortex_driver::ResumeSequence::Response &res) override;
+        virtual bool CreateProtectionZone(kortex_driver::CreateProtectionZone::Request  &req, kortex_driver::CreateProtectionZone::Response &res) override;
+        virtual bool UpdateProtectionZone(kortex_driver::UpdateProtectionZone::Request  &req, kortex_driver::UpdateProtectionZone::Response &res) override;
+        virtual bool ReadProtectionZone(kortex_driver::ReadProtectionZone::Request  &req, kortex_driver::ReadProtectionZone::Response &res) override;
+        virtual bool DeleteProtectionZone(kortex_driver::DeleteProtectionZone::Request  &req, kortex_driver::DeleteProtectionZone::Response &res) override;
+        virtual bool ReadAllProtectionZones(kortex_driver::ReadAllProtectionZones::Request  &req, kortex_driver::ReadAllProtectionZones::Response &res) override;
+        virtual bool CreateMapping(kortex_driver::CreateMapping::Request  &req, kortex_driver::CreateMapping::Response &res) override;
+        virtual bool ReadMapping(kortex_driver::ReadMapping::Request  &req, kortex_driver::ReadMapping::Response &res) override;
+        virtual bool UpdateMapping(kortex_driver::UpdateMapping::Request  &req, kortex_driver::UpdateMapping::Response &res) override;
+        virtual bool DeleteMapping(kortex_driver::DeleteMapping::Request  &req, kortex_driver::DeleteMapping::Response &res) override;
+        virtual bool ReadAllMappings(kortex_driver::ReadAllMappings::Request  &req, kortex_driver::ReadAllMappings::Response &res) override;
+        virtual bool CreateMap(kortex_driver::CreateMap::Request  &req, kortex_driver::CreateMap::Response &res) override;
+        virtual bool ReadMap(kortex_driver::ReadMap::Request  &req, kortex_driver::ReadMap::Response &res) override;
+        virtual bool UpdateMap(kortex_driver::UpdateMap::Request  &req, kortex_driver::UpdateMap::Response &res) override;
+        virtual bool DeleteMap(kortex_driver::DeleteMap::Request  &req, kortex_driver::DeleteMap::Response &res) override;
+        virtual bool ReadAllMaps(kortex_driver::ReadAllMaps::Request  &req, kortex_driver::ReadAllMaps::Response &res) override;
+        virtual bool ActivateMap(kortex_driver::ActivateMap::Request  &req, kortex_driver::ActivateMap::Response &res) override;
+        virtual bool CreateAction(kortex_driver::CreateAction::Request  &req, kortex_driver::CreateAction::Response &res) override;
+        virtual bool ReadAction(kortex_driver::ReadAction::Request  &req, kortex_driver::ReadAction::Response &res) override;
+        virtual bool ReadAllActions(kortex_driver::ReadAllActions::Request  &req, kortex_driver::ReadAllActions::Response &res) override;
+        virtual bool DeleteAction(kortex_driver::DeleteAction::Request  &req, kortex_driver::DeleteAction::Response &res) override;
+        virtual bool UpdateAction(kortex_driver::UpdateAction::Request  &req, kortex_driver::UpdateAction::Response &res) override;
+        virtual bool ExecuteActionFromReference(kortex_driver::ExecuteActionFromReference::Request  &req, kortex_driver::ExecuteActionFromReference::Response &res) override;
+        virtual bool ExecuteAction(kortex_driver::ExecuteAction::Request  &req, kortex_driver::ExecuteAction::Response &res) override;
+        virtual bool PauseAction(kortex_driver::PauseAction::Request  &req, kortex_driver::PauseAction::Response &res) override;
+        virtual bool StopAction(kortex_driver::StopAction::Request  &req, kortex_driver::StopAction::Response &res) override;
+        virtual bool ResumeAction(kortex_driver::ResumeAction::Request  &req, kortex_driver::ResumeAction::Response &res) override;
+        virtual bool GetIPv4Configuration(kortex_driver::GetIPv4Configuration::Request  &req, kortex_driver::GetIPv4Configuration::Response &res) override;
+        virtual bool SetIPv4Configuration(kortex_driver::SetIPv4Configuration::Request  &req, kortex_driver::SetIPv4Configuration::Response &res) override;
+        virtual bool SetCommunicationInterfaceEnable(kortex_driver::SetCommunicationInterfaceEnable::Request  &req, kortex_driver::SetCommunicationInterfaceEnable::Response &res) override;
+        virtual bool IsCommunicationInterfaceEnable(kortex_driver::IsCommunicationInterfaceEnable::Request  &req, kortex_driver::IsCommunicationInterfaceEnable::Response &res) override;
+        virtual bool GetAvailableWifi(kortex_driver::GetAvailableWifi::Request  &req, kortex_driver::GetAvailableWifi::Response &res) override;
+        virtual bool GetWifiInformation(kortex_driver::GetWifiInformation::Request  &req, kortex_driver::GetWifiInformation::Response &res) override;
+        virtual bool AddWifiConfiguration(kortex_driver::AddWifiConfiguration::Request  &req, kortex_driver::AddWifiConfiguration::Response &res) override;
+        virtual bool DeleteWifiConfiguration(kortex_driver::DeleteWifiConfiguration::Request  &req, kortex_driver::DeleteWifiConfiguration::Response &res) override;
+        virtual bool GetAllConfiguredWifis(kortex_driver::GetAllConfiguredWifis::Request  &req, kortex_driver::GetAllConfiguredWifis::Response &res) override;
+        virtual bool ConnectWifi(kortex_driver::ConnectWifi::Request  &req, kortex_driver::ConnectWifi::Response &res) override;
+        virtual bool DisconnectWifi(kortex_driver::DisconnectWifi::Request  &req, kortex_driver::DisconnectWifi::Response &res) override;
+        virtual bool GetConnectedWifiInformation(kortex_driver::GetConnectedWifiInformation::Request  &req, kortex_driver::GetConnectedWifiInformation::Response &res) override;
+        virtual bool Base_Unsubscribe(kortex_driver::Base_Unsubscribe::Request  &req, kortex_driver::Base_Unsubscribe::Response &res) override;
+        virtual bool OnNotificationConfigurationChangeTopic(kortex_driver::OnNotificationConfigurationChangeTopic::Request  &req, kortex_driver::OnNotificationConfigurationChangeTopic::Response &res) override;
+        virtual void cb_ConfigurationChangeTopic(Kinova::Api::Base::ConfigurationChangeNotification notif) override;
+        virtual bool OnNotificationMappingInfoTopic(kortex_driver::OnNotificationMappingInfoTopic::Request  &req, kortex_driver::OnNotificationMappingInfoTopic::Response &res) override;
+        virtual void cb_MappingInfoTopic(Kinova::Api::Base::MappingInfoNotification notif) override;
+        virtual bool OnNotificationControlModeTopic(kortex_driver::OnNotificationControlModeTopic::Request  &req, kortex_driver::OnNotificationControlModeTopic::Response &res) override;
+        virtual void cb_ControlModeTopic(Kinova::Api::Base::ControlModeNotification notif) override;
+        virtual bool OnNotificationOperatingModeTopic(kortex_driver::OnNotificationOperatingModeTopic::Request  &req, kortex_driver::OnNotificationOperatingModeTopic::Response &res) override;
+        virtual void cb_OperatingModeTopic(Kinova::Api::Base::OperatingModeNotification notif) override;
+        virtual bool OnNotificationSequenceInfoTopic(kortex_driver::OnNotificationSequenceInfoTopic::Request  &req, kortex_driver::OnNotificationSequenceInfoTopic::Response &res) override;
+        virtual void cb_SequenceInfoTopic(Kinova::Api::Base::SequenceInfoNotification notif) override;
+        virtual bool OnNotificationProtectionZoneTopic(kortex_driver::OnNotificationProtectionZoneTopic::Request  &req, kortex_driver::OnNotificationProtectionZoneTopic::Response &res) override;
+        virtual void cb_ProtectionZoneTopic(Kinova::Api::Base::ProtectionZoneNotification notif) override;
+        virtual bool OnNotificationUserTopic(kortex_driver::OnNotificationUserTopic::Request  &req, kortex_driver::OnNotificationUserTopic::Response &res) override;
+        virtual void cb_UserTopic(Kinova::Api::Base::UserNotification notif) override;
+        virtual bool OnNotificationControllerTopic(kortex_driver::OnNotificationControllerTopic::Request  &req, kortex_driver::OnNotificationControllerTopic::Response &res) override;
+        virtual void cb_ControllerTopic(Kinova::Api::Base::ControllerNotification notif) override;
+        virtual bool OnNotificationActionTopic(kortex_driver::OnNotificationActionTopic::Request  &req, kortex_driver::OnNotificationActionTopic::Response &res) override;
+        virtual void cb_ActionTopic(Kinova::Api::Base::ActionNotification notif) override;
+        virtual bool OnNotificationRobotEventTopic(kortex_driver::OnNotificationRobotEventTopic::Request  &req, kortex_driver::OnNotificationRobotEventTopic::Response &res) override;
+        virtual void cb_RobotEventTopic(Kinova::Api::Base::RobotEventNotification notif) override;
+        virtual bool PlayCartesianTrajectory(kortex_driver::PlayCartesianTrajectory::Request  &req, kortex_driver::PlayCartesianTrajectory::Response &res) override;
+        virtual bool PlayCartesianTrajectoryPosition(kortex_driver::PlayCartesianTrajectoryPosition::Request  &req, kortex_driver::PlayCartesianTrajectoryPosition::Response &res) override;
+        virtual bool PlayCartesianTrajectoryOrientation(kortex_driver::PlayCartesianTrajectoryOrientation::Request  &req, kortex_driver::PlayCartesianTrajectoryOrientation::Response &res) override;
+        virtual bool Stop(kortex_driver::Stop::Request  &req, kortex_driver::Stop::Response &res) override;
+        virtual bool GetMeasuredCartesianPose(kortex_driver::GetMeasuredCartesianPose::Request  &req, kortex_driver::GetMeasuredCartesianPose::Response &res) override;
+        virtual bool SendWrenchCommand(kortex_driver::SendWrenchCommand::Request  &req, kortex_driver::SendWrenchCommand::Response &res) override;
+        virtual bool SendWrenchJoystickCommand(kortex_driver::SendWrenchJoystickCommand::Request  &req, kortex_driver::SendWrenchJoystickCommand::Response &res) override;
+        virtual bool SendTwistJoystickCommand(kortex_driver::SendTwistJoystickCommand::Request  &req, kortex_driver::SendTwistJoystickCommand::Response &res) override;
+        virtual bool SendTwistCommand(kortex_driver::SendTwistCommand::Request  &req, kortex_driver::SendTwistCommand::Response &res) override;
+        virtual bool PlayJointTrajectory(kortex_driver::PlayJointTrajectory::Request  &req, kortex_driver::PlayJointTrajectory::Response &res) override;
+        virtual bool PlaySelectedJointTrajectory(kortex_driver::PlaySelectedJointTrajectory::Request  &req, kortex_driver::PlaySelectedJointTrajectory::Response &res) override;
+        virtual bool GetMeasuredJointAngles(kortex_driver::GetMeasuredJointAngles::Request  &req, kortex_driver::GetMeasuredJointAngles::Response &res) override;
+        virtual bool SendJointSpeedsCommand(kortex_driver::SendJointSpeedsCommand::Request  &req, kortex_driver::SendJointSpeedsCommand::Response &res) override;
+        virtual bool SendSelectedJointSpeedCommand(kortex_driver::SendSelectedJointSpeedCommand::Request  &req, kortex_driver::SendSelectedJointSpeedCommand::Response &res) override;
+        virtual bool SendGripperCommand(kortex_driver::SendGripperCommand::Request  &req, kortex_driver::SendGripperCommand::Response &res) override;
+        virtual bool GetMeasuredGripperMovement(kortex_driver::GetMeasuredGripperMovement::Request  &req, kortex_driver::GetMeasuredGripperMovement::Response &res) override;
+        virtual bool SetAdmittance(kortex_driver::SetAdmittance::Request  &req, kortex_driver::SetAdmittance::Response &res) override;
+        virtual bool SetOperatingMode(kortex_driver::SetOperatingMode::Request  &req, kortex_driver::SetOperatingMode::Response &res) override;
+        virtual bool ApplyEmergencyStop(kortex_driver::ApplyEmergencyStop::Request  &req, kortex_driver::ApplyEmergencyStop::Response &res) override;
+        virtual bool Base_ClearFaults(kortex_driver::Base_ClearFaults::Request  &req, kortex_driver::Base_ClearFaults::Response &res) override;
+        virtual bool Base_GetControlMode(kortex_driver::Base_GetControlMode::Request  &req, kortex_driver::Base_GetControlMode::Response &res) override;
+        virtual bool GetOperatingMode(kortex_driver::GetOperatingMode::Request  &req, kortex_driver::GetOperatingMode::Response &res) override;
+        virtual bool SetServoingMode(kortex_driver::SetServoingMode::Request  &req, kortex_driver::SetServoingMode::Response &res) override;
+        virtual bool GetServoingMode(kortex_driver::GetServoingMode::Request  &req, kortex_driver::GetServoingMode::Response &res) override;
+        virtual bool OnNotificationServoingModeTopic(kortex_driver::OnNotificationServoingModeTopic::Request  &req, kortex_driver::OnNotificationServoingModeTopic::Response &res) override;
+        virtual void cb_ServoingModeTopic(Kinova::Api::Base::ServoingModeNotification notif) override;
+        virtual bool RestoreFactorySettings(kortex_driver::RestoreFactorySettings::Request  &req, kortex_driver::RestoreFactorySettings::Response &res) override;
+        virtual bool OnNotificationFactoryTopic(kortex_driver::OnNotificationFactoryTopic::Request  &req, kortex_driver::OnNotificationFactoryTopic::Response &res) override;
+        virtual void cb_FactoryTopic(Kinova::Api::Base::FactoryNotification notif) override;
+        virtual bool GetAllConnectedControllers(kortex_driver::GetAllConnectedControllers::Request  &req, kortex_driver::GetAllConnectedControllers::Response &res) override;
+        virtual bool GetControllerState(kortex_driver::GetControllerState::Request  &req, kortex_driver::GetControllerState::Response &res) override;
+        virtual bool GetActuatorCount(kortex_driver::GetActuatorCount::Request  &req, kortex_driver::GetActuatorCount::Response &res) override;
+        virtual bool StartWifiScan(kortex_driver::StartWifiScan::Request  &req, kortex_driver::StartWifiScan::Response &res) override;
+        virtual bool GetConfiguredWifi(kortex_driver::GetConfiguredWifi::Request  &req, kortex_driver::GetConfiguredWifi::Response &res) override;
+        virtual bool OnNotificationNetworkTopic(kortex_driver::OnNotificationNetworkTopic::Request  &req, kortex_driver::OnNotificationNetworkTopic::Response &res) override;
+        virtual void cb_NetworkTopic(Kinova::Api::Base::NetworkNotification notif) override;
+        virtual bool GetArmState(kortex_driver::GetArmState::Request  &req, kortex_driver::GetArmState::Response &res) override;
+        virtual bool OnNotificationArmStateTopic(kortex_driver::OnNotificationArmStateTopic::Request  &req, kortex_driver::OnNotificationArmStateTopic::Response &res) override;
+        virtual void cb_ArmStateTopic(Kinova::Api::Base::ArmStateNotification notif) override;
+        virtual bool GetIPv4Information(kortex_driver::GetIPv4Information::Request  &req, kortex_driver::GetIPv4Information::Response &res) override;
+        virtual bool SetWifiCountryCode(kortex_driver::SetWifiCountryCode::Request  &req, kortex_driver::SetWifiCountryCode::Response &res) override;
+        virtual bool GetWifiCountryCode(kortex_driver::GetWifiCountryCode::Request  &req, kortex_driver::GetWifiCountryCode::Response &res) override;
+        virtual bool Base_SetCapSenseConfig(kortex_driver::Base_SetCapSenseConfig::Request  &req, kortex_driver::Base_SetCapSenseConfig::Response &res) override;
+        virtual bool Base_GetCapSenseConfig(kortex_driver::Base_GetCapSenseConfig::Request  &req, kortex_driver::Base_GetCapSenseConfig::Response &res) override;
+        virtual bool GetAllJointsSpeedHardLimitation(kortex_driver::GetAllJointsSpeedHardLimitation::Request  &req, kortex_driver::GetAllJointsSpeedHardLimitation::Response &res) override;
+        virtual bool GetAllJointsTorqueHardLimitation(kortex_driver::GetAllJointsTorqueHardLimitation::Request  &req, kortex_driver::GetAllJointsTorqueHardLimitation::Response &res) override;
+        virtual bool GetTwistHardLimitation(kortex_driver::GetTwistHardLimitation::Request  &req, kortex_driver::GetTwistHardLimitation::Response &res) override;
+        virtual bool GetWrenchHardLimitation(kortex_driver::GetWrenchHardLimitation::Request  &req, kortex_driver::GetWrenchHardLimitation::Response &res) override;
+        virtual bool SendJointSpeedsJoystickCommand(kortex_driver::SendJointSpeedsJoystickCommand::Request  &req, kortex_driver::SendJointSpeedsJoystickCommand::Response &res) override;
+        virtual bool SendSelectedJointSpeedJoystickCommand(kortex_driver::SendSelectedJointSpeedJoystickCommand::Request  &req, kortex_driver::SendSelectedJointSpeedJoystickCommand::Response &res) override;
+        virtual bool EnableBridge(kortex_driver::EnableBridge::Request  &req, kortex_driver::EnableBridge::Response &res) override;
+        virtual bool DisableBridge(kortex_driver::DisableBridge::Request  &req, kortex_driver::DisableBridge::Response &res) override;
+        virtual bool GetBridgeList(kortex_driver::GetBridgeList::Request  &req, kortex_driver::GetBridgeList::Response &res) override;
+        virtual bool GetBridgeConfig(kortex_driver::GetBridgeConfig::Request  &req, kortex_driver::GetBridgeConfig::Response &res) override;
+        virtual bool PlayPreComputedJointTrajectory(kortex_driver::PlayPreComputedJointTrajectory::Request  &req, kortex_driver::PlayPreComputedJointTrajectory::Response &res) override;
+        virtual bool GetProductConfiguration(kortex_driver::GetProductConfiguration::Request  &req, kortex_driver::GetProductConfiguration::Response &res) override;
+        virtual bool UpdateEndEffectorTypeConfiguration(kortex_driver::UpdateEndEffectorTypeConfiguration::Request  &req, kortex_driver::UpdateEndEffectorTypeConfiguration::Response &res) override;
+        virtual bool RestoreFactoryProductConfiguration(kortex_driver::RestoreFactoryProductConfiguration::Request  &req, kortex_driver::RestoreFactoryProductConfiguration::Response &res) override;
+        virtual bool GetTrajectoryErrorReport(kortex_driver::GetTrajectoryErrorReport::Request  &req, kortex_driver::GetTrajectoryErrorReport::Response &res) override;
+        virtual bool GetAllJointsSpeedSoftLimitation(kortex_driver::GetAllJointsSpeedSoftLimitation::Request  &req, kortex_driver::GetAllJointsSpeedSoftLimitation::Response &res) override;
+        virtual bool GetAllJointsTorqueSoftLimitation(kortex_driver::GetAllJointsTorqueSoftLimitation::Request  &req, kortex_driver::GetAllJointsTorqueSoftLimitation::Response &res) override;
+        virtual bool GetTwistSoftLimitation(kortex_driver::GetTwistSoftLimitation::Request  &req, kortex_driver::GetTwistSoftLimitation::Response &res) override;
+        virtual bool GetWrenchSoftLimitation(kortex_driver::GetWrenchSoftLimitation::Request  &req, kortex_driver::GetWrenchSoftLimitation::Response &res) override;
+        virtual bool SetControllerConfigurationMode(kortex_driver::SetControllerConfigurationMode::Request  &req, kortex_driver::SetControllerConfigurationMode::Response &res) override;
+        virtual bool GetControllerConfigurationMode(kortex_driver::GetControllerConfigurationMode::Request  &req, kortex_driver::GetControllerConfigurationMode::Response &res) override;
+        virtual bool StartTeaching(kortex_driver::StartTeaching::Request  &req, kortex_driver::StartTeaching::Response &res) override;
+        virtual bool StopTeaching(kortex_driver::StopTeaching::Request  &req, kortex_driver::StopTeaching::Response &res) override;
+        virtual bool AddSequenceTasks(kortex_driver::AddSequenceTasks::Request  &req, kortex_driver::AddSequenceTasks::Response &res) override;
+        virtual bool UpdateSequenceTask(kortex_driver::UpdateSequenceTask::Request  &req, kortex_driver::UpdateSequenceTask::Response &res) override;
+        virtual bool SwapSequenceTasks(kortex_driver::SwapSequenceTasks::Request  &req, kortex_driver::SwapSequenceTasks::Response &res) override;
+        virtual bool ReadSequenceTask(kortex_driver::ReadSequenceTask::Request  &req, kortex_driver::ReadSequenceTask::Response &res) override;
+        virtual bool ReadAllSequenceTasks(kortex_driver::ReadAllSequenceTasks::Request  &req, kortex_driver::ReadAllSequenceTasks::Response &res) override;
+        virtual bool DeleteSequenceTask(kortex_driver::DeleteSequenceTask::Request  &req, kortex_driver::DeleteSequenceTask::Response &res) override;
+        virtual bool DeleteAllSequenceTasks(kortex_driver::DeleteAllSequenceTasks::Request  &req, kortex_driver::DeleteAllSequenceTasks::Response &res) override;
+        virtual bool TakeSnapshot(kortex_driver::TakeSnapshot::Request  &req, kortex_driver::TakeSnapshot::Response &res) override;
+        virtual bool GetFirmwareBundleVersions(kortex_driver::GetFirmwareBundleVersions::Request  &req, kortex_driver::GetFirmwareBundleVersions::Response &res) override;
+        virtual bool MoveSequenceTask(kortex_driver::MoveSequenceTask::Request  &req, kortex_driver::MoveSequenceTask::Response &res) override;
+        virtual bool DuplicateMapping(kortex_driver::DuplicateMapping::Request  &req, kortex_driver::DuplicateMapping::Response &res) override;
+        virtual bool DuplicateMap(kortex_driver::DuplicateMap::Request  &req, kortex_driver::DuplicateMap::Response &res) override;
+        virtual bool SetControllerConfiguration(kortex_driver::SetControllerConfiguration::Request  &req, kortex_driver::SetControllerConfiguration::Response &res) override;
+        virtual bool GetControllerConfiguration(kortex_driver::GetControllerConfiguration::Request  &req, kortex_driver::GetControllerConfiguration::Response &res) override;
+        virtual bool GetAllControllerConfigurations(kortex_driver::GetAllControllerConfigurations::Request  &req, kortex_driver::GetAllControllerConfigurations::Response &res) override;
+
+private:
+        uint32_t m_current_device_id;
+        Kinova::Api::RouterClientSendOptions m_api_options;
+
+        Kinova::Api::Base::BaseClient* m_base;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/robot/basecyclic_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/basecyclic_proto_converter.h
new file mode 100644
index 0000000..ba500e2
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/basecyclic_proto_converter.h
@@ -0,0 +1,61 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_BASECYCLIC_PROTO_CONVERTER_H_
+#define _KORTEX_BASECYCLIC_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <BaseCyclic.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/ActuatorCommand.h"
+#include "kortex_driver/ActuatorFeedback.h"
+#include "kortex_driver/ActuatorCustomData.h"
+#include "kortex_driver/BaseFeedback.h"
+#include "kortex_driver/BaseCyclic_CustomData.h"
+#include "kortex_driver/BaseCyclic_Command.h"
+#include "kortex_driver/BaseCyclic_Feedback.h"
+
+
+int ToProtoData(kortex_driver::ActuatorCommand input, Kinova::Api::BaseCyclic::ActuatorCommand *output);
+int ToProtoData(kortex_driver::ActuatorFeedback input, Kinova::Api::BaseCyclic::ActuatorFeedback *output);
+int ToProtoData(kortex_driver::ActuatorCustomData input, Kinova::Api::BaseCyclic::ActuatorCustomData *output);
+int ToProtoData(kortex_driver::BaseFeedback input, Kinova::Api::BaseCyclic::BaseFeedback *output);
+int ToProtoData(kortex_driver::BaseCyclic_CustomData input, Kinova::Api::BaseCyclic::CustomData *output);
+int ToProtoData(kortex_driver::BaseCyclic_Command input, Kinova::Api::BaseCyclic::Command *output);
+int ToProtoData(kortex_driver::BaseCyclic_Feedback input, Kinova::Api::BaseCyclic::Feedback *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/basecyclic_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/basecyclic_ros_converter.h
new file mode 100644
index 0000000..d0f8a8a
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/basecyclic_ros_converter.h
@@ -0,0 +1,61 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_BASECYCLIC_ROS_CONVERTER_H_
+#define _KORTEX_BASECYCLIC_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <BaseCyclic.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/ActuatorCommand.h"
+#include "kortex_driver/ActuatorFeedback.h"
+#include "kortex_driver/ActuatorCustomData.h"
+#include "kortex_driver/BaseFeedback.h"
+#include "kortex_driver/BaseCyclic_CustomData.h"
+#include "kortex_driver/BaseCyclic_Command.h"
+#include "kortex_driver/BaseCyclic_Feedback.h"
+
+
+int ToRosData(Kinova::Api::BaseCyclic::ActuatorCommand input, kortex_driver::ActuatorCommand &output);
+int ToRosData(Kinova::Api::BaseCyclic::ActuatorFeedback input, kortex_driver::ActuatorFeedback &output);
+int ToRosData(Kinova::Api::BaseCyclic::ActuatorCustomData input, kortex_driver::ActuatorCustomData &output);
+int ToRosData(Kinova::Api::BaseCyclic::BaseFeedback input, kortex_driver::BaseFeedback &output);
+int ToRosData(Kinova::Api::BaseCyclic::CustomData input, kortex_driver::BaseCyclic_CustomData &output);
+int ToRosData(Kinova::Api::BaseCyclic::Command input, kortex_driver::BaseCyclic_Command &output);
+int ToRosData(Kinova::Api::BaseCyclic::Feedback input, kortex_driver::BaseCyclic_Feedback &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/common_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/common_proto_converter.h
new file mode 100644
index 0000000..786db33
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/common_proto_converter.h
@@ -0,0 +1,71 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_COMMON_PROTO_CONVERTER_H_
+#define _KORTEX_COMMON_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <Common.pb.h>
+
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/DeviceHandle.h"
+#include "kortex_driver/Empty.h"
+#include "kortex_driver/NotificationOptions.h"
+#include "kortex_driver/SafetyHandle.h"
+#include "kortex_driver/NotificationHandle.h"
+#include "kortex_driver/SafetyNotification.h"
+#include "kortex_driver/Timestamp.h"
+#include "kortex_driver/UserProfileHandle.h"
+#include "kortex_driver/Connection.h"
+#include "kortex_driver/UARTConfiguration.h"
+#include "kortex_driver/UARTDeviceIdentification.h"
+#include "kortex_driver/CountryCode.h"
+
+
+int ToProtoData(kortex_driver::DeviceHandle input, Kinova::Api::Common::DeviceHandle *output);
+int ToProtoData(kortex_driver::Empty input, Kinova::Api::Common::Empty *output);
+int ToProtoData(kortex_driver::NotificationOptions input, Kinova::Api::Common::NotificationOptions *output);
+int ToProtoData(kortex_driver::SafetyHandle input, Kinova::Api::Common::SafetyHandle *output);
+int ToProtoData(kortex_driver::NotificationHandle input, Kinova::Api::Common::NotificationHandle *output);
+int ToProtoData(kortex_driver::SafetyNotification input, Kinova::Api::Common::SafetyNotification *output);
+int ToProtoData(kortex_driver::Timestamp input, Kinova::Api::Common::Timestamp *output);
+int ToProtoData(kortex_driver::UserProfileHandle input, Kinova::Api::Common::UserProfileHandle *output);
+int ToProtoData(kortex_driver::Connection input, Kinova::Api::Common::Connection *output);
+int ToProtoData(kortex_driver::UARTConfiguration input, Kinova::Api::Common::UARTConfiguration *output);
+int ToProtoData(kortex_driver::UARTDeviceIdentification input, Kinova::Api::Common::UARTDeviceIdentification *output);
+int ToProtoData(kortex_driver::CountryCode input, Kinova::Api::Common::CountryCode *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/common_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/common_ros_converter.h
new file mode 100644
index 0000000..6aa14ec
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/common_ros_converter.h
@@ -0,0 +1,71 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_COMMON_ROS_CONVERTER_H_
+#define _KORTEX_COMMON_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <Common.pb.h>
+
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/DeviceHandle.h"
+#include "kortex_driver/Empty.h"
+#include "kortex_driver/NotificationOptions.h"
+#include "kortex_driver/SafetyHandle.h"
+#include "kortex_driver/NotificationHandle.h"
+#include "kortex_driver/SafetyNotification.h"
+#include "kortex_driver/Timestamp.h"
+#include "kortex_driver/UserProfileHandle.h"
+#include "kortex_driver/Connection.h"
+#include "kortex_driver/UARTConfiguration.h"
+#include "kortex_driver/UARTDeviceIdentification.h"
+#include "kortex_driver/CountryCode.h"
+
+
+int ToRosData(Kinova::Api::Common::DeviceHandle input, kortex_driver::DeviceHandle &output);
+int ToRosData(Kinova::Api::Common::Empty input, kortex_driver::Empty &output);
+int ToRosData(Kinova::Api::Common::NotificationOptions input, kortex_driver::NotificationOptions &output);
+int ToRosData(Kinova::Api::Common::SafetyHandle input, kortex_driver::SafetyHandle &output);
+int ToRosData(Kinova::Api::Common::NotificationHandle input, kortex_driver::NotificationHandle &output);
+int ToRosData(Kinova::Api::Common::SafetyNotification input, kortex_driver::SafetyNotification &output);
+int ToRosData(Kinova::Api::Common::Timestamp input, kortex_driver::Timestamp &output);
+int ToRosData(Kinova::Api::Common::UserProfileHandle input, kortex_driver::UserProfileHandle &output);
+int ToRosData(Kinova::Api::Common::Connection input, kortex_driver::Connection &output);
+int ToRosData(Kinova::Api::Common::UARTConfiguration input, kortex_driver::UARTConfiguration &output);
+int ToRosData(Kinova::Api::Common::UARTDeviceIdentification input, kortex_driver::UARTDeviceIdentification &output);
+int ToRosData(Kinova::Api::Common::CountryCode input, kortex_driver::CountryCode &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/controlconfig_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/controlconfig_proto_converter.h
new file mode 100644
index 0000000..6b19dd0
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/controlconfig_proto_converter.h
@@ -0,0 +1,83 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_CONTROLCONFIG_PROTO_CONVERTER_H_
+#define _KORTEX_CONTROLCONFIG_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <ControlConfig.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/GravityVector.h"
+#include "kortex_driver/ControlConfig_Position.h"
+#include "kortex_driver/PayloadInformation.h"
+#include "kortex_driver/CartesianTransform.h"
+#include "kortex_driver/ToolConfiguration.h"
+#include "kortex_driver/ControlConfigurationNotification.h"
+#include "kortex_driver/CartesianReferenceFrameInfo.h"
+#include "kortex_driver/TwistLinearSoftLimit.h"
+#include "kortex_driver/TwistAngularSoftLimit.h"
+#include "kortex_driver/JointSpeedSoftLimits.h"
+#include "kortex_driver/JointAccelerationSoftLimits.h"
+#include "kortex_driver/KinematicLimits.h"
+#include "kortex_driver/KinematicLimitsList.h"
+#include "kortex_driver/DesiredSpeeds.h"
+#include "kortex_driver/LinearTwist.h"
+#include "kortex_driver/AngularTwist.h"
+#include "kortex_driver/ControlConfig_JointSpeeds.h"
+#include "kortex_driver/ControlConfig_ControlModeInformation.h"
+
+
+int ToProtoData(kortex_driver::GravityVector input, Kinova::Api::ControlConfig::GravityVector *output);
+int ToProtoData(kortex_driver::ControlConfig_Position input, Kinova::Api::ControlConfig::Position *output);
+int ToProtoData(kortex_driver::PayloadInformation input, Kinova::Api::ControlConfig::PayloadInformation *output);
+int ToProtoData(kortex_driver::CartesianTransform input, Kinova::Api::ControlConfig::CartesianTransform *output);
+int ToProtoData(kortex_driver::ToolConfiguration input, Kinova::Api::ControlConfig::ToolConfiguration *output);
+int ToProtoData(kortex_driver::ControlConfigurationNotification input, Kinova::Api::ControlConfig::ControlConfigurationNotification *output);
+int ToProtoData(kortex_driver::CartesianReferenceFrameInfo input, Kinova::Api::ControlConfig::CartesianReferenceFrameInfo *output);
+int ToProtoData(kortex_driver::TwistLinearSoftLimit input, Kinova::Api::ControlConfig::TwistLinearSoftLimit *output);
+int ToProtoData(kortex_driver::TwistAngularSoftLimit input, Kinova::Api::ControlConfig::TwistAngularSoftLimit *output);
+int ToProtoData(kortex_driver::JointSpeedSoftLimits input, Kinova::Api::ControlConfig::JointSpeedSoftLimits *output);
+int ToProtoData(kortex_driver::JointAccelerationSoftLimits input, Kinova::Api::ControlConfig::JointAccelerationSoftLimits *output);
+int ToProtoData(kortex_driver::KinematicLimits input, Kinova::Api::ControlConfig::KinematicLimits *output);
+int ToProtoData(kortex_driver::KinematicLimitsList input, Kinova::Api::ControlConfig::KinematicLimitsList *output);
+int ToProtoData(kortex_driver::DesiredSpeeds input, Kinova::Api::ControlConfig::DesiredSpeeds *output);
+int ToProtoData(kortex_driver::LinearTwist input, Kinova::Api::ControlConfig::LinearTwist *output);
+int ToProtoData(kortex_driver::AngularTwist input, Kinova::Api::ControlConfig::AngularTwist *output);
+int ToProtoData(kortex_driver::ControlConfig_JointSpeeds input, Kinova::Api::ControlConfig::JointSpeeds *output);
+int ToProtoData(kortex_driver::ControlConfig_ControlModeInformation input, Kinova::Api::ControlConfig::ControlModeInformation *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/controlconfig_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/controlconfig_ros_converter.h
new file mode 100644
index 0000000..6fd389f
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/controlconfig_ros_converter.h
@@ -0,0 +1,83 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_CONTROLCONFIG_ROS_CONVERTER_H_
+#define _KORTEX_CONTROLCONFIG_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <ControlConfig.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/GravityVector.h"
+#include "kortex_driver/ControlConfig_Position.h"
+#include "kortex_driver/PayloadInformation.h"
+#include "kortex_driver/CartesianTransform.h"
+#include "kortex_driver/ToolConfiguration.h"
+#include "kortex_driver/ControlConfigurationNotification.h"
+#include "kortex_driver/CartesianReferenceFrameInfo.h"
+#include "kortex_driver/TwistLinearSoftLimit.h"
+#include "kortex_driver/TwistAngularSoftLimit.h"
+#include "kortex_driver/JointSpeedSoftLimits.h"
+#include "kortex_driver/JointAccelerationSoftLimits.h"
+#include "kortex_driver/KinematicLimits.h"
+#include "kortex_driver/KinematicLimitsList.h"
+#include "kortex_driver/DesiredSpeeds.h"
+#include "kortex_driver/LinearTwist.h"
+#include "kortex_driver/AngularTwist.h"
+#include "kortex_driver/ControlConfig_JointSpeeds.h"
+#include "kortex_driver/ControlConfig_ControlModeInformation.h"
+
+
+int ToRosData(Kinova::Api::ControlConfig::GravityVector input, kortex_driver::GravityVector &output);
+int ToRosData(Kinova::Api::ControlConfig::Position input, kortex_driver::ControlConfig_Position &output);
+int ToRosData(Kinova::Api::ControlConfig::PayloadInformation input, kortex_driver::PayloadInformation &output);
+int ToRosData(Kinova::Api::ControlConfig::CartesianTransform input, kortex_driver::CartesianTransform &output);
+int ToRosData(Kinova::Api::ControlConfig::ToolConfiguration input, kortex_driver::ToolConfiguration &output);
+int ToRosData(Kinova::Api::ControlConfig::ControlConfigurationNotification input, kortex_driver::ControlConfigurationNotification &output);
+int ToRosData(Kinova::Api::ControlConfig::CartesianReferenceFrameInfo input, kortex_driver::CartesianReferenceFrameInfo &output);
+int ToRosData(Kinova::Api::ControlConfig::TwistLinearSoftLimit input, kortex_driver::TwistLinearSoftLimit &output);
+int ToRosData(Kinova::Api::ControlConfig::TwistAngularSoftLimit input, kortex_driver::TwistAngularSoftLimit &output);
+int ToRosData(Kinova::Api::ControlConfig::JointSpeedSoftLimits input, kortex_driver::JointSpeedSoftLimits &output);
+int ToRosData(Kinova::Api::ControlConfig::JointAccelerationSoftLimits input, kortex_driver::JointAccelerationSoftLimits &output);
+int ToRosData(Kinova::Api::ControlConfig::KinematicLimits input, kortex_driver::KinematicLimits &output);
+int ToRosData(Kinova::Api::ControlConfig::KinematicLimitsList input, kortex_driver::KinematicLimitsList &output);
+int ToRosData(Kinova::Api::ControlConfig::DesiredSpeeds input, kortex_driver::DesiredSpeeds &output);
+int ToRosData(Kinova::Api::ControlConfig::LinearTwist input, kortex_driver::LinearTwist &output);
+int ToRosData(Kinova::Api::ControlConfig::AngularTwist input, kortex_driver::AngularTwist &output);
+int ToRosData(Kinova::Api::ControlConfig::JointSpeeds input, kortex_driver::ControlConfig_JointSpeeds &output);
+int ToRosData(Kinova::Api::ControlConfig::ControlModeInformation input, kortex_driver::ControlConfig_ControlModeInformation &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/controlconfig_services.h b/kortex_driver/include/kortex_driver/generated/robot/controlconfig_services.h
new file mode 100644
index 0000000..e4adde3
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/controlconfig_services.h
@@ -0,0 +1,71 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_CONTROLCONFIG_ROBOT_SERVICES_H_
+#define _KORTEX_CONTROLCONFIG_ROBOT_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/controlconfig_services_interface.h"
+
+#include <ControlConfig.pb.h>
+#include <ControlConfigClientRpc.h>
+
+using namespace std;
+
+class ControlConfigRobotServices : public IControlConfigServices
+{
+    public:
+        ControlConfigRobotServices(ros::NodeHandle& node_handle, Kinova::Api::ControlConfig::ControlConfigClient* controlconfig, uint32_t device_id, uint32_t timeout_ms);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        virtual bool SetGravityVector(kortex_driver::SetGravityVector::Request  &req, kortex_driver::SetGravityVector::Response &res) override;
+        virtual bool GetGravityVector(kortex_driver::GetGravityVector::Request  &req, kortex_driver::GetGravityVector::Response &res) override;
+        virtual bool SetPayloadInformation(kortex_driver::SetPayloadInformation::Request  &req, kortex_driver::SetPayloadInformation::Response &res) override;
+        virtual bool GetPayloadInformation(kortex_driver::GetPayloadInformation::Request  &req, kortex_driver::GetPayloadInformation::Response &res) override;
+        virtual bool SetToolConfiguration(kortex_driver::SetToolConfiguration::Request  &req, kortex_driver::SetToolConfiguration::Response &res) override;
+        virtual bool GetToolConfiguration(kortex_driver::GetToolConfiguration::Request  &req, kortex_driver::GetToolConfiguration::Response &res) override;
+        virtual bool OnNotificationControlConfigurationTopic(kortex_driver::OnNotificationControlConfigurationTopic::Request  &req, kortex_driver::OnNotificationControlConfigurationTopic::Response &res) override;
+        virtual void cb_ControlConfigurationTopic(Kinova::Api::ControlConfig::ControlConfigurationNotification notif) override;
+        virtual bool ControlConfig_Unsubscribe(kortex_driver::ControlConfig_Unsubscribe::Request  &req, kortex_driver::ControlConfig_Unsubscribe::Response &res) override;
+        virtual bool SetCartesianReferenceFrame(kortex_driver::SetCartesianReferenceFrame::Request  &req, kortex_driver::SetCartesianReferenceFrame::Response &res) override;
+        virtual bool GetCartesianReferenceFrame(kortex_driver::GetCartesianReferenceFrame::Request  &req, kortex_driver::GetCartesianReferenceFrame::Response &res) override;
+        virtual bool ControlConfig_GetControlMode(kortex_driver::ControlConfig_GetControlMode::Request  &req, kortex_driver::ControlConfig_GetControlMode::Response &res) override;
+        virtual bool SetJointSpeedSoftLimits(kortex_driver::SetJointSpeedSoftLimits::Request  &req, kortex_driver::SetJointSpeedSoftLimits::Response &res) override;
+        virtual bool SetTwistLinearSoftLimit(kortex_driver::SetTwistLinearSoftLimit::Request  &req, kortex_driver::SetTwistLinearSoftLimit::Response &res) override;
+        virtual bool SetTwistAngularSoftLimit(kortex_driver::SetTwistAngularSoftLimit::Request  &req, kortex_driver::SetTwistAngularSoftLimit::Response &res) override;
+        virtual bool SetJointAccelerationSoftLimits(kortex_driver::SetJointAccelerationSoftLimits::Request  &req, kortex_driver::SetJointAccelerationSoftLimits::Response &res) override;
+        virtual bool GetKinematicHardLimits(kortex_driver::GetKinematicHardLimits::Request  &req, kortex_driver::GetKinematicHardLimits::Response &res) override;
+        virtual bool GetKinematicSoftLimits(kortex_driver::GetKinematicSoftLimits::Request  &req, kortex_driver::GetKinematicSoftLimits::Response &res) override;
+        virtual bool GetAllKinematicSoftLimits(kortex_driver::GetAllKinematicSoftLimits::Request  &req, kortex_driver::GetAllKinematicSoftLimits::Response &res) override;
+        virtual bool SetDesiredLinearTwist(kortex_driver::SetDesiredLinearTwist::Request  &req, kortex_driver::SetDesiredLinearTwist::Response &res) override;
+        virtual bool SetDesiredAngularTwist(kortex_driver::SetDesiredAngularTwist::Request  &req, kortex_driver::SetDesiredAngularTwist::Response &res) override;
+        virtual bool SetDesiredJointSpeeds(kortex_driver::SetDesiredJointSpeeds::Request  &req, kortex_driver::SetDesiredJointSpeeds::Response &res) override;
+        virtual bool GetDesiredSpeeds(kortex_driver::GetDesiredSpeeds::Request  &req, kortex_driver::GetDesiredSpeeds::Response &res) override;
+        virtual bool ResetGravityVector(kortex_driver::ResetGravityVector::Request  &req, kortex_driver::ResetGravityVector::Response &res) override;
+        virtual bool ResetPayloadInformation(kortex_driver::ResetPayloadInformation::Request  &req, kortex_driver::ResetPayloadInformation::Response &res) override;
+        virtual bool ResetToolConfiguration(kortex_driver::ResetToolConfiguration::Request  &req, kortex_driver::ResetToolConfiguration::Response &res) override;
+        virtual bool ResetJointSpeedSoftLimits(kortex_driver::ResetJointSpeedSoftLimits::Request  &req, kortex_driver::ResetJointSpeedSoftLimits::Response &res) override;
+        virtual bool ResetTwistLinearSoftLimit(kortex_driver::ResetTwistLinearSoftLimit::Request  &req, kortex_driver::ResetTwistLinearSoftLimit::Response &res) override;
+        virtual bool ResetTwistAngularSoftLimit(kortex_driver::ResetTwistAngularSoftLimit::Request  &req, kortex_driver::ResetTwistAngularSoftLimit::Response &res) override;
+        virtual bool ResetJointAccelerationSoftLimits(kortex_driver::ResetJointAccelerationSoftLimits::Request  &req, kortex_driver::ResetJointAccelerationSoftLimits::Response &res) override;
+
+private:
+        uint32_t m_current_device_id;
+        Kinova::Api::RouterClientSendOptions m_api_options;
+
+        Kinova::Api::ControlConfig::ControlConfigClient* m_controlconfig;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/robot/deviceconfig_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/deviceconfig_proto_converter.h
new file mode 100644
index 0000000..6744825
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/deviceconfig_proto_converter.h
@@ -0,0 +1,97 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_DEVICECONFIG_PROTO_CONVERTER_H_
+#define _KORTEX_DEVICECONFIG_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <DeviceConfig.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/DeviceType.h"
+#include "kortex_driver/RunMode.h"
+#include "kortex_driver/FirmwareVersion.h"
+#include "kortex_driver/BootloaderVersion.h"
+#include "kortex_driver/ModelNumber.h"
+#include "kortex_driver/PartNumber.h"
+#include "kortex_driver/SerialNumber.h"
+#include "kortex_driver/MACAddress.h"
+#include "kortex_driver/IPv4Settings.h"
+#include "kortex_driver/PartNumberRevision.h"
+#include "kortex_driver/PowerOnSelfTestResult.h"
+#include "kortex_driver/RebootRqst.h"
+#include "kortex_driver/SafetyInformation.h"
+#include "kortex_driver/SafetyInformationList.h"
+#include "kortex_driver/SafetyEnable.h"
+#include "kortex_driver/SafetyThreshold.h"
+#include "kortex_driver/SafetyConfiguration.h"
+#include "kortex_driver/SafetyConfigurationList.h"
+#include "kortex_driver/SafetyStatus.h"
+#include "kortex_driver/CalibrationParameter.h"
+#include "kortex_driver/Calibration.h"
+#include "kortex_driver/CalibrationElement.h"
+#include "kortex_driver/CalibrationResult.h"
+#include "kortex_driver/DeviceConfig_CapSenseConfig.h"
+#include "kortex_driver/CapSenseRegister.h"
+
+
+int ToProtoData(kortex_driver::DeviceType input, Kinova::Api::DeviceConfig::DeviceType *output);
+int ToProtoData(kortex_driver::RunMode input, Kinova::Api::DeviceConfig::RunMode *output);
+int ToProtoData(kortex_driver::FirmwareVersion input, Kinova::Api::DeviceConfig::FirmwareVersion *output);
+int ToProtoData(kortex_driver::BootloaderVersion input, Kinova::Api::DeviceConfig::BootloaderVersion *output);
+int ToProtoData(kortex_driver::ModelNumber input, Kinova::Api::DeviceConfig::ModelNumber *output);
+int ToProtoData(kortex_driver::PartNumber input, Kinova::Api::DeviceConfig::PartNumber *output);
+int ToProtoData(kortex_driver::SerialNumber input, Kinova::Api::DeviceConfig::SerialNumber *output);
+int ToProtoData(kortex_driver::MACAddress input, Kinova::Api::DeviceConfig::MACAddress *output);
+int ToProtoData(kortex_driver::IPv4Settings input, Kinova::Api::DeviceConfig::IPv4Settings *output);
+int ToProtoData(kortex_driver::PartNumberRevision input, Kinova::Api::DeviceConfig::PartNumberRevision *output);
+int ToProtoData(kortex_driver::PowerOnSelfTestResult input, Kinova::Api::DeviceConfig::PowerOnSelfTestResult *output);
+int ToProtoData(kortex_driver::RebootRqst input, Kinova::Api::DeviceConfig::RebootRqst *output);
+int ToProtoData(kortex_driver::SafetyInformation input, Kinova::Api::DeviceConfig::SafetyInformation *output);
+int ToProtoData(kortex_driver::SafetyInformationList input, Kinova::Api::DeviceConfig::SafetyInformationList *output);
+int ToProtoData(kortex_driver::SafetyEnable input, Kinova::Api::DeviceConfig::SafetyEnable *output);
+int ToProtoData(kortex_driver::SafetyThreshold input, Kinova::Api::DeviceConfig::SafetyThreshold *output);
+int ToProtoData(kortex_driver::SafetyConfiguration input, Kinova::Api::DeviceConfig::SafetyConfiguration *output);
+int ToProtoData(kortex_driver::SafetyConfigurationList input, Kinova::Api::DeviceConfig::SafetyConfigurationList *output);
+int ToProtoData(kortex_driver::SafetyStatus input, Kinova::Api::DeviceConfig::SafetyStatus *output);
+int ToProtoData(kortex_driver::CalibrationParameter input, Kinova::Api::DeviceConfig::CalibrationParameter *output);
+int ToProtoData(kortex_driver::Calibration input, Kinova::Api::DeviceConfig::Calibration *output);
+int ToProtoData(kortex_driver::CalibrationElement input, Kinova::Api::DeviceConfig::CalibrationElement *output);
+int ToProtoData(kortex_driver::CalibrationResult input, Kinova::Api::DeviceConfig::CalibrationResult *output);
+int ToProtoData(kortex_driver::DeviceConfig_CapSenseConfig input, Kinova::Api::DeviceConfig::CapSenseConfig *output);
+int ToProtoData(kortex_driver::CapSenseRegister input, Kinova::Api::DeviceConfig::CapSenseRegister *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/deviceconfig_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/deviceconfig_ros_converter.h
new file mode 100644
index 0000000..9dbe819
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/deviceconfig_ros_converter.h
@@ -0,0 +1,97 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_DEVICECONFIG_ROS_CONVERTER_H_
+#define _KORTEX_DEVICECONFIG_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <DeviceConfig.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/DeviceType.h"
+#include "kortex_driver/RunMode.h"
+#include "kortex_driver/FirmwareVersion.h"
+#include "kortex_driver/BootloaderVersion.h"
+#include "kortex_driver/ModelNumber.h"
+#include "kortex_driver/PartNumber.h"
+#include "kortex_driver/SerialNumber.h"
+#include "kortex_driver/MACAddress.h"
+#include "kortex_driver/IPv4Settings.h"
+#include "kortex_driver/PartNumberRevision.h"
+#include "kortex_driver/PowerOnSelfTestResult.h"
+#include "kortex_driver/RebootRqst.h"
+#include "kortex_driver/SafetyInformation.h"
+#include "kortex_driver/SafetyInformationList.h"
+#include "kortex_driver/SafetyEnable.h"
+#include "kortex_driver/SafetyThreshold.h"
+#include "kortex_driver/SafetyConfiguration.h"
+#include "kortex_driver/SafetyConfigurationList.h"
+#include "kortex_driver/SafetyStatus.h"
+#include "kortex_driver/CalibrationParameter.h"
+#include "kortex_driver/Calibration.h"
+#include "kortex_driver/CalibrationElement.h"
+#include "kortex_driver/CalibrationResult.h"
+#include "kortex_driver/DeviceConfig_CapSenseConfig.h"
+#include "kortex_driver/CapSenseRegister.h"
+
+
+int ToRosData(Kinova::Api::DeviceConfig::DeviceType input, kortex_driver::DeviceType &output);
+int ToRosData(Kinova::Api::DeviceConfig::RunMode input, kortex_driver::RunMode &output);
+int ToRosData(Kinova::Api::DeviceConfig::FirmwareVersion input, kortex_driver::FirmwareVersion &output);
+int ToRosData(Kinova::Api::DeviceConfig::BootloaderVersion input, kortex_driver::BootloaderVersion &output);
+int ToRosData(Kinova::Api::DeviceConfig::ModelNumber input, kortex_driver::ModelNumber &output);
+int ToRosData(Kinova::Api::DeviceConfig::PartNumber input, kortex_driver::PartNumber &output);
+int ToRosData(Kinova::Api::DeviceConfig::SerialNumber input, kortex_driver::SerialNumber &output);
+int ToRosData(Kinova::Api::DeviceConfig::MACAddress input, kortex_driver::MACAddress &output);
+int ToRosData(Kinova::Api::DeviceConfig::IPv4Settings input, kortex_driver::IPv4Settings &output);
+int ToRosData(Kinova::Api::DeviceConfig::PartNumberRevision input, kortex_driver::PartNumberRevision &output);
+int ToRosData(Kinova::Api::DeviceConfig::PowerOnSelfTestResult input, kortex_driver::PowerOnSelfTestResult &output);
+int ToRosData(Kinova::Api::DeviceConfig::RebootRqst input, kortex_driver::RebootRqst &output);
+int ToRosData(Kinova::Api::DeviceConfig::SafetyInformation input, kortex_driver::SafetyInformation &output);
+int ToRosData(Kinova::Api::DeviceConfig::SafetyInformationList input, kortex_driver::SafetyInformationList &output);
+int ToRosData(Kinova::Api::DeviceConfig::SafetyEnable input, kortex_driver::SafetyEnable &output);
+int ToRosData(Kinova::Api::DeviceConfig::SafetyThreshold input, kortex_driver::SafetyThreshold &output);
+int ToRosData(Kinova::Api::DeviceConfig::SafetyConfiguration input, kortex_driver::SafetyConfiguration &output);
+int ToRosData(Kinova::Api::DeviceConfig::SafetyConfigurationList input, kortex_driver::SafetyConfigurationList &output);
+int ToRosData(Kinova::Api::DeviceConfig::SafetyStatus input, kortex_driver::SafetyStatus &output);
+int ToRosData(Kinova::Api::DeviceConfig::CalibrationParameter input, kortex_driver::CalibrationParameter &output);
+int ToRosData(Kinova::Api::DeviceConfig::Calibration input, kortex_driver::Calibration &output);
+int ToRosData(Kinova::Api::DeviceConfig::CalibrationElement input, kortex_driver::CalibrationElement &output);
+int ToRosData(Kinova::Api::DeviceConfig::CalibrationResult input, kortex_driver::CalibrationResult &output);
+int ToRosData(Kinova::Api::DeviceConfig::CapSenseConfig input, kortex_driver::DeviceConfig_CapSenseConfig &output);
+int ToRosData(Kinova::Api::DeviceConfig::CapSenseRegister input, kortex_driver::CapSenseRegister &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/deviceconfig_services.h b/kortex_driver/include/kortex_driver/generated/robot/deviceconfig_services.h
new file mode 100644
index 0000000..fb87a13
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/deviceconfig_services.h
@@ -0,0 +1,74 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_DEVICECONFIG_ROBOT_SERVICES_H_
+#define _KORTEX_DEVICECONFIG_ROBOT_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/deviceconfig_services_interface.h"
+
+#include <DeviceConfig.pb.h>
+#include <DeviceConfigClientRpc.h>
+
+using namespace std;
+
+class DeviceConfigRobotServices : public IDeviceConfigServices
+{
+    public:
+        DeviceConfigRobotServices(ros::NodeHandle& node_handle, Kinova::Api::DeviceConfig::DeviceConfigClient* deviceconfig, uint32_t device_id, uint32_t timeout_ms);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        virtual bool GetRunMode(kortex_driver::GetRunMode::Request  &req, kortex_driver::GetRunMode::Response &res) override;
+        virtual bool SetRunMode(kortex_driver::SetRunMode::Request  &req, kortex_driver::SetRunMode::Response &res) override;
+        virtual bool GetDeviceType(kortex_driver::GetDeviceType::Request  &req, kortex_driver::GetDeviceType::Response &res) override;
+        virtual bool GetFirmwareVersion(kortex_driver::GetFirmwareVersion::Request  &req, kortex_driver::GetFirmwareVersion::Response &res) override;
+        virtual bool GetBootloaderVersion(kortex_driver::GetBootloaderVersion::Request  &req, kortex_driver::GetBootloaderVersion::Response &res) override;
+        virtual bool GetModelNumber(kortex_driver::GetModelNumber::Request  &req, kortex_driver::GetModelNumber::Response &res) override;
+        virtual bool GetPartNumber(kortex_driver::GetPartNumber::Request  &req, kortex_driver::GetPartNumber::Response &res) override;
+        virtual bool GetSerialNumber(kortex_driver::GetSerialNumber::Request  &req, kortex_driver::GetSerialNumber::Response &res) override;
+        virtual bool GetMACAddress(kortex_driver::GetMACAddress::Request  &req, kortex_driver::GetMACAddress::Response &res) override;
+        virtual bool GetIPv4Settings(kortex_driver::GetIPv4Settings::Request  &req, kortex_driver::GetIPv4Settings::Response &res) override;
+        virtual bool SetIPv4Settings(kortex_driver::SetIPv4Settings::Request  &req, kortex_driver::SetIPv4Settings::Response &res) override;
+        virtual bool GetPartNumberRevision(kortex_driver::GetPartNumberRevision::Request  &req, kortex_driver::GetPartNumberRevision::Response &res) override;
+        virtual bool RebootRequest(kortex_driver::RebootRequest::Request  &req, kortex_driver::RebootRequest::Response &res) override;
+        virtual bool SetSafetyEnable(kortex_driver::SetSafetyEnable::Request  &req, kortex_driver::SetSafetyEnable::Response &res) override;
+        virtual bool SetSafetyErrorThreshold(kortex_driver::SetSafetyErrorThreshold::Request  &req, kortex_driver::SetSafetyErrorThreshold::Response &res) override;
+        virtual bool SetSafetyWarningThreshold(kortex_driver::SetSafetyWarningThreshold::Request  &req, kortex_driver::SetSafetyWarningThreshold::Response &res) override;
+        virtual bool SetSafetyConfiguration(kortex_driver::SetSafetyConfiguration::Request  &req, kortex_driver::SetSafetyConfiguration::Response &res) override;
+        virtual bool GetSafetyConfiguration(kortex_driver::GetSafetyConfiguration::Request  &req, kortex_driver::GetSafetyConfiguration::Response &res) override;
+        virtual bool GetSafetyInformation(kortex_driver::GetSafetyInformation::Request  &req, kortex_driver::GetSafetyInformation::Response &res) override;
+        virtual bool GetSafetyEnable(kortex_driver::GetSafetyEnable::Request  &req, kortex_driver::GetSafetyEnable::Response &res) override;
+        virtual bool GetSafetyStatus(kortex_driver::GetSafetyStatus::Request  &req, kortex_driver::GetSafetyStatus::Response &res) override;
+        virtual bool ClearAllSafetyStatus(kortex_driver::ClearAllSafetyStatus::Request  &req, kortex_driver::ClearAllSafetyStatus::Response &res) override;
+        virtual bool ClearSafetyStatus(kortex_driver::ClearSafetyStatus::Request  &req, kortex_driver::ClearSafetyStatus::Response &res) override;
+        virtual bool GetAllSafetyConfiguration(kortex_driver::GetAllSafetyConfiguration::Request  &req, kortex_driver::GetAllSafetyConfiguration::Response &res) override;
+        virtual bool GetAllSafetyInformation(kortex_driver::GetAllSafetyInformation::Request  &req, kortex_driver::GetAllSafetyInformation::Response &res) override;
+        virtual bool ResetSafetyDefaults(kortex_driver::ResetSafetyDefaults::Request  &req, kortex_driver::ResetSafetyDefaults::Response &res) override;
+        virtual bool OnNotificationSafetyTopic(kortex_driver::OnNotificationSafetyTopic::Request  &req, kortex_driver::OnNotificationSafetyTopic::Response &res) override;
+        virtual void cb_SafetyTopic(Kinova::Api::Common::SafetyNotification notif) override;
+        virtual bool ExecuteCalibration(kortex_driver::ExecuteCalibration::Request  &req, kortex_driver::ExecuteCalibration::Response &res) override;
+        virtual bool GetCalibrationResult(kortex_driver::GetCalibrationResult::Request  &req, kortex_driver::GetCalibrationResult::Response &res) override;
+        virtual bool StopCalibration(kortex_driver::StopCalibration::Request  &req, kortex_driver::StopCalibration::Response &res) override;
+        virtual bool DeviceConfig_SetCapSenseConfig(kortex_driver::DeviceConfig_SetCapSenseConfig::Request  &req, kortex_driver::DeviceConfig_SetCapSenseConfig::Response &res) override;
+        virtual bool DeviceConfig_GetCapSenseConfig(kortex_driver::DeviceConfig_GetCapSenseConfig::Request  &req, kortex_driver::DeviceConfig_GetCapSenseConfig::Response &res) override;
+
+private:
+        uint32_t m_current_device_id;
+        Kinova::Api::RouterClientSendOptions m_api_options;
+
+        Kinova::Api::DeviceConfig::DeviceConfigClient* m_deviceconfig;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/robot/devicemanager_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/devicemanager_proto_converter.h
new file mode 100644
index 0000000..42e63e7
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/devicemanager_proto_converter.h
@@ -0,0 +1,49 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_DEVICEMANAGER_PROTO_CONVERTER_H_
+#define _KORTEX_DEVICEMANAGER_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <DeviceManager.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/DeviceHandles.h"
+
+
+int ToProtoData(kortex_driver::DeviceHandles input, Kinova::Api::DeviceManager::DeviceHandles *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/devicemanager_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/devicemanager_ros_converter.h
new file mode 100644
index 0000000..3847a80
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/devicemanager_ros_converter.h
@@ -0,0 +1,49 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_DEVICEMANAGER_ROS_CONVERTER_H_
+#define _KORTEX_DEVICEMANAGER_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <DeviceManager.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/DeviceHandles.h"
+
+
+int ToRosData(Kinova::Api::DeviceManager::DeviceHandles input, kortex_driver::DeviceHandles &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/devicemanager_services.h b/kortex_driver/include/kortex_driver/generated/robot/devicemanager_services.h
new file mode 100644
index 0000000..26443ec
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/devicemanager_services.h
@@ -0,0 +1,42 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_DEVICEMANAGER_ROBOT_SERVICES_H_
+#define _KORTEX_DEVICEMANAGER_ROBOT_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/devicemanager_services_interface.h"
+
+#include <DeviceManager.pb.h>
+#include <DeviceManagerClientRpc.h>
+
+using namespace std;
+
+class DeviceManagerRobotServices : public IDeviceManagerServices
+{
+    public:
+        DeviceManagerRobotServices(ros::NodeHandle& node_handle, Kinova::Api::DeviceManager::DeviceManagerClient* devicemanager, uint32_t device_id, uint32_t timeout_ms);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        virtual bool ReadAllDevices(kortex_driver::ReadAllDevices::Request  &req, kortex_driver::ReadAllDevices::Response &res) override;
+
+private:
+        uint32_t m_current_device_id;
+        Kinova::Api::RouterClientSendOptions m_api_options;
+
+        Kinova::Api::DeviceManager::DeviceManagerClient* m_devicemanager;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/robot/grippercyclic_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/grippercyclic_proto_converter.h
new file mode 100644
index 0000000..9a696f5
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/grippercyclic_proto_converter.h
@@ -0,0 +1,61 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_GRIPPERCYCLIC_PROTO_CONVERTER_H_
+#define _KORTEX_GRIPPERCYCLIC_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <GripperCyclic.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/GripperCyclic_MessageId.h"
+#include "kortex_driver/MotorCommand.h"
+#include "kortex_driver/GripperCyclic_Command.h"
+#include "kortex_driver/MotorFeedback.h"
+#include "kortex_driver/GripperCyclic_Feedback.h"
+#include "kortex_driver/CustomDataUnit.h"
+#include "kortex_driver/GripperCyclic_CustomData.h"
+
+
+int ToProtoData(kortex_driver::GripperCyclic_MessageId input, Kinova::Api::GripperCyclic::MessageId *output);
+int ToProtoData(kortex_driver::MotorCommand input, Kinova::Api::GripperCyclic::MotorCommand *output);
+int ToProtoData(kortex_driver::GripperCyclic_Command input, Kinova::Api::GripperCyclic::Command *output);
+int ToProtoData(kortex_driver::MotorFeedback input, Kinova::Api::GripperCyclic::MotorFeedback *output);
+int ToProtoData(kortex_driver::GripperCyclic_Feedback input, Kinova::Api::GripperCyclic::Feedback *output);
+int ToProtoData(kortex_driver::CustomDataUnit input, Kinova::Api::GripperCyclic::CustomDataUnit *output);
+int ToProtoData(kortex_driver::GripperCyclic_CustomData input, Kinova::Api::GripperCyclic::CustomData *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/grippercyclic_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/grippercyclic_ros_converter.h
new file mode 100644
index 0000000..a584b91
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/grippercyclic_ros_converter.h
@@ -0,0 +1,61 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_GRIPPERCYCLIC_ROS_CONVERTER_H_
+#define _KORTEX_GRIPPERCYCLIC_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <GripperCyclic.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/GripperCyclic_MessageId.h"
+#include "kortex_driver/MotorCommand.h"
+#include "kortex_driver/GripperCyclic_Command.h"
+#include "kortex_driver/MotorFeedback.h"
+#include "kortex_driver/GripperCyclic_Feedback.h"
+#include "kortex_driver/CustomDataUnit.h"
+#include "kortex_driver/GripperCyclic_CustomData.h"
+
+
+int ToRosData(Kinova::Api::GripperCyclic::MessageId input, kortex_driver::GripperCyclic_MessageId &output);
+int ToRosData(Kinova::Api::GripperCyclic::MotorCommand input, kortex_driver::MotorCommand &output);
+int ToRosData(Kinova::Api::GripperCyclic::Command input, kortex_driver::GripperCyclic_Command &output);
+int ToRosData(Kinova::Api::GripperCyclic::MotorFeedback input, kortex_driver::MotorFeedback &output);
+int ToRosData(Kinova::Api::GripperCyclic::Feedback input, kortex_driver::GripperCyclic_Feedback &output);
+int ToRosData(Kinova::Api::GripperCyclic::CustomDataUnit input, kortex_driver::CustomDataUnit &output);
+int ToRosData(Kinova::Api::GripperCyclic::CustomData input, kortex_driver::GripperCyclic_CustomData &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/interconnectconfig_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/interconnectconfig_proto_converter.h
new file mode 100644
index 0000000..4b201c0
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/interconnectconfig_proto_converter.h
@@ -0,0 +1,71 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_INTERCONNECTCONFIG_PROTO_CONVERTER_H_
+#define _KORTEX_INTERCONNECTCONFIG_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <InterconnectConfig.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/EthernetDeviceIdentification.h"
+#include "kortex_driver/EthernetConfiguration.h"
+#include "kortex_driver/GPIOIdentification.h"
+#include "kortex_driver/GPIOConfiguration.h"
+#include "kortex_driver/GPIOState.h"
+#include "kortex_driver/I2CDeviceIdentification.h"
+#include "kortex_driver/I2CConfiguration.h"
+#include "kortex_driver/I2CReadParameter.h"
+#include "kortex_driver/I2CReadRegisterParameter.h"
+#include "kortex_driver/I2CWriteParameter.h"
+#include "kortex_driver/I2CWriteRegisterParameter.h"
+#include "kortex_driver/I2CData.h"
+
+
+int ToProtoData(kortex_driver::EthernetDeviceIdentification input, Kinova::Api::InterconnectConfig::EthernetDeviceIdentification *output);
+int ToProtoData(kortex_driver::EthernetConfiguration input, Kinova::Api::InterconnectConfig::EthernetConfiguration *output);
+int ToProtoData(kortex_driver::GPIOIdentification input, Kinova::Api::InterconnectConfig::GPIOIdentification *output);
+int ToProtoData(kortex_driver::GPIOConfiguration input, Kinova::Api::InterconnectConfig::GPIOConfiguration *output);
+int ToProtoData(kortex_driver::GPIOState input, Kinova::Api::InterconnectConfig::GPIOState *output);
+int ToProtoData(kortex_driver::I2CDeviceIdentification input, Kinova::Api::InterconnectConfig::I2CDeviceIdentification *output);
+int ToProtoData(kortex_driver::I2CConfiguration input, Kinova::Api::InterconnectConfig::I2CConfiguration *output);
+int ToProtoData(kortex_driver::I2CReadParameter input, Kinova::Api::InterconnectConfig::I2CReadParameter *output);
+int ToProtoData(kortex_driver::I2CReadRegisterParameter input, Kinova::Api::InterconnectConfig::I2CReadRegisterParameter *output);
+int ToProtoData(kortex_driver::I2CWriteParameter input, Kinova::Api::InterconnectConfig::I2CWriteParameter *output);
+int ToProtoData(kortex_driver::I2CWriteRegisterParameter input, Kinova::Api::InterconnectConfig::I2CWriteRegisterParameter *output);
+int ToProtoData(kortex_driver::I2CData input, Kinova::Api::InterconnectConfig::I2CData *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/interconnectconfig_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/interconnectconfig_ros_converter.h
new file mode 100644
index 0000000..f155cf6
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/interconnectconfig_ros_converter.h
@@ -0,0 +1,71 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_INTERCONNECTCONFIG_ROS_CONVERTER_H_
+#define _KORTEX_INTERCONNECTCONFIG_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <InterconnectConfig.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/EthernetDeviceIdentification.h"
+#include "kortex_driver/EthernetConfiguration.h"
+#include "kortex_driver/GPIOIdentification.h"
+#include "kortex_driver/GPIOConfiguration.h"
+#include "kortex_driver/GPIOState.h"
+#include "kortex_driver/I2CDeviceIdentification.h"
+#include "kortex_driver/I2CConfiguration.h"
+#include "kortex_driver/I2CReadParameter.h"
+#include "kortex_driver/I2CReadRegisterParameter.h"
+#include "kortex_driver/I2CWriteParameter.h"
+#include "kortex_driver/I2CWriteRegisterParameter.h"
+#include "kortex_driver/I2CData.h"
+
+
+int ToRosData(Kinova::Api::InterconnectConfig::EthernetDeviceIdentification input, kortex_driver::EthernetDeviceIdentification &output);
+int ToRosData(Kinova::Api::InterconnectConfig::EthernetConfiguration input, kortex_driver::EthernetConfiguration &output);
+int ToRosData(Kinova::Api::InterconnectConfig::GPIOIdentification input, kortex_driver::GPIOIdentification &output);
+int ToRosData(Kinova::Api::InterconnectConfig::GPIOConfiguration input, kortex_driver::GPIOConfiguration &output);
+int ToRosData(Kinova::Api::InterconnectConfig::GPIOState input, kortex_driver::GPIOState &output);
+int ToRosData(Kinova::Api::InterconnectConfig::I2CDeviceIdentification input, kortex_driver::I2CDeviceIdentification &output);
+int ToRosData(Kinova::Api::InterconnectConfig::I2CConfiguration input, kortex_driver::I2CConfiguration &output);
+int ToRosData(Kinova::Api::InterconnectConfig::I2CReadParameter input, kortex_driver::I2CReadParameter &output);
+int ToRosData(Kinova::Api::InterconnectConfig::I2CReadRegisterParameter input, kortex_driver::I2CReadRegisterParameter &output);
+int ToRosData(Kinova::Api::InterconnectConfig::I2CWriteParameter input, kortex_driver::I2CWriteParameter &output);
+int ToRosData(Kinova::Api::InterconnectConfig::I2CWriteRegisterParameter input, kortex_driver::I2CWriteRegisterParameter &output);
+int ToRosData(Kinova::Api::InterconnectConfig::I2CData input, kortex_driver::I2CData &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/interconnectconfig_services.h b/kortex_driver/include/kortex_driver/generated/robot/interconnectconfig_services.h
new file mode 100644
index 0000000..a4f360e
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/interconnectconfig_services.h
@@ -0,0 +1,55 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_INTERCONNECTCONFIG_ROBOT_SERVICES_H_
+#define _KORTEX_INTERCONNECTCONFIG_ROBOT_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/interconnectconfig_services_interface.h"
+
+#include <InterconnectConfig.pb.h>
+#include <InterconnectConfigClientRpc.h>
+
+using namespace std;
+
+class InterconnectConfigRobotServices : public IInterconnectConfigServices
+{
+    public:
+        InterconnectConfigRobotServices(ros::NodeHandle& node_handle, Kinova::Api::InterconnectConfig::InterconnectConfigClient* interconnectconfig, uint32_t device_id, uint32_t timeout_ms);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        virtual bool GetUARTConfiguration(kortex_driver::GetUARTConfiguration::Request  &req, kortex_driver::GetUARTConfiguration::Response &res) override;
+        virtual bool SetUARTConfiguration(kortex_driver::SetUARTConfiguration::Request  &req, kortex_driver::SetUARTConfiguration::Response &res) override;
+        virtual bool GetEthernetConfiguration(kortex_driver::GetEthernetConfiguration::Request  &req, kortex_driver::GetEthernetConfiguration::Response &res) override;
+        virtual bool SetEthernetConfiguration(kortex_driver::SetEthernetConfiguration::Request  &req, kortex_driver::SetEthernetConfiguration::Response &res) override;
+        virtual bool GetGPIOConfiguration(kortex_driver::GetGPIOConfiguration::Request  &req, kortex_driver::GetGPIOConfiguration::Response &res) override;
+        virtual bool SetGPIOConfiguration(kortex_driver::SetGPIOConfiguration::Request  &req, kortex_driver::SetGPIOConfiguration::Response &res) override;
+        virtual bool GetGPIOState(kortex_driver::GetGPIOState::Request  &req, kortex_driver::GetGPIOState::Response &res) override;
+        virtual bool SetGPIOState(kortex_driver::SetGPIOState::Request  &req, kortex_driver::SetGPIOState::Response &res) override;
+        virtual bool GetI2CConfiguration(kortex_driver::GetI2CConfiguration::Request  &req, kortex_driver::GetI2CConfiguration::Response &res) override;
+        virtual bool SetI2CConfiguration(kortex_driver::SetI2CConfiguration::Request  &req, kortex_driver::SetI2CConfiguration::Response &res) override;
+        virtual bool I2CRead(kortex_driver::I2CRead::Request  &req, kortex_driver::I2CRead::Response &res) override;
+        virtual bool I2CReadRegister(kortex_driver::I2CReadRegister::Request  &req, kortex_driver::I2CReadRegister::Response &res) override;
+        virtual bool I2CWrite(kortex_driver::I2CWrite::Request  &req, kortex_driver::I2CWrite::Response &res) override;
+        virtual bool I2CWriteRegister(kortex_driver::I2CWriteRegister::Request  &req, kortex_driver::I2CWriteRegister::Response &res) override;
+
+private:
+        uint32_t m_current_device_id;
+        Kinova::Api::RouterClientSendOptions m_api_options;
+
+        Kinova::Api::InterconnectConfig::InterconnectConfigClient* m_interconnectconfig;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/robot/interconnectcyclic_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/interconnectcyclic_proto_converter.h
new file mode 100644
index 0000000..ad838be
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/interconnectcyclic_proto_converter.h
@@ -0,0 +1,55 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_INTERCONNECTCYCLIC_PROTO_CONVERTER_H_
+#define _KORTEX_INTERCONNECTCYCLIC_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <InterconnectCyclic.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/InterconnectCyclic_MessageId.h"
+#include "kortex_driver/InterconnectCyclic_Command.h"
+#include "kortex_driver/InterconnectCyclic_Feedback.h"
+#include "kortex_driver/InterconnectCyclic_CustomData.h"
+
+
+int ToProtoData(kortex_driver::InterconnectCyclic_MessageId input, Kinova::Api::InterconnectCyclic::MessageId *output);
+int ToProtoData(kortex_driver::InterconnectCyclic_Command input, Kinova::Api::InterconnectCyclic::Command *output);
+int ToProtoData(kortex_driver::InterconnectCyclic_Feedback input, Kinova::Api::InterconnectCyclic::Feedback *output);
+int ToProtoData(kortex_driver::InterconnectCyclic_CustomData input, Kinova::Api::InterconnectCyclic::CustomData *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/interconnectcyclic_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/interconnectcyclic_ros_converter.h
new file mode 100644
index 0000000..eefda5c
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/interconnectcyclic_ros_converter.h
@@ -0,0 +1,55 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_INTERCONNECTCYCLIC_ROS_CONVERTER_H_
+#define _KORTEX_INTERCONNECTCYCLIC_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <InterconnectCyclic.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/InterconnectCyclic_MessageId.h"
+#include "kortex_driver/InterconnectCyclic_Command.h"
+#include "kortex_driver/InterconnectCyclic_Feedback.h"
+#include "kortex_driver/InterconnectCyclic_CustomData.h"
+
+
+int ToRosData(Kinova::Api::InterconnectCyclic::MessageId input, kortex_driver::InterconnectCyclic_MessageId &output);
+int ToRosData(Kinova::Api::InterconnectCyclic::Command input, kortex_driver::InterconnectCyclic_Command &output);
+int ToRosData(Kinova::Api::InterconnectCyclic::Feedback input, kortex_driver::InterconnectCyclic_Feedback &output);
+int ToRosData(Kinova::Api::InterconnectCyclic::CustomData input, kortex_driver::InterconnectCyclic_CustomData &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/productconfiguration_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/productconfiguration_proto_converter.h
new file mode 100644
index 0000000..c40b896
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/productconfiguration_proto_converter.h
@@ -0,0 +1,51 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_PRODUCTCONFIGURATION_PROTO_CONVERTER_H_
+#define _KORTEX_PRODUCTCONFIGURATION_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <ProductConfiguration.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+
+#include "kortex_driver/CompleteProductConfiguration.h"
+#include "kortex_driver/ProductConfigurationEndEffectorType.h"
+
+
+int ToProtoData(kortex_driver::CompleteProductConfiguration input, Kinova::Api::ProductConfiguration::CompleteProductConfiguration *output);
+int ToProtoData(kortex_driver::ProductConfigurationEndEffectorType input, Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/productconfiguration_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/productconfiguration_ros_converter.h
new file mode 100644
index 0000000..757cc52
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/productconfiguration_ros_converter.h
@@ -0,0 +1,51 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_PRODUCTCONFIGURATION_ROS_CONVERTER_H_
+#define _KORTEX_PRODUCTCONFIGURATION_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <ProductConfiguration.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+
+#include "kortex_driver/CompleteProductConfiguration.h"
+#include "kortex_driver/ProductConfigurationEndEffectorType.h"
+
+
+int ToRosData(Kinova::Api::ProductConfiguration::CompleteProductConfiguration input, kortex_driver::CompleteProductConfiguration &output);
+int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType input, kortex_driver::ProductConfigurationEndEffectorType &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/visionconfig_proto_converter.h b/kortex_driver/include/kortex_driver/generated/robot/visionconfig_proto_converter.h
new file mode 100644
index 0000000..ed757cd
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/visionconfig_proto_converter.h
@@ -0,0 +1,79 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_VISIONCONFIG_PROTO_CONVERTER_H_
+#define _KORTEX_VISIONCONFIG_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <VisionConfig.pb.h>
+
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+
+
+#include "kortex_driver/SensorSettings.h"
+#include "kortex_driver/SensorIdentifier.h"
+#include "kortex_driver/IntrinsicProfileIdentifier.h"
+#include "kortex_driver/OptionIdentifier.h"
+#include "kortex_driver/OptionValue.h"
+#include "kortex_driver/OptionInformation.h"
+#include "kortex_driver/SensorFocusAction.h"
+#include "kortex_driver/FocusPoint.h"
+#include "kortex_driver/ManualFocus.h"
+#include "kortex_driver/VisionNotification.h"
+#include "kortex_driver/IntrinsicParameters.h"
+#include "kortex_driver/DistortionCoefficients.h"
+#include "kortex_driver/ExtrinsicParameters.h"
+#include "kortex_driver/VisionConfig_RotationMatrix.h"
+#include "kortex_driver/VisionConfig_RotationMatrixRow.h"
+#include "kortex_driver/TranslationVector.h"
+
+
+int ToProtoData(kortex_driver::SensorSettings input, Kinova::Api::VisionConfig::SensorSettings *output);
+int ToProtoData(kortex_driver::SensorIdentifier input, Kinova::Api::VisionConfig::SensorIdentifier *output);
+int ToProtoData(kortex_driver::IntrinsicProfileIdentifier input, Kinova::Api::VisionConfig::IntrinsicProfileIdentifier *output);
+int ToProtoData(kortex_driver::OptionIdentifier input, Kinova::Api::VisionConfig::OptionIdentifier *output);
+int ToProtoData(kortex_driver::OptionValue input, Kinova::Api::VisionConfig::OptionValue *output);
+int ToProtoData(kortex_driver::OptionInformation input, Kinova::Api::VisionConfig::OptionInformation *output);
+int ToProtoData(kortex_driver::SensorFocusAction input, Kinova::Api::VisionConfig::SensorFocusAction *output);
+int ToProtoData(kortex_driver::FocusPoint input, Kinova::Api::VisionConfig::FocusPoint *output);
+int ToProtoData(kortex_driver::ManualFocus input, Kinova::Api::VisionConfig::ManualFocus *output);
+int ToProtoData(kortex_driver::VisionNotification input, Kinova::Api::VisionConfig::VisionNotification *output);
+int ToProtoData(kortex_driver::IntrinsicParameters input, Kinova::Api::VisionConfig::IntrinsicParameters *output);
+int ToProtoData(kortex_driver::DistortionCoefficients input, Kinova::Api::VisionConfig::DistortionCoefficients *output);
+int ToProtoData(kortex_driver::ExtrinsicParameters input, Kinova::Api::VisionConfig::ExtrinsicParameters *output);
+int ToProtoData(kortex_driver::VisionConfig_RotationMatrix input, Kinova::Api::VisionConfig::RotationMatrix *output);
+int ToProtoData(kortex_driver::VisionConfig_RotationMatrixRow input, Kinova::Api::VisionConfig::RotationMatrixRow *output);
+int ToProtoData(kortex_driver::TranslationVector input, Kinova::Api::VisionConfig::TranslationVector *output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/visionconfig_ros_converter.h b/kortex_driver/include/kortex_driver/generated/robot/visionconfig_ros_converter.h
new file mode 100644
index 0000000..3d4a961
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/visionconfig_ros_converter.h
@@ -0,0 +1,79 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_VISIONCONFIG_ROS_CONVERTER_H_
+#define _KORTEX_VISIONCONFIG_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <VisionConfig.pb.h>
+
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+
+
+#include "kortex_driver/SensorSettings.h"
+#include "kortex_driver/SensorIdentifier.h"
+#include "kortex_driver/IntrinsicProfileIdentifier.h"
+#include "kortex_driver/OptionIdentifier.h"
+#include "kortex_driver/OptionValue.h"
+#include "kortex_driver/OptionInformation.h"
+#include "kortex_driver/SensorFocusAction.h"
+#include "kortex_driver/FocusPoint.h"
+#include "kortex_driver/ManualFocus.h"
+#include "kortex_driver/VisionNotification.h"
+#include "kortex_driver/IntrinsicParameters.h"
+#include "kortex_driver/DistortionCoefficients.h"
+#include "kortex_driver/ExtrinsicParameters.h"
+#include "kortex_driver/VisionConfig_RotationMatrix.h"
+#include "kortex_driver/VisionConfig_RotationMatrixRow.h"
+#include "kortex_driver/TranslationVector.h"
+
+
+int ToRosData(Kinova::Api::VisionConfig::SensorSettings input, kortex_driver::SensorSettings &output);
+int ToRosData(Kinova::Api::VisionConfig::SensorIdentifier input, kortex_driver::SensorIdentifier &output);
+int ToRosData(Kinova::Api::VisionConfig::IntrinsicProfileIdentifier input, kortex_driver::IntrinsicProfileIdentifier &output);
+int ToRosData(Kinova::Api::VisionConfig::OptionIdentifier input, kortex_driver::OptionIdentifier &output);
+int ToRosData(Kinova::Api::VisionConfig::OptionValue input, kortex_driver::OptionValue &output);
+int ToRosData(Kinova::Api::VisionConfig::OptionInformation input, kortex_driver::OptionInformation &output);
+int ToRosData(Kinova::Api::VisionConfig::SensorFocusAction input, kortex_driver::SensorFocusAction &output);
+int ToRosData(Kinova::Api::VisionConfig::FocusPoint input, kortex_driver::FocusPoint &output);
+int ToRosData(Kinova::Api::VisionConfig::ManualFocus input, kortex_driver::ManualFocus &output);
+int ToRosData(Kinova::Api::VisionConfig::VisionNotification input, kortex_driver::VisionNotification &output);
+int ToRosData(Kinova::Api::VisionConfig::IntrinsicParameters input, kortex_driver::IntrinsicParameters &output);
+int ToRosData(Kinova::Api::VisionConfig::DistortionCoefficients input, kortex_driver::DistortionCoefficients &output);
+int ToRosData(Kinova::Api::VisionConfig::ExtrinsicParameters input, kortex_driver::ExtrinsicParameters &output);
+int ToRosData(Kinova::Api::VisionConfig::RotationMatrix input, kortex_driver::VisionConfig_RotationMatrix &output);
+int ToRosData(Kinova::Api::VisionConfig::RotationMatrixRow input, kortex_driver::VisionConfig_RotationMatrixRow &output);
+int ToRosData(Kinova::Api::VisionConfig::TranslationVector input, kortex_driver::TranslationVector &output);
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/generated/robot/visionconfig_services.h b/kortex_driver/include/kortex_driver/generated/robot/visionconfig_services.h
new file mode 100644
index 0000000..32e0129
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/robot/visionconfig_services.h
@@ -0,0 +1,54 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_VISIONCONFIG_ROBOT_SERVICES_H_
+#define _KORTEX_VISIONCONFIG_ROBOT_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/visionconfig_services_interface.h"
+
+#include <VisionConfig.pb.h>
+#include <VisionConfigClientRpc.h>
+
+using namespace std;
+
+class VisionConfigRobotServices : public IVisionConfigServices
+{
+    public:
+        VisionConfigRobotServices(ros::NodeHandle& node_handle, Kinova::Api::VisionConfig::VisionConfigClient* visionconfig, uint32_t device_id, uint32_t timeout_ms);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        virtual bool SetSensorSettings(kortex_driver::SetSensorSettings::Request  &req, kortex_driver::SetSensorSettings::Response &res) override;
+        virtual bool GetSensorSettings(kortex_driver::GetSensorSettings::Request  &req, kortex_driver::GetSensorSettings::Response &res) override;
+        virtual bool GetOptionValue(kortex_driver::GetOptionValue::Request  &req, kortex_driver::GetOptionValue::Response &res) override;
+        virtual bool SetOptionValue(kortex_driver::SetOptionValue::Request  &req, kortex_driver::SetOptionValue::Response &res) override;
+        virtual bool GetOptionInformation(kortex_driver::GetOptionInformation::Request  &req, kortex_driver::GetOptionInformation::Response &res) override;
+        virtual bool OnNotificationVisionTopic(kortex_driver::OnNotificationVisionTopic::Request  &req, kortex_driver::OnNotificationVisionTopic::Response &res) override;
+        virtual void cb_VisionTopic(Kinova::Api::VisionConfig::VisionNotification notif) override;
+        virtual bool DoSensorFocusAction(kortex_driver::DoSensorFocusAction::Request  &req, kortex_driver::DoSensorFocusAction::Response &res) override;
+        virtual bool GetIntrinsicParameters(kortex_driver::GetIntrinsicParameters::Request  &req, kortex_driver::GetIntrinsicParameters::Response &res) override;
+        virtual bool GetIntrinsicParametersProfile(kortex_driver::GetIntrinsicParametersProfile::Request  &req, kortex_driver::GetIntrinsicParametersProfile::Response &res) override;
+        virtual bool SetIntrinsicParameters(kortex_driver::SetIntrinsicParameters::Request  &req, kortex_driver::SetIntrinsicParameters::Response &res) override;
+        virtual bool GetExtrinsicParameters(kortex_driver::GetExtrinsicParameters::Request  &req, kortex_driver::GetExtrinsicParameters::Response &res) override;
+        virtual bool SetExtrinsicParameters(kortex_driver::SetExtrinsicParameters::Request  &req, kortex_driver::SetExtrinsicParameters::Response &res) override;
+
+private:
+        uint32_t m_current_device_id;
+        Kinova::Api::RouterClientSendOptions m_api_options;
+
+        Kinova::Api::VisionConfig::VisionConfigClient* m_visionconfig;
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/simulation/actuatorconfig_services.h b/kortex_driver/include/kortex_driver/generated/simulation/actuatorconfig_services.h
new file mode 100644
index 0000000..0a04e42
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/simulation/actuatorconfig_services.h
@@ -0,0 +1,73 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_ACTUATORCONFIG_SIMULATION_SERVICES_H_
+#define _KORTEX_ACTUATORCONFIG_SIMULATION_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/actuatorconfig_services_interface.h"
+
+using namespace std;
+
+class ActuatorConfigSimulationServices : public IActuatorConfigServices
+{
+    public:
+        ActuatorConfigSimulationServices(ros::NodeHandle& node_handle);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        std::function<kortex_driver::GetAxisOffsets::Response(const kortex_driver::GetAxisOffsets::Request&)> GetAxisOffsetsHandler = nullptr;
+        virtual bool GetAxisOffsets(kortex_driver::GetAxisOffsets::Request  &req, kortex_driver::GetAxisOffsets::Response &res) override;
+        std::function<kortex_driver::SetAxisOffsets::Response(const kortex_driver::SetAxisOffsets::Request&)> SetAxisOffsetsHandler = nullptr;
+        virtual bool SetAxisOffsets(kortex_driver::SetAxisOffsets::Request  &req, kortex_driver::SetAxisOffsets::Response &res) override;
+        std::function<kortex_driver::SetTorqueOffset::Response(const kortex_driver::SetTorqueOffset::Request&)> SetTorqueOffsetHandler = nullptr;
+        virtual bool SetTorqueOffset(kortex_driver::SetTorqueOffset::Request  &req, kortex_driver::SetTorqueOffset::Response &res) override;
+        std::function<kortex_driver::ActuatorConfig_GetControlMode::Response(const kortex_driver::ActuatorConfig_GetControlMode::Request&)> ActuatorConfig_GetControlModeHandler = nullptr;
+        virtual bool ActuatorConfig_GetControlMode(kortex_driver::ActuatorConfig_GetControlMode::Request  &req, kortex_driver::ActuatorConfig_GetControlMode::Response &res) override;
+        std::function<kortex_driver::SetControlMode::Response(const kortex_driver::SetControlMode::Request&)> SetControlModeHandler = nullptr;
+        virtual bool SetControlMode(kortex_driver::SetControlMode::Request  &req, kortex_driver::SetControlMode::Response &res) override;
+        std::function<kortex_driver::GetActivatedControlLoop::Response(const kortex_driver::GetActivatedControlLoop::Request&)> GetActivatedControlLoopHandler = nullptr;
+        virtual bool GetActivatedControlLoop(kortex_driver::GetActivatedControlLoop::Request  &req, kortex_driver::GetActivatedControlLoop::Response &res) override;
+        std::function<kortex_driver::SetActivatedControlLoop::Response(const kortex_driver::SetActivatedControlLoop::Request&)> SetActivatedControlLoopHandler = nullptr;
+        virtual bool SetActivatedControlLoop(kortex_driver::SetActivatedControlLoop::Request  &req, kortex_driver::SetActivatedControlLoop::Response &res) override;
+        std::function<kortex_driver::GetControlLoopParameters::Response(const kortex_driver::GetControlLoopParameters::Request&)> GetControlLoopParametersHandler = nullptr;
+        virtual bool GetControlLoopParameters(kortex_driver::GetControlLoopParameters::Request  &req, kortex_driver::GetControlLoopParameters::Response &res) override;
+        std::function<kortex_driver::SetControlLoopParameters::Response(const kortex_driver::SetControlLoopParameters::Request&)> SetControlLoopParametersHandler = nullptr;
+        virtual bool SetControlLoopParameters(kortex_driver::SetControlLoopParameters::Request  &req, kortex_driver::SetControlLoopParameters::Response &res) override;
+        std::function<kortex_driver::SelectCustomData::Response(const kortex_driver::SelectCustomData::Request&)> SelectCustomDataHandler = nullptr;
+        virtual bool SelectCustomData(kortex_driver::SelectCustomData::Request  &req, kortex_driver::SelectCustomData::Response &res) override;
+        std::function<kortex_driver::GetSelectedCustomData::Response(const kortex_driver::GetSelectedCustomData::Request&)> GetSelectedCustomDataHandler = nullptr;
+        virtual bool GetSelectedCustomData(kortex_driver::GetSelectedCustomData::Request  &req, kortex_driver::GetSelectedCustomData::Response &res) override;
+        std::function<kortex_driver::SetCommandMode::Response(const kortex_driver::SetCommandMode::Request&)> SetCommandModeHandler = nullptr;
+        virtual bool SetCommandMode(kortex_driver::SetCommandMode::Request  &req, kortex_driver::SetCommandMode::Response &res) override;
+        std::function<kortex_driver::ActuatorConfig_ClearFaults::Response(const kortex_driver::ActuatorConfig_ClearFaults::Request&)> ActuatorConfig_ClearFaultsHandler = nullptr;
+        virtual bool ActuatorConfig_ClearFaults(kortex_driver::ActuatorConfig_ClearFaults::Request  &req, kortex_driver::ActuatorConfig_ClearFaults::Response &res) override;
+        std::function<kortex_driver::SetServoing::Response(const kortex_driver::SetServoing::Request&)> SetServoingHandler = nullptr;
+        virtual bool SetServoing(kortex_driver::SetServoing::Request  &req, kortex_driver::SetServoing::Response &res) override;
+        std::function<kortex_driver::MoveToPosition::Response(const kortex_driver::MoveToPosition::Request&)> MoveToPositionHandler = nullptr;
+        virtual bool MoveToPosition(kortex_driver::MoveToPosition::Request  &req, kortex_driver::MoveToPosition::Response &res) override;
+        std::function<kortex_driver::GetCommandMode::Response(const kortex_driver::GetCommandMode::Request&)> GetCommandModeHandler = nullptr;
+        virtual bool GetCommandMode(kortex_driver::GetCommandMode::Request  &req, kortex_driver::GetCommandMode::Response &res) override;
+        std::function<kortex_driver::GetServoing::Response(const kortex_driver::GetServoing::Request&)> GetServoingHandler = nullptr;
+        virtual bool GetServoing(kortex_driver::GetServoing::Request  &req, kortex_driver::GetServoing::Response &res) override;
+        std::function<kortex_driver::GetTorqueOffset::Response(const kortex_driver::GetTorqueOffset::Request&)> GetTorqueOffsetHandler = nullptr;
+        virtual bool GetTorqueOffset(kortex_driver::GetTorqueOffset::Request  &req, kortex_driver::GetTorqueOffset::Response &res) override;
+        std::function<kortex_driver::SetCoggingFeedforwardMode::Response(const kortex_driver::SetCoggingFeedforwardMode::Request&)> SetCoggingFeedforwardModeHandler = nullptr;
+        virtual bool SetCoggingFeedforwardMode(kortex_driver::SetCoggingFeedforwardMode::Request  &req, kortex_driver::SetCoggingFeedforwardMode::Response &res) override;
+        std::function<kortex_driver::GetCoggingFeedforwardMode::Response(const kortex_driver::GetCoggingFeedforwardMode::Request&)> GetCoggingFeedforwardModeHandler = nullptr;
+        virtual bool GetCoggingFeedforwardMode(kortex_driver::GetCoggingFeedforwardMode::Request  &req, kortex_driver::GetCoggingFeedforwardMode::Response &res) override;
+
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/simulation/base_services.h b/kortex_driver/include/kortex_driver/generated/simulation/base_services.h
new file mode 100644
index 0000000..6556675
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/simulation/base_services.h
@@ -0,0 +1,335 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_BASE_SIMULATION_SERVICES_H_
+#define _KORTEX_BASE_SIMULATION_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/base_services_interface.h"
+
+using namespace std;
+
+class BaseSimulationServices : public IBaseServices
+{
+    public:
+        BaseSimulationServices(ros::NodeHandle& node_handle);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        std::function<kortex_driver::CreateUserProfile::Response(const kortex_driver::CreateUserProfile::Request&)> CreateUserProfileHandler = nullptr;
+        virtual bool CreateUserProfile(kortex_driver::CreateUserProfile::Request  &req, kortex_driver::CreateUserProfile::Response &res) override;
+        std::function<kortex_driver::UpdateUserProfile::Response(const kortex_driver::UpdateUserProfile::Request&)> UpdateUserProfileHandler = nullptr;
+        virtual bool UpdateUserProfile(kortex_driver::UpdateUserProfile::Request  &req, kortex_driver::UpdateUserProfile::Response &res) override;
+        std::function<kortex_driver::ReadUserProfile::Response(const kortex_driver::ReadUserProfile::Request&)> ReadUserProfileHandler = nullptr;
+        virtual bool ReadUserProfile(kortex_driver::ReadUserProfile::Request  &req, kortex_driver::ReadUserProfile::Response &res) override;
+        std::function<kortex_driver::DeleteUserProfile::Response(const kortex_driver::DeleteUserProfile::Request&)> DeleteUserProfileHandler = nullptr;
+        virtual bool DeleteUserProfile(kortex_driver::DeleteUserProfile::Request  &req, kortex_driver::DeleteUserProfile::Response &res) override;
+        std::function<kortex_driver::ReadAllUserProfiles::Response(const kortex_driver::ReadAllUserProfiles::Request&)> ReadAllUserProfilesHandler = nullptr;
+        virtual bool ReadAllUserProfiles(kortex_driver::ReadAllUserProfiles::Request  &req, kortex_driver::ReadAllUserProfiles::Response &res) override;
+        std::function<kortex_driver::ReadAllUsers::Response(const kortex_driver::ReadAllUsers::Request&)> ReadAllUsersHandler = nullptr;
+        virtual bool ReadAllUsers(kortex_driver::ReadAllUsers::Request  &req, kortex_driver::ReadAllUsers::Response &res) override;
+        std::function<kortex_driver::ChangePassword::Response(const kortex_driver::ChangePassword::Request&)> ChangePasswordHandler = nullptr;
+        virtual bool ChangePassword(kortex_driver::ChangePassword::Request  &req, kortex_driver::ChangePassword::Response &res) override;
+        std::function<kortex_driver::CreateSequence::Response(const kortex_driver::CreateSequence::Request&)> CreateSequenceHandler = nullptr;
+        virtual bool CreateSequence(kortex_driver::CreateSequence::Request  &req, kortex_driver::CreateSequence::Response &res) override;
+        std::function<kortex_driver::UpdateSequence::Response(const kortex_driver::UpdateSequence::Request&)> UpdateSequenceHandler = nullptr;
+        virtual bool UpdateSequence(kortex_driver::UpdateSequence::Request  &req, kortex_driver::UpdateSequence::Response &res) override;
+        std::function<kortex_driver::ReadSequence::Response(const kortex_driver::ReadSequence::Request&)> ReadSequenceHandler = nullptr;
+        virtual bool ReadSequence(kortex_driver::ReadSequence::Request  &req, kortex_driver::ReadSequence::Response &res) override;
+        std::function<kortex_driver::DeleteSequence::Response(const kortex_driver::DeleteSequence::Request&)> DeleteSequenceHandler = nullptr;
+        virtual bool DeleteSequence(kortex_driver::DeleteSequence::Request  &req, kortex_driver::DeleteSequence::Response &res) override;
+        std::function<kortex_driver::ReadAllSequences::Response(const kortex_driver::ReadAllSequences::Request&)> ReadAllSequencesHandler = nullptr;
+        virtual bool ReadAllSequences(kortex_driver::ReadAllSequences::Request  &req, kortex_driver::ReadAllSequences::Response &res) override;
+        std::function<kortex_driver::PlaySequence::Response(const kortex_driver::PlaySequence::Request&)> PlaySequenceHandler = nullptr;
+        virtual bool PlaySequence(kortex_driver::PlaySequence::Request  &req, kortex_driver::PlaySequence::Response &res) override;
+        std::function<kortex_driver::PlayAdvancedSequence::Response(const kortex_driver::PlayAdvancedSequence::Request&)> PlayAdvancedSequenceHandler = nullptr;
+        virtual bool PlayAdvancedSequence(kortex_driver::PlayAdvancedSequence::Request  &req, kortex_driver::PlayAdvancedSequence::Response &res) override;
+        std::function<kortex_driver::StopSequence::Response(const kortex_driver::StopSequence::Request&)> StopSequenceHandler = nullptr;
+        virtual bool StopSequence(kortex_driver::StopSequence::Request  &req, kortex_driver::StopSequence::Response &res) override;
+        std::function<kortex_driver::PauseSequence::Response(const kortex_driver::PauseSequence::Request&)> PauseSequenceHandler = nullptr;
+        virtual bool PauseSequence(kortex_driver::PauseSequence::Request  &req, kortex_driver::PauseSequence::Response &res) override;
+        std::function<kortex_driver::ResumeSequence::Response(const kortex_driver::ResumeSequence::Request&)> ResumeSequenceHandler = nullptr;
+        virtual bool ResumeSequence(kortex_driver::ResumeSequence::Request  &req, kortex_driver::ResumeSequence::Response &res) override;
+        std::function<kortex_driver::CreateProtectionZone::Response(const kortex_driver::CreateProtectionZone::Request&)> CreateProtectionZoneHandler = nullptr;
+        virtual bool CreateProtectionZone(kortex_driver::CreateProtectionZone::Request  &req, kortex_driver::CreateProtectionZone::Response &res) override;
+        std::function<kortex_driver::UpdateProtectionZone::Response(const kortex_driver::UpdateProtectionZone::Request&)> UpdateProtectionZoneHandler = nullptr;
+        virtual bool UpdateProtectionZone(kortex_driver::UpdateProtectionZone::Request  &req, kortex_driver::UpdateProtectionZone::Response &res) override;
+        std::function<kortex_driver::ReadProtectionZone::Response(const kortex_driver::ReadProtectionZone::Request&)> ReadProtectionZoneHandler = nullptr;
+        virtual bool ReadProtectionZone(kortex_driver::ReadProtectionZone::Request  &req, kortex_driver::ReadProtectionZone::Response &res) override;
+        std::function<kortex_driver::DeleteProtectionZone::Response(const kortex_driver::DeleteProtectionZone::Request&)> DeleteProtectionZoneHandler = nullptr;
+        virtual bool DeleteProtectionZone(kortex_driver::DeleteProtectionZone::Request  &req, kortex_driver::DeleteProtectionZone::Response &res) override;
+        std::function<kortex_driver::ReadAllProtectionZones::Response(const kortex_driver::ReadAllProtectionZones::Request&)> ReadAllProtectionZonesHandler = nullptr;
+        virtual bool ReadAllProtectionZones(kortex_driver::ReadAllProtectionZones::Request  &req, kortex_driver::ReadAllProtectionZones::Response &res) override;
+        std::function<kortex_driver::CreateMapping::Response(const kortex_driver::CreateMapping::Request&)> CreateMappingHandler = nullptr;
+        virtual bool CreateMapping(kortex_driver::CreateMapping::Request  &req, kortex_driver::CreateMapping::Response &res) override;
+        std::function<kortex_driver::ReadMapping::Response(const kortex_driver::ReadMapping::Request&)> ReadMappingHandler = nullptr;
+        virtual bool ReadMapping(kortex_driver::ReadMapping::Request  &req, kortex_driver::ReadMapping::Response &res) override;
+        std::function<kortex_driver::UpdateMapping::Response(const kortex_driver::UpdateMapping::Request&)> UpdateMappingHandler = nullptr;
+        virtual bool UpdateMapping(kortex_driver::UpdateMapping::Request  &req, kortex_driver::UpdateMapping::Response &res) override;
+        std::function<kortex_driver::DeleteMapping::Response(const kortex_driver::DeleteMapping::Request&)> DeleteMappingHandler = nullptr;
+        virtual bool DeleteMapping(kortex_driver::DeleteMapping::Request  &req, kortex_driver::DeleteMapping::Response &res) override;
+        std::function<kortex_driver::ReadAllMappings::Response(const kortex_driver::ReadAllMappings::Request&)> ReadAllMappingsHandler = nullptr;
+        virtual bool ReadAllMappings(kortex_driver::ReadAllMappings::Request  &req, kortex_driver::ReadAllMappings::Response &res) override;
+        std::function<kortex_driver::CreateMap::Response(const kortex_driver::CreateMap::Request&)> CreateMapHandler = nullptr;
+        virtual bool CreateMap(kortex_driver::CreateMap::Request  &req, kortex_driver::CreateMap::Response &res) override;
+        std::function<kortex_driver::ReadMap::Response(const kortex_driver::ReadMap::Request&)> ReadMapHandler = nullptr;
+        virtual bool ReadMap(kortex_driver::ReadMap::Request  &req, kortex_driver::ReadMap::Response &res) override;
+        std::function<kortex_driver::UpdateMap::Response(const kortex_driver::UpdateMap::Request&)> UpdateMapHandler = nullptr;
+        virtual bool UpdateMap(kortex_driver::UpdateMap::Request  &req, kortex_driver::UpdateMap::Response &res) override;
+        std::function<kortex_driver::DeleteMap::Response(const kortex_driver::DeleteMap::Request&)> DeleteMapHandler = nullptr;
+        virtual bool DeleteMap(kortex_driver::DeleteMap::Request  &req, kortex_driver::DeleteMap::Response &res) override;
+        std::function<kortex_driver::ReadAllMaps::Response(const kortex_driver::ReadAllMaps::Request&)> ReadAllMapsHandler = nullptr;
+        virtual bool ReadAllMaps(kortex_driver::ReadAllMaps::Request  &req, kortex_driver::ReadAllMaps::Response &res) override;
+        std::function<kortex_driver::ActivateMap::Response(const kortex_driver::ActivateMap::Request&)> ActivateMapHandler = nullptr;
+        virtual bool ActivateMap(kortex_driver::ActivateMap::Request  &req, kortex_driver::ActivateMap::Response &res) override;
+        std::function<kortex_driver::CreateAction::Response(const kortex_driver::CreateAction::Request&)> CreateActionHandler = nullptr;
+        virtual bool CreateAction(kortex_driver::CreateAction::Request  &req, kortex_driver::CreateAction::Response &res) override;
+        std::function<kortex_driver::ReadAction::Response(const kortex_driver::ReadAction::Request&)> ReadActionHandler = nullptr;
+        virtual bool ReadAction(kortex_driver::ReadAction::Request  &req, kortex_driver::ReadAction::Response &res) override;
+        std::function<kortex_driver::ReadAllActions::Response(const kortex_driver::ReadAllActions::Request&)> ReadAllActionsHandler = nullptr;
+        virtual bool ReadAllActions(kortex_driver::ReadAllActions::Request  &req, kortex_driver::ReadAllActions::Response &res) override;
+        std::function<kortex_driver::DeleteAction::Response(const kortex_driver::DeleteAction::Request&)> DeleteActionHandler = nullptr;
+        virtual bool DeleteAction(kortex_driver::DeleteAction::Request  &req, kortex_driver::DeleteAction::Response &res) override;
+        std::function<kortex_driver::UpdateAction::Response(const kortex_driver::UpdateAction::Request&)> UpdateActionHandler = nullptr;
+        virtual bool UpdateAction(kortex_driver::UpdateAction::Request  &req, kortex_driver::UpdateAction::Response &res) override;
+        std::function<kortex_driver::ExecuteActionFromReference::Response(const kortex_driver::ExecuteActionFromReference::Request&)> ExecuteActionFromReferenceHandler = nullptr;
+        virtual bool ExecuteActionFromReference(kortex_driver::ExecuteActionFromReference::Request  &req, kortex_driver::ExecuteActionFromReference::Response &res) override;
+        std::function<kortex_driver::ExecuteAction::Response(const kortex_driver::ExecuteAction::Request&)> ExecuteActionHandler = nullptr;
+        virtual bool ExecuteAction(kortex_driver::ExecuteAction::Request  &req, kortex_driver::ExecuteAction::Response &res) override;
+        std::function<kortex_driver::PauseAction::Response(const kortex_driver::PauseAction::Request&)> PauseActionHandler = nullptr;
+        virtual bool PauseAction(kortex_driver::PauseAction::Request  &req, kortex_driver::PauseAction::Response &res) override;
+        std::function<kortex_driver::StopAction::Response(const kortex_driver::StopAction::Request&)> StopActionHandler = nullptr;
+        virtual bool StopAction(kortex_driver::StopAction::Request  &req, kortex_driver::StopAction::Response &res) override;
+        std::function<kortex_driver::ResumeAction::Response(const kortex_driver::ResumeAction::Request&)> ResumeActionHandler = nullptr;
+        virtual bool ResumeAction(kortex_driver::ResumeAction::Request  &req, kortex_driver::ResumeAction::Response &res) override;
+        std::function<kortex_driver::GetIPv4Configuration::Response(const kortex_driver::GetIPv4Configuration::Request&)> GetIPv4ConfigurationHandler = nullptr;
+        virtual bool GetIPv4Configuration(kortex_driver::GetIPv4Configuration::Request  &req, kortex_driver::GetIPv4Configuration::Response &res) override;
+        std::function<kortex_driver::SetIPv4Configuration::Response(const kortex_driver::SetIPv4Configuration::Request&)> SetIPv4ConfigurationHandler = nullptr;
+        virtual bool SetIPv4Configuration(kortex_driver::SetIPv4Configuration::Request  &req, kortex_driver::SetIPv4Configuration::Response &res) override;
+        std::function<kortex_driver::SetCommunicationInterfaceEnable::Response(const kortex_driver::SetCommunicationInterfaceEnable::Request&)> SetCommunicationInterfaceEnableHandler = nullptr;
+        virtual bool SetCommunicationInterfaceEnable(kortex_driver::SetCommunicationInterfaceEnable::Request  &req, kortex_driver::SetCommunicationInterfaceEnable::Response &res) override;
+        std::function<kortex_driver::IsCommunicationInterfaceEnable::Response(const kortex_driver::IsCommunicationInterfaceEnable::Request&)> IsCommunicationInterfaceEnableHandler = nullptr;
+        virtual bool IsCommunicationInterfaceEnable(kortex_driver::IsCommunicationInterfaceEnable::Request  &req, kortex_driver::IsCommunicationInterfaceEnable::Response &res) override;
+        std::function<kortex_driver::GetAvailableWifi::Response(const kortex_driver::GetAvailableWifi::Request&)> GetAvailableWifiHandler = nullptr;
+        virtual bool GetAvailableWifi(kortex_driver::GetAvailableWifi::Request  &req, kortex_driver::GetAvailableWifi::Response &res) override;
+        std::function<kortex_driver::GetWifiInformation::Response(const kortex_driver::GetWifiInformation::Request&)> GetWifiInformationHandler = nullptr;
+        virtual bool GetWifiInformation(kortex_driver::GetWifiInformation::Request  &req, kortex_driver::GetWifiInformation::Response &res) override;
+        std::function<kortex_driver::AddWifiConfiguration::Response(const kortex_driver::AddWifiConfiguration::Request&)> AddWifiConfigurationHandler = nullptr;
+        virtual bool AddWifiConfiguration(kortex_driver::AddWifiConfiguration::Request  &req, kortex_driver::AddWifiConfiguration::Response &res) override;
+        std::function<kortex_driver::DeleteWifiConfiguration::Response(const kortex_driver::DeleteWifiConfiguration::Request&)> DeleteWifiConfigurationHandler = nullptr;
+        virtual bool DeleteWifiConfiguration(kortex_driver::DeleteWifiConfiguration::Request  &req, kortex_driver::DeleteWifiConfiguration::Response &res) override;
+        std::function<kortex_driver::GetAllConfiguredWifis::Response(const kortex_driver::GetAllConfiguredWifis::Request&)> GetAllConfiguredWifisHandler = nullptr;
+        virtual bool GetAllConfiguredWifis(kortex_driver::GetAllConfiguredWifis::Request  &req, kortex_driver::GetAllConfiguredWifis::Response &res) override;
+        std::function<kortex_driver::ConnectWifi::Response(const kortex_driver::ConnectWifi::Request&)> ConnectWifiHandler = nullptr;
+        virtual bool ConnectWifi(kortex_driver::ConnectWifi::Request  &req, kortex_driver::ConnectWifi::Response &res) override;
+        std::function<kortex_driver::DisconnectWifi::Response(const kortex_driver::DisconnectWifi::Request&)> DisconnectWifiHandler = nullptr;
+        virtual bool DisconnectWifi(kortex_driver::DisconnectWifi::Request  &req, kortex_driver::DisconnectWifi::Response &res) override;
+        std::function<kortex_driver::GetConnectedWifiInformation::Response(const kortex_driver::GetConnectedWifiInformation::Request&)> GetConnectedWifiInformationHandler = nullptr;
+        virtual bool GetConnectedWifiInformation(kortex_driver::GetConnectedWifiInformation::Request  &req, kortex_driver::GetConnectedWifiInformation::Response &res) override;
+        std::function<kortex_driver::Base_Unsubscribe::Response(const kortex_driver::Base_Unsubscribe::Request&)> Base_UnsubscribeHandler = nullptr;
+        virtual bool Base_Unsubscribe(kortex_driver::Base_Unsubscribe::Request  &req, kortex_driver::Base_Unsubscribe::Response &res) override;
+        std::function<kortex_driver::OnNotificationConfigurationChangeTopic::Response(const kortex_driver::OnNotificationConfigurationChangeTopic::Request&)> OnNotificationConfigurationChangeTopicHandler = nullptr;
+        virtual bool OnNotificationConfigurationChangeTopic(kortex_driver::OnNotificationConfigurationChangeTopic::Request  &req, kortex_driver::OnNotificationConfigurationChangeTopic::Response &res) override;
+        virtual void cb_ConfigurationChangeTopic(Kinova::Api::Base::ConfigurationChangeNotification notif) override;
+        std::function<kortex_driver::OnNotificationMappingInfoTopic::Response(const kortex_driver::OnNotificationMappingInfoTopic::Request&)> OnNotificationMappingInfoTopicHandler = nullptr;
+        virtual bool OnNotificationMappingInfoTopic(kortex_driver::OnNotificationMappingInfoTopic::Request  &req, kortex_driver::OnNotificationMappingInfoTopic::Response &res) override;
+        virtual void cb_MappingInfoTopic(Kinova::Api::Base::MappingInfoNotification notif) override;
+        std::function<kortex_driver::OnNotificationControlModeTopic::Response(const kortex_driver::OnNotificationControlModeTopic::Request&)> OnNotificationControlModeTopicHandler = nullptr;
+        virtual bool OnNotificationControlModeTopic(kortex_driver::OnNotificationControlModeTopic::Request  &req, kortex_driver::OnNotificationControlModeTopic::Response &res) override;
+        virtual void cb_ControlModeTopic(Kinova::Api::Base::ControlModeNotification notif) override;
+        std::function<kortex_driver::OnNotificationOperatingModeTopic::Response(const kortex_driver::OnNotificationOperatingModeTopic::Request&)> OnNotificationOperatingModeTopicHandler = nullptr;
+        virtual bool OnNotificationOperatingModeTopic(kortex_driver::OnNotificationOperatingModeTopic::Request  &req, kortex_driver::OnNotificationOperatingModeTopic::Response &res) override;
+        virtual void cb_OperatingModeTopic(Kinova::Api::Base::OperatingModeNotification notif) override;
+        std::function<kortex_driver::OnNotificationSequenceInfoTopic::Response(const kortex_driver::OnNotificationSequenceInfoTopic::Request&)> OnNotificationSequenceInfoTopicHandler = nullptr;
+        virtual bool OnNotificationSequenceInfoTopic(kortex_driver::OnNotificationSequenceInfoTopic::Request  &req, kortex_driver::OnNotificationSequenceInfoTopic::Response &res) override;
+        virtual void cb_SequenceInfoTopic(Kinova::Api::Base::SequenceInfoNotification notif) override;
+        std::function<kortex_driver::OnNotificationProtectionZoneTopic::Response(const kortex_driver::OnNotificationProtectionZoneTopic::Request&)> OnNotificationProtectionZoneTopicHandler = nullptr;
+        virtual bool OnNotificationProtectionZoneTopic(kortex_driver::OnNotificationProtectionZoneTopic::Request  &req, kortex_driver::OnNotificationProtectionZoneTopic::Response &res) override;
+        virtual void cb_ProtectionZoneTopic(Kinova::Api::Base::ProtectionZoneNotification notif) override;
+        std::function<kortex_driver::OnNotificationUserTopic::Response(const kortex_driver::OnNotificationUserTopic::Request&)> OnNotificationUserTopicHandler = nullptr;
+        virtual bool OnNotificationUserTopic(kortex_driver::OnNotificationUserTopic::Request  &req, kortex_driver::OnNotificationUserTopic::Response &res) override;
+        virtual void cb_UserTopic(Kinova::Api::Base::UserNotification notif) override;
+        std::function<kortex_driver::OnNotificationControllerTopic::Response(const kortex_driver::OnNotificationControllerTopic::Request&)> OnNotificationControllerTopicHandler = nullptr;
+        virtual bool OnNotificationControllerTopic(kortex_driver::OnNotificationControllerTopic::Request  &req, kortex_driver::OnNotificationControllerTopic::Response &res) override;
+        virtual void cb_ControllerTopic(Kinova::Api::Base::ControllerNotification notif) override;
+        std::function<kortex_driver::OnNotificationActionTopic::Response(const kortex_driver::OnNotificationActionTopic::Request&)> OnNotificationActionTopicHandler = nullptr;
+        virtual bool OnNotificationActionTopic(kortex_driver::OnNotificationActionTopic::Request  &req, kortex_driver::OnNotificationActionTopic::Response &res) override;
+        virtual void cb_ActionTopic(Kinova::Api::Base::ActionNotification notif) override;
+        std::function<kortex_driver::OnNotificationRobotEventTopic::Response(const kortex_driver::OnNotificationRobotEventTopic::Request&)> OnNotificationRobotEventTopicHandler = nullptr;
+        virtual bool OnNotificationRobotEventTopic(kortex_driver::OnNotificationRobotEventTopic::Request  &req, kortex_driver::OnNotificationRobotEventTopic::Response &res) override;
+        virtual void cb_RobotEventTopic(Kinova::Api::Base::RobotEventNotification notif) override;
+        std::function<kortex_driver::PlayCartesianTrajectory::Response(const kortex_driver::PlayCartesianTrajectory::Request&)> PlayCartesianTrajectoryHandler = nullptr;
+        virtual bool PlayCartesianTrajectory(kortex_driver::PlayCartesianTrajectory::Request  &req, kortex_driver::PlayCartesianTrajectory::Response &res) override;
+        std::function<kortex_driver::PlayCartesianTrajectoryPosition::Response(const kortex_driver::PlayCartesianTrajectoryPosition::Request&)> PlayCartesianTrajectoryPositionHandler = nullptr;
+        virtual bool PlayCartesianTrajectoryPosition(kortex_driver::PlayCartesianTrajectoryPosition::Request  &req, kortex_driver::PlayCartesianTrajectoryPosition::Response &res) override;
+        std::function<kortex_driver::PlayCartesianTrajectoryOrientation::Response(const kortex_driver::PlayCartesianTrajectoryOrientation::Request&)> PlayCartesianTrajectoryOrientationHandler = nullptr;
+        virtual bool PlayCartesianTrajectoryOrientation(kortex_driver::PlayCartesianTrajectoryOrientation::Request  &req, kortex_driver::PlayCartesianTrajectoryOrientation::Response &res) override;
+        std::function<kortex_driver::Stop::Response(const kortex_driver::Stop::Request&)> StopHandler = nullptr;
+        virtual bool Stop(kortex_driver::Stop::Request  &req, kortex_driver::Stop::Response &res) override;
+        std::function<kortex_driver::GetMeasuredCartesianPose::Response(const kortex_driver::GetMeasuredCartesianPose::Request&)> GetMeasuredCartesianPoseHandler = nullptr;
+        virtual bool GetMeasuredCartesianPose(kortex_driver::GetMeasuredCartesianPose::Request  &req, kortex_driver::GetMeasuredCartesianPose::Response &res) override;
+        std::function<kortex_driver::SendWrenchCommand::Response(const kortex_driver::SendWrenchCommand::Request&)> SendWrenchCommandHandler = nullptr;
+        virtual bool SendWrenchCommand(kortex_driver::SendWrenchCommand::Request  &req, kortex_driver::SendWrenchCommand::Response &res) override;
+        std::function<kortex_driver::SendWrenchJoystickCommand::Response(const kortex_driver::SendWrenchJoystickCommand::Request&)> SendWrenchJoystickCommandHandler = nullptr;
+        virtual bool SendWrenchJoystickCommand(kortex_driver::SendWrenchJoystickCommand::Request  &req, kortex_driver::SendWrenchJoystickCommand::Response &res) override;
+        std::function<kortex_driver::SendTwistJoystickCommand::Response(const kortex_driver::SendTwistJoystickCommand::Request&)> SendTwistJoystickCommandHandler = nullptr;
+        virtual bool SendTwistJoystickCommand(kortex_driver::SendTwistJoystickCommand::Request  &req, kortex_driver::SendTwistJoystickCommand::Response &res) override;
+        std::function<kortex_driver::SendTwistCommand::Response(const kortex_driver::SendTwistCommand::Request&)> SendTwistCommandHandler = nullptr;
+        virtual bool SendTwistCommand(kortex_driver::SendTwistCommand::Request  &req, kortex_driver::SendTwistCommand::Response &res) override;
+        std::function<kortex_driver::PlayJointTrajectory::Response(const kortex_driver::PlayJointTrajectory::Request&)> PlayJointTrajectoryHandler = nullptr;
+        virtual bool PlayJointTrajectory(kortex_driver::PlayJointTrajectory::Request  &req, kortex_driver::PlayJointTrajectory::Response &res) override;
+        std::function<kortex_driver::PlaySelectedJointTrajectory::Response(const kortex_driver::PlaySelectedJointTrajectory::Request&)> PlaySelectedJointTrajectoryHandler = nullptr;
+        virtual bool PlaySelectedJointTrajectory(kortex_driver::PlaySelectedJointTrajectory::Request  &req, kortex_driver::PlaySelectedJointTrajectory::Response &res) override;
+        std::function<kortex_driver::GetMeasuredJointAngles::Response(const kortex_driver::GetMeasuredJointAngles::Request&)> GetMeasuredJointAnglesHandler = nullptr;
+        virtual bool GetMeasuredJointAngles(kortex_driver::GetMeasuredJointAngles::Request  &req, kortex_driver::GetMeasuredJointAngles::Response &res) override;
+        std::function<kortex_driver::SendJointSpeedsCommand::Response(const kortex_driver::SendJointSpeedsCommand::Request&)> SendJointSpeedsCommandHandler = nullptr;
+        virtual bool SendJointSpeedsCommand(kortex_driver::SendJointSpeedsCommand::Request  &req, kortex_driver::SendJointSpeedsCommand::Response &res) override;
+        std::function<kortex_driver::SendSelectedJointSpeedCommand::Response(const kortex_driver::SendSelectedJointSpeedCommand::Request&)> SendSelectedJointSpeedCommandHandler = nullptr;
+        virtual bool SendSelectedJointSpeedCommand(kortex_driver::SendSelectedJointSpeedCommand::Request  &req, kortex_driver::SendSelectedJointSpeedCommand::Response &res) override;
+        std::function<kortex_driver::SendGripperCommand::Response(const kortex_driver::SendGripperCommand::Request&)> SendGripperCommandHandler = nullptr;
+        virtual bool SendGripperCommand(kortex_driver::SendGripperCommand::Request  &req, kortex_driver::SendGripperCommand::Response &res) override;
+        std::function<kortex_driver::GetMeasuredGripperMovement::Response(const kortex_driver::GetMeasuredGripperMovement::Request&)> GetMeasuredGripperMovementHandler = nullptr;
+        virtual bool GetMeasuredGripperMovement(kortex_driver::GetMeasuredGripperMovement::Request  &req, kortex_driver::GetMeasuredGripperMovement::Response &res) override;
+        std::function<kortex_driver::SetAdmittance::Response(const kortex_driver::SetAdmittance::Request&)> SetAdmittanceHandler = nullptr;
+        virtual bool SetAdmittance(kortex_driver::SetAdmittance::Request  &req, kortex_driver::SetAdmittance::Response &res) override;
+        std::function<kortex_driver::SetOperatingMode::Response(const kortex_driver::SetOperatingMode::Request&)> SetOperatingModeHandler = nullptr;
+        virtual bool SetOperatingMode(kortex_driver::SetOperatingMode::Request  &req, kortex_driver::SetOperatingMode::Response &res) override;
+        std::function<kortex_driver::ApplyEmergencyStop::Response(const kortex_driver::ApplyEmergencyStop::Request&)> ApplyEmergencyStopHandler = nullptr;
+        virtual bool ApplyEmergencyStop(kortex_driver::ApplyEmergencyStop::Request  &req, kortex_driver::ApplyEmergencyStop::Response &res) override;
+        std::function<kortex_driver::Base_ClearFaults::Response(const kortex_driver::Base_ClearFaults::Request&)> Base_ClearFaultsHandler = nullptr;
+        virtual bool Base_ClearFaults(kortex_driver::Base_ClearFaults::Request  &req, kortex_driver::Base_ClearFaults::Response &res) override;
+        std::function<kortex_driver::Base_GetControlMode::Response(const kortex_driver::Base_GetControlMode::Request&)> Base_GetControlModeHandler = nullptr;
+        virtual bool Base_GetControlMode(kortex_driver::Base_GetControlMode::Request  &req, kortex_driver::Base_GetControlMode::Response &res) override;
+        std::function<kortex_driver::GetOperatingMode::Response(const kortex_driver::GetOperatingMode::Request&)> GetOperatingModeHandler = nullptr;
+        virtual bool GetOperatingMode(kortex_driver::GetOperatingMode::Request  &req, kortex_driver::GetOperatingMode::Response &res) override;
+        std::function<kortex_driver::SetServoingMode::Response(const kortex_driver::SetServoingMode::Request&)> SetServoingModeHandler = nullptr;
+        virtual bool SetServoingMode(kortex_driver::SetServoingMode::Request  &req, kortex_driver::SetServoingMode::Response &res) override;
+        std::function<kortex_driver::GetServoingMode::Response(const kortex_driver::GetServoingMode::Request&)> GetServoingModeHandler = nullptr;
+        virtual bool GetServoingMode(kortex_driver::GetServoingMode::Request  &req, kortex_driver::GetServoingMode::Response &res) override;
+        std::function<kortex_driver::OnNotificationServoingModeTopic::Response(const kortex_driver::OnNotificationServoingModeTopic::Request&)> OnNotificationServoingModeTopicHandler = nullptr;
+        virtual bool OnNotificationServoingModeTopic(kortex_driver::OnNotificationServoingModeTopic::Request  &req, kortex_driver::OnNotificationServoingModeTopic::Response &res) override;
+        virtual void cb_ServoingModeTopic(Kinova::Api::Base::ServoingModeNotification notif) override;
+        std::function<kortex_driver::RestoreFactorySettings::Response(const kortex_driver::RestoreFactorySettings::Request&)> RestoreFactorySettingsHandler = nullptr;
+        virtual bool RestoreFactorySettings(kortex_driver::RestoreFactorySettings::Request  &req, kortex_driver::RestoreFactorySettings::Response &res) override;
+        std::function<kortex_driver::OnNotificationFactoryTopic::Response(const kortex_driver::OnNotificationFactoryTopic::Request&)> OnNotificationFactoryTopicHandler = nullptr;
+        virtual bool OnNotificationFactoryTopic(kortex_driver::OnNotificationFactoryTopic::Request  &req, kortex_driver::OnNotificationFactoryTopic::Response &res) override;
+        virtual void cb_FactoryTopic(Kinova::Api::Base::FactoryNotification notif) override;
+        std::function<kortex_driver::GetAllConnectedControllers::Response(const kortex_driver::GetAllConnectedControllers::Request&)> GetAllConnectedControllersHandler = nullptr;
+        virtual bool GetAllConnectedControllers(kortex_driver::GetAllConnectedControllers::Request  &req, kortex_driver::GetAllConnectedControllers::Response &res) override;
+        std::function<kortex_driver::GetControllerState::Response(const kortex_driver::GetControllerState::Request&)> GetControllerStateHandler = nullptr;
+        virtual bool GetControllerState(kortex_driver::GetControllerState::Request  &req, kortex_driver::GetControllerState::Response &res) override;
+        std::function<kortex_driver::GetActuatorCount::Response(const kortex_driver::GetActuatorCount::Request&)> GetActuatorCountHandler = nullptr;
+        virtual bool GetActuatorCount(kortex_driver::GetActuatorCount::Request  &req, kortex_driver::GetActuatorCount::Response &res) override;
+        std::function<kortex_driver::StartWifiScan::Response(const kortex_driver::StartWifiScan::Request&)> StartWifiScanHandler = nullptr;
+        virtual bool StartWifiScan(kortex_driver::StartWifiScan::Request  &req, kortex_driver::StartWifiScan::Response &res) override;
+        std::function<kortex_driver::GetConfiguredWifi::Response(const kortex_driver::GetConfiguredWifi::Request&)> GetConfiguredWifiHandler = nullptr;
+        virtual bool GetConfiguredWifi(kortex_driver::GetConfiguredWifi::Request  &req, kortex_driver::GetConfiguredWifi::Response &res) override;
+        std::function<kortex_driver::OnNotificationNetworkTopic::Response(const kortex_driver::OnNotificationNetworkTopic::Request&)> OnNotificationNetworkTopicHandler = nullptr;
+        virtual bool OnNotificationNetworkTopic(kortex_driver::OnNotificationNetworkTopic::Request  &req, kortex_driver::OnNotificationNetworkTopic::Response &res) override;
+        virtual void cb_NetworkTopic(Kinova::Api::Base::NetworkNotification notif) override;
+        std::function<kortex_driver::GetArmState::Response(const kortex_driver::GetArmState::Request&)> GetArmStateHandler = nullptr;
+        virtual bool GetArmState(kortex_driver::GetArmState::Request  &req, kortex_driver::GetArmState::Response &res) override;
+        std::function<kortex_driver::OnNotificationArmStateTopic::Response(const kortex_driver::OnNotificationArmStateTopic::Request&)> OnNotificationArmStateTopicHandler = nullptr;
+        virtual bool OnNotificationArmStateTopic(kortex_driver::OnNotificationArmStateTopic::Request  &req, kortex_driver::OnNotificationArmStateTopic::Response &res) override;
+        virtual void cb_ArmStateTopic(Kinova::Api::Base::ArmStateNotification notif) override;
+        std::function<kortex_driver::GetIPv4Information::Response(const kortex_driver::GetIPv4Information::Request&)> GetIPv4InformationHandler = nullptr;
+        virtual bool GetIPv4Information(kortex_driver::GetIPv4Information::Request  &req, kortex_driver::GetIPv4Information::Response &res) override;
+        std::function<kortex_driver::SetWifiCountryCode::Response(const kortex_driver::SetWifiCountryCode::Request&)> SetWifiCountryCodeHandler = nullptr;
+        virtual bool SetWifiCountryCode(kortex_driver::SetWifiCountryCode::Request  &req, kortex_driver::SetWifiCountryCode::Response &res) override;
+        std::function<kortex_driver::GetWifiCountryCode::Response(const kortex_driver::GetWifiCountryCode::Request&)> GetWifiCountryCodeHandler = nullptr;
+        virtual bool GetWifiCountryCode(kortex_driver::GetWifiCountryCode::Request  &req, kortex_driver::GetWifiCountryCode::Response &res) override;
+        std::function<kortex_driver::Base_SetCapSenseConfig::Response(const kortex_driver::Base_SetCapSenseConfig::Request&)> Base_SetCapSenseConfigHandler = nullptr;
+        virtual bool Base_SetCapSenseConfig(kortex_driver::Base_SetCapSenseConfig::Request  &req, kortex_driver::Base_SetCapSenseConfig::Response &res) override;
+        std::function<kortex_driver::Base_GetCapSenseConfig::Response(const kortex_driver::Base_GetCapSenseConfig::Request&)> Base_GetCapSenseConfigHandler = nullptr;
+        virtual bool Base_GetCapSenseConfig(kortex_driver::Base_GetCapSenseConfig::Request  &req, kortex_driver::Base_GetCapSenseConfig::Response &res) override;
+        std::function<kortex_driver::GetAllJointsSpeedHardLimitation::Response(const kortex_driver::GetAllJointsSpeedHardLimitation::Request&)> GetAllJointsSpeedHardLimitationHandler = nullptr;
+        virtual bool GetAllJointsSpeedHardLimitation(kortex_driver::GetAllJointsSpeedHardLimitation::Request  &req, kortex_driver::GetAllJointsSpeedHardLimitation::Response &res) override;
+        std::function<kortex_driver::GetAllJointsTorqueHardLimitation::Response(const kortex_driver::GetAllJointsTorqueHardLimitation::Request&)> GetAllJointsTorqueHardLimitationHandler = nullptr;
+        virtual bool GetAllJointsTorqueHardLimitation(kortex_driver::GetAllJointsTorqueHardLimitation::Request  &req, kortex_driver::GetAllJointsTorqueHardLimitation::Response &res) override;
+        std::function<kortex_driver::GetTwistHardLimitation::Response(const kortex_driver::GetTwistHardLimitation::Request&)> GetTwistHardLimitationHandler = nullptr;
+        virtual bool GetTwistHardLimitation(kortex_driver::GetTwistHardLimitation::Request  &req, kortex_driver::GetTwistHardLimitation::Response &res) override;
+        std::function<kortex_driver::GetWrenchHardLimitation::Response(const kortex_driver::GetWrenchHardLimitation::Request&)> GetWrenchHardLimitationHandler = nullptr;
+        virtual bool GetWrenchHardLimitation(kortex_driver::GetWrenchHardLimitation::Request  &req, kortex_driver::GetWrenchHardLimitation::Response &res) override;
+        std::function<kortex_driver::SendJointSpeedsJoystickCommand::Response(const kortex_driver::SendJointSpeedsJoystickCommand::Request&)> SendJointSpeedsJoystickCommandHandler = nullptr;
+        virtual bool SendJointSpeedsJoystickCommand(kortex_driver::SendJointSpeedsJoystickCommand::Request  &req, kortex_driver::SendJointSpeedsJoystickCommand::Response &res) override;
+        std::function<kortex_driver::SendSelectedJointSpeedJoystickCommand::Response(const kortex_driver::SendSelectedJointSpeedJoystickCommand::Request&)> SendSelectedJointSpeedJoystickCommandHandler = nullptr;
+        virtual bool SendSelectedJointSpeedJoystickCommand(kortex_driver::SendSelectedJointSpeedJoystickCommand::Request  &req, kortex_driver::SendSelectedJointSpeedJoystickCommand::Response &res) override;
+        std::function<kortex_driver::EnableBridge::Response(const kortex_driver::EnableBridge::Request&)> EnableBridgeHandler = nullptr;
+        virtual bool EnableBridge(kortex_driver::EnableBridge::Request  &req, kortex_driver::EnableBridge::Response &res) override;
+        std::function<kortex_driver::DisableBridge::Response(const kortex_driver::DisableBridge::Request&)> DisableBridgeHandler = nullptr;
+        virtual bool DisableBridge(kortex_driver::DisableBridge::Request  &req, kortex_driver::DisableBridge::Response &res) override;
+        std::function<kortex_driver::GetBridgeList::Response(const kortex_driver::GetBridgeList::Request&)> GetBridgeListHandler = nullptr;
+        virtual bool GetBridgeList(kortex_driver::GetBridgeList::Request  &req, kortex_driver::GetBridgeList::Response &res) override;
+        std::function<kortex_driver::GetBridgeConfig::Response(const kortex_driver::GetBridgeConfig::Request&)> GetBridgeConfigHandler = nullptr;
+        virtual bool GetBridgeConfig(kortex_driver::GetBridgeConfig::Request  &req, kortex_driver::GetBridgeConfig::Response &res) override;
+        std::function<kortex_driver::PlayPreComputedJointTrajectory::Response(const kortex_driver::PlayPreComputedJointTrajectory::Request&)> PlayPreComputedJointTrajectoryHandler = nullptr;
+        virtual bool PlayPreComputedJointTrajectory(kortex_driver::PlayPreComputedJointTrajectory::Request  &req, kortex_driver::PlayPreComputedJointTrajectory::Response &res) override;
+        std::function<kortex_driver::GetProductConfiguration::Response(const kortex_driver::GetProductConfiguration::Request&)> GetProductConfigurationHandler = nullptr;
+        virtual bool GetProductConfiguration(kortex_driver::GetProductConfiguration::Request  &req, kortex_driver::GetProductConfiguration::Response &res) override;
+        std::function<kortex_driver::UpdateEndEffectorTypeConfiguration::Response(const kortex_driver::UpdateEndEffectorTypeConfiguration::Request&)> UpdateEndEffectorTypeConfigurationHandler = nullptr;
+        virtual bool UpdateEndEffectorTypeConfiguration(kortex_driver::UpdateEndEffectorTypeConfiguration::Request  &req, kortex_driver::UpdateEndEffectorTypeConfiguration::Response &res) override;
+        std::function<kortex_driver::RestoreFactoryProductConfiguration::Response(const kortex_driver::RestoreFactoryProductConfiguration::Request&)> RestoreFactoryProductConfigurationHandler = nullptr;
+        virtual bool RestoreFactoryProductConfiguration(kortex_driver::RestoreFactoryProductConfiguration::Request  &req, kortex_driver::RestoreFactoryProductConfiguration::Response &res) override;
+        std::function<kortex_driver::GetTrajectoryErrorReport::Response(const kortex_driver::GetTrajectoryErrorReport::Request&)> GetTrajectoryErrorReportHandler = nullptr;
+        virtual bool GetTrajectoryErrorReport(kortex_driver::GetTrajectoryErrorReport::Request  &req, kortex_driver::GetTrajectoryErrorReport::Response &res) override;
+        std::function<kortex_driver::GetAllJointsSpeedSoftLimitation::Response(const kortex_driver::GetAllJointsSpeedSoftLimitation::Request&)> GetAllJointsSpeedSoftLimitationHandler = nullptr;
+        virtual bool GetAllJointsSpeedSoftLimitation(kortex_driver::GetAllJointsSpeedSoftLimitation::Request  &req, kortex_driver::GetAllJointsSpeedSoftLimitation::Response &res) override;
+        std::function<kortex_driver::GetAllJointsTorqueSoftLimitation::Response(const kortex_driver::GetAllJointsTorqueSoftLimitation::Request&)> GetAllJointsTorqueSoftLimitationHandler = nullptr;
+        virtual bool GetAllJointsTorqueSoftLimitation(kortex_driver::GetAllJointsTorqueSoftLimitation::Request  &req, kortex_driver::GetAllJointsTorqueSoftLimitation::Response &res) override;
+        std::function<kortex_driver::GetTwistSoftLimitation::Response(const kortex_driver::GetTwistSoftLimitation::Request&)> GetTwistSoftLimitationHandler = nullptr;
+        virtual bool GetTwistSoftLimitation(kortex_driver::GetTwistSoftLimitation::Request  &req, kortex_driver::GetTwistSoftLimitation::Response &res) override;
+        std::function<kortex_driver::GetWrenchSoftLimitation::Response(const kortex_driver::GetWrenchSoftLimitation::Request&)> GetWrenchSoftLimitationHandler = nullptr;
+        virtual bool GetWrenchSoftLimitation(kortex_driver::GetWrenchSoftLimitation::Request  &req, kortex_driver::GetWrenchSoftLimitation::Response &res) override;
+        std::function<kortex_driver::SetControllerConfigurationMode::Response(const kortex_driver::SetControllerConfigurationMode::Request&)> SetControllerConfigurationModeHandler = nullptr;
+        virtual bool SetControllerConfigurationMode(kortex_driver::SetControllerConfigurationMode::Request  &req, kortex_driver::SetControllerConfigurationMode::Response &res) override;
+        std::function<kortex_driver::GetControllerConfigurationMode::Response(const kortex_driver::GetControllerConfigurationMode::Request&)> GetControllerConfigurationModeHandler = nullptr;
+        virtual bool GetControllerConfigurationMode(kortex_driver::GetControllerConfigurationMode::Request  &req, kortex_driver::GetControllerConfigurationMode::Response &res) override;
+        std::function<kortex_driver::StartTeaching::Response(const kortex_driver::StartTeaching::Request&)> StartTeachingHandler = nullptr;
+        virtual bool StartTeaching(kortex_driver::StartTeaching::Request  &req, kortex_driver::StartTeaching::Response &res) override;
+        std::function<kortex_driver::StopTeaching::Response(const kortex_driver::StopTeaching::Request&)> StopTeachingHandler = nullptr;
+        virtual bool StopTeaching(kortex_driver::StopTeaching::Request  &req, kortex_driver::StopTeaching::Response &res) override;
+        std::function<kortex_driver::AddSequenceTasks::Response(const kortex_driver::AddSequenceTasks::Request&)> AddSequenceTasksHandler = nullptr;
+        virtual bool AddSequenceTasks(kortex_driver::AddSequenceTasks::Request  &req, kortex_driver::AddSequenceTasks::Response &res) override;
+        std::function<kortex_driver::UpdateSequenceTask::Response(const kortex_driver::UpdateSequenceTask::Request&)> UpdateSequenceTaskHandler = nullptr;
+        virtual bool UpdateSequenceTask(kortex_driver::UpdateSequenceTask::Request  &req, kortex_driver::UpdateSequenceTask::Response &res) override;
+        std::function<kortex_driver::SwapSequenceTasks::Response(const kortex_driver::SwapSequenceTasks::Request&)> SwapSequenceTasksHandler = nullptr;
+        virtual bool SwapSequenceTasks(kortex_driver::SwapSequenceTasks::Request  &req, kortex_driver::SwapSequenceTasks::Response &res) override;
+        std::function<kortex_driver::ReadSequenceTask::Response(const kortex_driver::ReadSequenceTask::Request&)> ReadSequenceTaskHandler = nullptr;
+        virtual bool ReadSequenceTask(kortex_driver::ReadSequenceTask::Request  &req, kortex_driver::ReadSequenceTask::Response &res) override;
+        std::function<kortex_driver::ReadAllSequenceTasks::Response(const kortex_driver::ReadAllSequenceTasks::Request&)> ReadAllSequenceTasksHandler = nullptr;
+        virtual bool ReadAllSequenceTasks(kortex_driver::ReadAllSequenceTasks::Request  &req, kortex_driver::ReadAllSequenceTasks::Response &res) override;
+        std::function<kortex_driver::DeleteSequenceTask::Response(const kortex_driver::DeleteSequenceTask::Request&)> DeleteSequenceTaskHandler = nullptr;
+        virtual bool DeleteSequenceTask(kortex_driver::DeleteSequenceTask::Request  &req, kortex_driver::DeleteSequenceTask::Response &res) override;
+        std::function<kortex_driver::DeleteAllSequenceTasks::Response(const kortex_driver::DeleteAllSequenceTasks::Request&)> DeleteAllSequenceTasksHandler = nullptr;
+        virtual bool DeleteAllSequenceTasks(kortex_driver::DeleteAllSequenceTasks::Request  &req, kortex_driver::DeleteAllSequenceTasks::Response &res) override;
+        std::function<kortex_driver::TakeSnapshot::Response(const kortex_driver::TakeSnapshot::Request&)> TakeSnapshotHandler = nullptr;
+        virtual bool TakeSnapshot(kortex_driver::TakeSnapshot::Request  &req, kortex_driver::TakeSnapshot::Response &res) override;
+        std::function<kortex_driver::GetFirmwareBundleVersions::Response(const kortex_driver::GetFirmwareBundleVersions::Request&)> GetFirmwareBundleVersionsHandler = nullptr;
+        virtual bool GetFirmwareBundleVersions(kortex_driver::GetFirmwareBundleVersions::Request  &req, kortex_driver::GetFirmwareBundleVersions::Response &res) override;
+        std::function<kortex_driver::MoveSequenceTask::Response(const kortex_driver::MoveSequenceTask::Request&)> MoveSequenceTaskHandler = nullptr;
+        virtual bool MoveSequenceTask(kortex_driver::MoveSequenceTask::Request  &req, kortex_driver::MoveSequenceTask::Response &res) override;
+        std::function<kortex_driver::DuplicateMapping::Response(const kortex_driver::DuplicateMapping::Request&)> DuplicateMappingHandler = nullptr;
+        virtual bool DuplicateMapping(kortex_driver::DuplicateMapping::Request  &req, kortex_driver::DuplicateMapping::Response &res) override;
+        std::function<kortex_driver::DuplicateMap::Response(const kortex_driver::DuplicateMap::Request&)> DuplicateMapHandler = nullptr;
+        virtual bool DuplicateMap(kortex_driver::DuplicateMap::Request  &req, kortex_driver::DuplicateMap::Response &res) override;
+        std::function<kortex_driver::SetControllerConfiguration::Response(const kortex_driver::SetControllerConfiguration::Request&)> SetControllerConfigurationHandler = nullptr;
+        virtual bool SetControllerConfiguration(kortex_driver::SetControllerConfiguration::Request  &req, kortex_driver::SetControllerConfiguration::Response &res) override;
+        std::function<kortex_driver::GetControllerConfiguration::Response(const kortex_driver::GetControllerConfiguration::Request&)> GetControllerConfigurationHandler = nullptr;
+        virtual bool GetControllerConfiguration(kortex_driver::GetControllerConfiguration::Request  &req, kortex_driver::GetControllerConfiguration::Response &res) override;
+        std::function<kortex_driver::GetAllControllerConfigurations::Response(const kortex_driver::GetAllControllerConfigurations::Request&)> GetAllControllerConfigurationsHandler = nullptr;
+        virtual bool GetAllControllerConfigurations(kortex_driver::GetAllControllerConfigurations::Request  &req, kortex_driver::GetAllControllerConfigurations::Response &res) override;
+
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/simulation/controlconfig_services.h b/kortex_driver/include/kortex_driver/generated/simulation/controlconfig_services.h
new file mode 100644
index 0000000..30a8738
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/simulation/controlconfig_services.h
@@ -0,0 +1,92 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_CONTROLCONFIG_SIMULATION_SERVICES_H_
+#define _KORTEX_CONTROLCONFIG_SIMULATION_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/controlconfig_services_interface.h"
+
+using namespace std;
+
+class ControlConfigSimulationServices : public IControlConfigServices
+{
+    public:
+        ControlConfigSimulationServices(ros::NodeHandle& node_handle);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        std::function<kortex_driver::SetGravityVector::Response(const kortex_driver::SetGravityVector::Request&)> SetGravityVectorHandler = nullptr;
+        virtual bool SetGravityVector(kortex_driver::SetGravityVector::Request  &req, kortex_driver::SetGravityVector::Response &res) override;
+        std::function<kortex_driver::GetGravityVector::Response(const kortex_driver::GetGravityVector::Request&)> GetGravityVectorHandler = nullptr;
+        virtual bool GetGravityVector(kortex_driver::GetGravityVector::Request  &req, kortex_driver::GetGravityVector::Response &res) override;
+        std::function<kortex_driver::SetPayloadInformation::Response(const kortex_driver::SetPayloadInformation::Request&)> SetPayloadInformationHandler = nullptr;
+        virtual bool SetPayloadInformation(kortex_driver::SetPayloadInformation::Request  &req, kortex_driver::SetPayloadInformation::Response &res) override;
+        std::function<kortex_driver::GetPayloadInformation::Response(const kortex_driver::GetPayloadInformation::Request&)> GetPayloadInformationHandler = nullptr;
+        virtual bool GetPayloadInformation(kortex_driver::GetPayloadInformation::Request  &req, kortex_driver::GetPayloadInformation::Response &res) override;
+        std::function<kortex_driver::SetToolConfiguration::Response(const kortex_driver::SetToolConfiguration::Request&)> SetToolConfigurationHandler = nullptr;
+        virtual bool SetToolConfiguration(kortex_driver::SetToolConfiguration::Request  &req, kortex_driver::SetToolConfiguration::Response &res) override;
+        std::function<kortex_driver::GetToolConfiguration::Response(const kortex_driver::GetToolConfiguration::Request&)> GetToolConfigurationHandler = nullptr;
+        virtual bool GetToolConfiguration(kortex_driver::GetToolConfiguration::Request  &req, kortex_driver::GetToolConfiguration::Response &res) override;
+        std::function<kortex_driver::OnNotificationControlConfigurationTopic::Response(const kortex_driver::OnNotificationControlConfigurationTopic::Request&)> OnNotificationControlConfigurationTopicHandler = nullptr;
+        virtual bool OnNotificationControlConfigurationTopic(kortex_driver::OnNotificationControlConfigurationTopic::Request  &req, kortex_driver::OnNotificationControlConfigurationTopic::Response &res) override;
+        virtual void cb_ControlConfigurationTopic(Kinova::Api::ControlConfig::ControlConfigurationNotification notif) override;
+        std::function<kortex_driver::ControlConfig_Unsubscribe::Response(const kortex_driver::ControlConfig_Unsubscribe::Request&)> ControlConfig_UnsubscribeHandler = nullptr;
+        virtual bool ControlConfig_Unsubscribe(kortex_driver::ControlConfig_Unsubscribe::Request  &req, kortex_driver::ControlConfig_Unsubscribe::Response &res) override;
+        std::function<kortex_driver::SetCartesianReferenceFrame::Response(const kortex_driver::SetCartesianReferenceFrame::Request&)> SetCartesianReferenceFrameHandler = nullptr;
+        virtual bool SetCartesianReferenceFrame(kortex_driver::SetCartesianReferenceFrame::Request  &req, kortex_driver::SetCartesianReferenceFrame::Response &res) override;
+        std::function<kortex_driver::GetCartesianReferenceFrame::Response(const kortex_driver::GetCartesianReferenceFrame::Request&)> GetCartesianReferenceFrameHandler = nullptr;
+        virtual bool GetCartesianReferenceFrame(kortex_driver::GetCartesianReferenceFrame::Request  &req, kortex_driver::GetCartesianReferenceFrame::Response &res) override;
+        std::function<kortex_driver::ControlConfig_GetControlMode::Response(const kortex_driver::ControlConfig_GetControlMode::Request&)> ControlConfig_GetControlModeHandler = nullptr;
+        virtual bool ControlConfig_GetControlMode(kortex_driver::ControlConfig_GetControlMode::Request  &req, kortex_driver::ControlConfig_GetControlMode::Response &res) override;
+        std::function<kortex_driver::SetJointSpeedSoftLimits::Response(const kortex_driver::SetJointSpeedSoftLimits::Request&)> SetJointSpeedSoftLimitsHandler = nullptr;
+        virtual bool SetJointSpeedSoftLimits(kortex_driver::SetJointSpeedSoftLimits::Request  &req, kortex_driver::SetJointSpeedSoftLimits::Response &res) override;
+        std::function<kortex_driver::SetTwistLinearSoftLimit::Response(const kortex_driver::SetTwistLinearSoftLimit::Request&)> SetTwistLinearSoftLimitHandler = nullptr;
+        virtual bool SetTwistLinearSoftLimit(kortex_driver::SetTwistLinearSoftLimit::Request  &req, kortex_driver::SetTwistLinearSoftLimit::Response &res) override;
+        std::function<kortex_driver::SetTwistAngularSoftLimit::Response(const kortex_driver::SetTwistAngularSoftLimit::Request&)> SetTwistAngularSoftLimitHandler = nullptr;
+        virtual bool SetTwistAngularSoftLimit(kortex_driver::SetTwistAngularSoftLimit::Request  &req, kortex_driver::SetTwistAngularSoftLimit::Response &res) override;
+        std::function<kortex_driver::SetJointAccelerationSoftLimits::Response(const kortex_driver::SetJointAccelerationSoftLimits::Request&)> SetJointAccelerationSoftLimitsHandler = nullptr;
+        virtual bool SetJointAccelerationSoftLimits(kortex_driver::SetJointAccelerationSoftLimits::Request  &req, kortex_driver::SetJointAccelerationSoftLimits::Response &res) override;
+        std::function<kortex_driver::GetKinematicHardLimits::Response(const kortex_driver::GetKinematicHardLimits::Request&)> GetKinematicHardLimitsHandler = nullptr;
+        virtual bool GetKinematicHardLimits(kortex_driver::GetKinematicHardLimits::Request  &req, kortex_driver::GetKinematicHardLimits::Response &res) override;
+        std::function<kortex_driver::GetKinematicSoftLimits::Response(const kortex_driver::GetKinematicSoftLimits::Request&)> GetKinematicSoftLimitsHandler = nullptr;
+        virtual bool GetKinematicSoftLimits(kortex_driver::GetKinematicSoftLimits::Request  &req, kortex_driver::GetKinematicSoftLimits::Response &res) override;
+        std::function<kortex_driver::GetAllKinematicSoftLimits::Response(const kortex_driver::GetAllKinematicSoftLimits::Request&)> GetAllKinematicSoftLimitsHandler = nullptr;
+        virtual bool GetAllKinematicSoftLimits(kortex_driver::GetAllKinematicSoftLimits::Request  &req, kortex_driver::GetAllKinematicSoftLimits::Response &res) override;
+        std::function<kortex_driver::SetDesiredLinearTwist::Response(const kortex_driver::SetDesiredLinearTwist::Request&)> SetDesiredLinearTwistHandler = nullptr;
+        virtual bool SetDesiredLinearTwist(kortex_driver::SetDesiredLinearTwist::Request  &req, kortex_driver::SetDesiredLinearTwist::Response &res) override;
+        std::function<kortex_driver::SetDesiredAngularTwist::Response(const kortex_driver::SetDesiredAngularTwist::Request&)> SetDesiredAngularTwistHandler = nullptr;
+        virtual bool SetDesiredAngularTwist(kortex_driver::SetDesiredAngularTwist::Request  &req, kortex_driver::SetDesiredAngularTwist::Response &res) override;
+        std::function<kortex_driver::SetDesiredJointSpeeds::Response(const kortex_driver::SetDesiredJointSpeeds::Request&)> SetDesiredJointSpeedsHandler = nullptr;
+        virtual bool SetDesiredJointSpeeds(kortex_driver::SetDesiredJointSpeeds::Request  &req, kortex_driver::SetDesiredJointSpeeds::Response &res) override;
+        std::function<kortex_driver::GetDesiredSpeeds::Response(const kortex_driver::GetDesiredSpeeds::Request&)> GetDesiredSpeedsHandler = nullptr;
+        virtual bool GetDesiredSpeeds(kortex_driver::GetDesiredSpeeds::Request  &req, kortex_driver::GetDesiredSpeeds::Response &res) override;
+        std::function<kortex_driver::ResetGravityVector::Response(const kortex_driver::ResetGravityVector::Request&)> ResetGravityVectorHandler = nullptr;
+        virtual bool ResetGravityVector(kortex_driver::ResetGravityVector::Request  &req, kortex_driver::ResetGravityVector::Response &res) override;
+        std::function<kortex_driver::ResetPayloadInformation::Response(const kortex_driver::ResetPayloadInformation::Request&)> ResetPayloadInformationHandler = nullptr;
+        virtual bool ResetPayloadInformation(kortex_driver::ResetPayloadInformation::Request  &req, kortex_driver::ResetPayloadInformation::Response &res) override;
+        std::function<kortex_driver::ResetToolConfiguration::Response(const kortex_driver::ResetToolConfiguration::Request&)> ResetToolConfigurationHandler = nullptr;
+        virtual bool ResetToolConfiguration(kortex_driver::ResetToolConfiguration::Request  &req, kortex_driver::ResetToolConfiguration::Response &res) override;
+        std::function<kortex_driver::ResetJointSpeedSoftLimits::Response(const kortex_driver::ResetJointSpeedSoftLimits::Request&)> ResetJointSpeedSoftLimitsHandler = nullptr;
+        virtual bool ResetJointSpeedSoftLimits(kortex_driver::ResetJointSpeedSoftLimits::Request  &req, kortex_driver::ResetJointSpeedSoftLimits::Response &res) override;
+        std::function<kortex_driver::ResetTwistLinearSoftLimit::Response(const kortex_driver::ResetTwistLinearSoftLimit::Request&)> ResetTwistLinearSoftLimitHandler = nullptr;
+        virtual bool ResetTwistLinearSoftLimit(kortex_driver::ResetTwistLinearSoftLimit::Request  &req, kortex_driver::ResetTwistLinearSoftLimit::Response &res) override;
+        std::function<kortex_driver::ResetTwistAngularSoftLimit::Response(const kortex_driver::ResetTwistAngularSoftLimit::Request&)> ResetTwistAngularSoftLimitHandler = nullptr;
+        virtual bool ResetTwistAngularSoftLimit(kortex_driver::ResetTwistAngularSoftLimit::Request  &req, kortex_driver::ResetTwistAngularSoftLimit::Response &res) override;
+        std::function<kortex_driver::ResetJointAccelerationSoftLimits::Response(const kortex_driver::ResetJointAccelerationSoftLimits::Request&)> ResetJointAccelerationSoftLimitsHandler = nullptr;
+        virtual bool ResetJointAccelerationSoftLimits(kortex_driver::ResetJointAccelerationSoftLimits::Request  &req, kortex_driver::ResetJointAccelerationSoftLimits::Response &res) override;
+
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/simulation/deviceconfig_services.h b/kortex_driver/include/kortex_driver/generated/simulation/deviceconfig_services.h
new file mode 100644
index 0000000..d047b45
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/simulation/deviceconfig_services.h
@@ -0,0 +1,98 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_DEVICECONFIG_SIMULATION_SERVICES_H_
+#define _KORTEX_DEVICECONFIG_SIMULATION_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/deviceconfig_services_interface.h"
+
+using namespace std;
+
+class DeviceConfigSimulationServices : public IDeviceConfigServices
+{
+    public:
+        DeviceConfigSimulationServices(ros::NodeHandle& node_handle);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        std::function<kortex_driver::GetRunMode::Response(const kortex_driver::GetRunMode::Request&)> GetRunModeHandler = nullptr;
+        virtual bool GetRunMode(kortex_driver::GetRunMode::Request  &req, kortex_driver::GetRunMode::Response &res) override;
+        std::function<kortex_driver::SetRunMode::Response(const kortex_driver::SetRunMode::Request&)> SetRunModeHandler = nullptr;
+        virtual bool SetRunMode(kortex_driver::SetRunMode::Request  &req, kortex_driver::SetRunMode::Response &res) override;
+        std::function<kortex_driver::GetDeviceType::Response(const kortex_driver::GetDeviceType::Request&)> GetDeviceTypeHandler = nullptr;
+        virtual bool GetDeviceType(kortex_driver::GetDeviceType::Request  &req, kortex_driver::GetDeviceType::Response &res) override;
+        std::function<kortex_driver::GetFirmwareVersion::Response(const kortex_driver::GetFirmwareVersion::Request&)> GetFirmwareVersionHandler = nullptr;
+        virtual bool GetFirmwareVersion(kortex_driver::GetFirmwareVersion::Request  &req, kortex_driver::GetFirmwareVersion::Response &res) override;
+        std::function<kortex_driver::GetBootloaderVersion::Response(const kortex_driver::GetBootloaderVersion::Request&)> GetBootloaderVersionHandler = nullptr;
+        virtual bool GetBootloaderVersion(kortex_driver::GetBootloaderVersion::Request  &req, kortex_driver::GetBootloaderVersion::Response &res) override;
+        std::function<kortex_driver::GetModelNumber::Response(const kortex_driver::GetModelNumber::Request&)> GetModelNumberHandler = nullptr;
+        virtual bool GetModelNumber(kortex_driver::GetModelNumber::Request  &req, kortex_driver::GetModelNumber::Response &res) override;
+        std::function<kortex_driver::GetPartNumber::Response(const kortex_driver::GetPartNumber::Request&)> GetPartNumberHandler = nullptr;
+        virtual bool GetPartNumber(kortex_driver::GetPartNumber::Request  &req, kortex_driver::GetPartNumber::Response &res) override;
+        std::function<kortex_driver::GetSerialNumber::Response(const kortex_driver::GetSerialNumber::Request&)> GetSerialNumberHandler = nullptr;
+        virtual bool GetSerialNumber(kortex_driver::GetSerialNumber::Request  &req, kortex_driver::GetSerialNumber::Response &res) override;
+        std::function<kortex_driver::GetMACAddress::Response(const kortex_driver::GetMACAddress::Request&)> GetMACAddressHandler = nullptr;
+        virtual bool GetMACAddress(kortex_driver::GetMACAddress::Request  &req, kortex_driver::GetMACAddress::Response &res) override;
+        std::function<kortex_driver::GetIPv4Settings::Response(const kortex_driver::GetIPv4Settings::Request&)> GetIPv4SettingsHandler = nullptr;
+        virtual bool GetIPv4Settings(kortex_driver::GetIPv4Settings::Request  &req, kortex_driver::GetIPv4Settings::Response &res) override;
+        std::function<kortex_driver::SetIPv4Settings::Response(const kortex_driver::SetIPv4Settings::Request&)> SetIPv4SettingsHandler = nullptr;
+        virtual bool SetIPv4Settings(kortex_driver::SetIPv4Settings::Request  &req, kortex_driver::SetIPv4Settings::Response &res) override;
+        std::function<kortex_driver::GetPartNumberRevision::Response(const kortex_driver::GetPartNumberRevision::Request&)> GetPartNumberRevisionHandler = nullptr;
+        virtual bool GetPartNumberRevision(kortex_driver::GetPartNumberRevision::Request  &req, kortex_driver::GetPartNumberRevision::Response &res) override;
+        std::function<kortex_driver::RebootRequest::Response(const kortex_driver::RebootRequest::Request&)> RebootRequestHandler = nullptr;
+        virtual bool RebootRequest(kortex_driver::RebootRequest::Request  &req, kortex_driver::RebootRequest::Response &res) override;
+        std::function<kortex_driver::SetSafetyEnable::Response(const kortex_driver::SetSafetyEnable::Request&)> SetSafetyEnableHandler = nullptr;
+        virtual bool SetSafetyEnable(kortex_driver::SetSafetyEnable::Request  &req, kortex_driver::SetSafetyEnable::Response &res) override;
+        std::function<kortex_driver::SetSafetyErrorThreshold::Response(const kortex_driver::SetSafetyErrorThreshold::Request&)> SetSafetyErrorThresholdHandler = nullptr;
+        virtual bool SetSafetyErrorThreshold(kortex_driver::SetSafetyErrorThreshold::Request  &req, kortex_driver::SetSafetyErrorThreshold::Response &res) override;
+        std::function<kortex_driver::SetSafetyWarningThreshold::Response(const kortex_driver::SetSafetyWarningThreshold::Request&)> SetSafetyWarningThresholdHandler = nullptr;
+        virtual bool SetSafetyWarningThreshold(kortex_driver::SetSafetyWarningThreshold::Request  &req, kortex_driver::SetSafetyWarningThreshold::Response &res) override;
+        std::function<kortex_driver::SetSafetyConfiguration::Response(const kortex_driver::SetSafetyConfiguration::Request&)> SetSafetyConfigurationHandler = nullptr;
+        virtual bool SetSafetyConfiguration(kortex_driver::SetSafetyConfiguration::Request  &req, kortex_driver::SetSafetyConfiguration::Response &res) override;
+        std::function<kortex_driver::GetSafetyConfiguration::Response(const kortex_driver::GetSafetyConfiguration::Request&)> GetSafetyConfigurationHandler = nullptr;
+        virtual bool GetSafetyConfiguration(kortex_driver::GetSafetyConfiguration::Request  &req, kortex_driver::GetSafetyConfiguration::Response &res) override;
+        std::function<kortex_driver::GetSafetyInformation::Response(const kortex_driver::GetSafetyInformation::Request&)> GetSafetyInformationHandler = nullptr;
+        virtual bool GetSafetyInformation(kortex_driver::GetSafetyInformation::Request  &req, kortex_driver::GetSafetyInformation::Response &res) override;
+        std::function<kortex_driver::GetSafetyEnable::Response(const kortex_driver::GetSafetyEnable::Request&)> GetSafetyEnableHandler = nullptr;
+        virtual bool GetSafetyEnable(kortex_driver::GetSafetyEnable::Request  &req, kortex_driver::GetSafetyEnable::Response &res) override;
+        std::function<kortex_driver::GetSafetyStatus::Response(const kortex_driver::GetSafetyStatus::Request&)> GetSafetyStatusHandler = nullptr;
+        virtual bool GetSafetyStatus(kortex_driver::GetSafetyStatus::Request  &req, kortex_driver::GetSafetyStatus::Response &res) override;
+        std::function<kortex_driver::ClearAllSafetyStatus::Response(const kortex_driver::ClearAllSafetyStatus::Request&)> ClearAllSafetyStatusHandler = nullptr;
+        virtual bool ClearAllSafetyStatus(kortex_driver::ClearAllSafetyStatus::Request  &req, kortex_driver::ClearAllSafetyStatus::Response &res) override;
+        std::function<kortex_driver::ClearSafetyStatus::Response(const kortex_driver::ClearSafetyStatus::Request&)> ClearSafetyStatusHandler = nullptr;
+        virtual bool ClearSafetyStatus(kortex_driver::ClearSafetyStatus::Request  &req, kortex_driver::ClearSafetyStatus::Response &res) override;
+        std::function<kortex_driver::GetAllSafetyConfiguration::Response(const kortex_driver::GetAllSafetyConfiguration::Request&)> GetAllSafetyConfigurationHandler = nullptr;
+        virtual bool GetAllSafetyConfiguration(kortex_driver::GetAllSafetyConfiguration::Request  &req, kortex_driver::GetAllSafetyConfiguration::Response &res) override;
+        std::function<kortex_driver::GetAllSafetyInformation::Response(const kortex_driver::GetAllSafetyInformation::Request&)> GetAllSafetyInformationHandler = nullptr;
+        virtual bool GetAllSafetyInformation(kortex_driver::GetAllSafetyInformation::Request  &req, kortex_driver::GetAllSafetyInformation::Response &res) override;
+        std::function<kortex_driver::ResetSafetyDefaults::Response(const kortex_driver::ResetSafetyDefaults::Request&)> ResetSafetyDefaultsHandler = nullptr;
+        virtual bool ResetSafetyDefaults(kortex_driver::ResetSafetyDefaults::Request  &req, kortex_driver::ResetSafetyDefaults::Response &res) override;
+        std::function<kortex_driver::OnNotificationSafetyTopic::Response(const kortex_driver::OnNotificationSafetyTopic::Request&)> OnNotificationSafetyTopicHandler = nullptr;
+        virtual bool OnNotificationSafetyTopic(kortex_driver::OnNotificationSafetyTopic::Request  &req, kortex_driver::OnNotificationSafetyTopic::Response &res) override;
+        virtual void cb_SafetyTopic(Kinova::Api::Common::SafetyNotification notif) override;
+        std::function<kortex_driver::ExecuteCalibration::Response(const kortex_driver::ExecuteCalibration::Request&)> ExecuteCalibrationHandler = nullptr;
+        virtual bool ExecuteCalibration(kortex_driver::ExecuteCalibration::Request  &req, kortex_driver::ExecuteCalibration::Response &res) override;
+        std::function<kortex_driver::GetCalibrationResult::Response(const kortex_driver::GetCalibrationResult::Request&)> GetCalibrationResultHandler = nullptr;
+        virtual bool GetCalibrationResult(kortex_driver::GetCalibrationResult::Request  &req, kortex_driver::GetCalibrationResult::Response &res) override;
+        std::function<kortex_driver::StopCalibration::Response(const kortex_driver::StopCalibration::Request&)> StopCalibrationHandler = nullptr;
+        virtual bool StopCalibration(kortex_driver::StopCalibration::Request  &req, kortex_driver::StopCalibration::Response &res) override;
+        std::function<kortex_driver::DeviceConfig_SetCapSenseConfig::Response(const kortex_driver::DeviceConfig_SetCapSenseConfig::Request&)> DeviceConfig_SetCapSenseConfigHandler = nullptr;
+        virtual bool DeviceConfig_SetCapSenseConfig(kortex_driver::DeviceConfig_SetCapSenseConfig::Request  &req, kortex_driver::DeviceConfig_SetCapSenseConfig::Response &res) override;
+        std::function<kortex_driver::DeviceConfig_GetCapSenseConfig::Response(const kortex_driver::DeviceConfig_GetCapSenseConfig::Request&)> DeviceConfig_GetCapSenseConfigHandler = nullptr;
+        virtual bool DeviceConfig_GetCapSenseConfig(kortex_driver::DeviceConfig_GetCapSenseConfig::Request  &req, kortex_driver::DeviceConfig_GetCapSenseConfig::Response &res) override;
+
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/simulation/devicemanager_services.h b/kortex_driver/include/kortex_driver/generated/simulation/devicemanager_services.h
new file mode 100644
index 0000000..0c45ae7
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/simulation/devicemanager_services.h
@@ -0,0 +1,35 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_DEVICEMANAGER_SIMULATION_SERVICES_H_
+#define _KORTEX_DEVICEMANAGER_SIMULATION_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/devicemanager_services_interface.h"
+
+using namespace std;
+
+class DeviceManagerSimulationServices : public IDeviceManagerServices
+{
+    public:
+        DeviceManagerSimulationServices(ros::NodeHandle& node_handle);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        std::function<kortex_driver::ReadAllDevices::Response(const kortex_driver::ReadAllDevices::Request&)> ReadAllDevicesHandler = nullptr;
+        virtual bool ReadAllDevices(kortex_driver::ReadAllDevices::Request  &req, kortex_driver::ReadAllDevices::Response &res) override;
+
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/simulation/interconnectconfig_services.h b/kortex_driver/include/kortex_driver/generated/simulation/interconnectconfig_services.h
new file mode 100644
index 0000000..1053941
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/simulation/interconnectconfig_services.h
@@ -0,0 +1,61 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_INTERCONNECTCONFIG_SIMULATION_SERVICES_H_
+#define _KORTEX_INTERCONNECTCONFIG_SIMULATION_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/interconnectconfig_services_interface.h"
+
+using namespace std;
+
+class InterconnectConfigSimulationServices : public IInterconnectConfigServices
+{
+    public:
+        InterconnectConfigSimulationServices(ros::NodeHandle& node_handle);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        std::function<kortex_driver::GetUARTConfiguration::Response(const kortex_driver::GetUARTConfiguration::Request&)> GetUARTConfigurationHandler = nullptr;
+        virtual bool GetUARTConfiguration(kortex_driver::GetUARTConfiguration::Request  &req, kortex_driver::GetUARTConfiguration::Response &res) override;
+        std::function<kortex_driver::SetUARTConfiguration::Response(const kortex_driver::SetUARTConfiguration::Request&)> SetUARTConfigurationHandler = nullptr;
+        virtual bool SetUARTConfiguration(kortex_driver::SetUARTConfiguration::Request  &req, kortex_driver::SetUARTConfiguration::Response &res) override;
+        std::function<kortex_driver::GetEthernetConfiguration::Response(const kortex_driver::GetEthernetConfiguration::Request&)> GetEthernetConfigurationHandler = nullptr;
+        virtual bool GetEthernetConfiguration(kortex_driver::GetEthernetConfiguration::Request  &req, kortex_driver::GetEthernetConfiguration::Response &res) override;
+        std::function<kortex_driver::SetEthernetConfiguration::Response(const kortex_driver::SetEthernetConfiguration::Request&)> SetEthernetConfigurationHandler = nullptr;
+        virtual bool SetEthernetConfiguration(kortex_driver::SetEthernetConfiguration::Request  &req, kortex_driver::SetEthernetConfiguration::Response &res) override;
+        std::function<kortex_driver::GetGPIOConfiguration::Response(const kortex_driver::GetGPIOConfiguration::Request&)> GetGPIOConfigurationHandler = nullptr;
+        virtual bool GetGPIOConfiguration(kortex_driver::GetGPIOConfiguration::Request  &req, kortex_driver::GetGPIOConfiguration::Response &res) override;
+        std::function<kortex_driver::SetGPIOConfiguration::Response(const kortex_driver::SetGPIOConfiguration::Request&)> SetGPIOConfigurationHandler = nullptr;
+        virtual bool SetGPIOConfiguration(kortex_driver::SetGPIOConfiguration::Request  &req, kortex_driver::SetGPIOConfiguration::Response &res) override;
+        std::function<kortex_driver::GetGPIOState::Response(const kortex_driver::GetGPIOState::Request&)> GetGPIOStateHandler = nullptr;
+        virtual bool GetGPIOState(kortex_driver::GetGPIOState::Request  &req, kortex_driver::GetGPIOState::Response &res) override;
+        std::function<kortex_driver::SetGPIOState::Response(const kortex_driver::SetGPIOState::Request&)> SetGPIOStateHandler = nullptr;
+        virtual bool SetGPIOState(kortex_driver::SetGPIOState::Request  &req, kortex_driver::SetGPIOState::Response &res) override;
+        std::function<kortex_driver::GetI2CConfiguration::Response(const kortex_driver::GetI2CConfiguration::Request&)> GetI2CConfigurationHandler = nullptr;
+        virtual bool GetI2CConfiguration(kortex_driver::GetI2CConfiguration::Request  &req, kortex_driver::GetI2CConfiguration::Response &res) override;
+        std::function<kortex_driver::SetI2CConfiguration::Response(const kortex_driver::SetI2CConfiguration::Request&)> SetI2CConfigurationHandler = nullptr;
+        virtual bool SetI2CConfiguration(kortex_driver::SetI2CConfiguration::Request  &req, kortex_driver::SetI2CConfiguration::Response &res) override;
+        std::function<kortex_driver::I2CRead::Response(const kortex_driver::I2CRead::Request&)> I2CReadHandler = nullptr;
+        virtual bool I2CRead(kortex_driver::I2CRead::Request  &req, kortex_driver::I2CRead::Response &res) override;
+        std::function<kortex_driver::I2CReadRegister::Response(const kortex_driver::I2CReadRegister::Request&)> I2CReadRegisterHandler = nullptr;
+        virtual bool I2CReadRegister(kortex_driver::I2CReadRegister::Request  &req, kortex_driver::I2CReadRegister::Response &res) override;
+        std::function<kortex_driver::I2CWrite::Response(const kortex_driver::I2CWrite::Request&)> I2CWriteHandler = nullptr;
+        virtual bool I2CWrite(kortex_driver::I2CWrite::Request  &req, kortex_driver::I2CWrite::Response &res) override;
+        std::function<kortex_driver::I2CWriteRegister::Response(const kortex_driver::I2CWriteRegister::Request&)> I2CWriteRegisterHandler = nullptr;
+        virtual bool I2CWriteRegister(kortex_driver::I2CWriteRegister::Request  &req, kortex_driver::I2CWriteRegister::Response &res) override;
+
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/generated/simulation/visionconfig_services.h b/kortex_driver/include/kortex_driver/generated/simulation/visionconfig_services.h
new file mode 100644
index 0000000..c98151f
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/generated/simulation/visionconfig_services.h
@@ -0,0 +1,58 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_VISIONCONFIG_SIMULATION_SERVICES_H_
+#define _KORTEX_VISIONCONFIG_SIMULATION_SERVICES_H_
+
+#include "kortex_driver/generated/interfaces/visionconfig_services_interface.h"
+
+using namespace std;
+
+class VisionConfigSimulationServices : public IVisionConfigServices
+{
+    public:
+        VisionConfigSimulationServices(ros::NodeHandle& node_handle);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+        std::function<kortex_driver::SetSensorSettings::Response(const kortex_driver::SetSensorSettings::Request&)> SetSensorSettingsHandler = nullptr;
+        virtual bool SetSensorSettings(kortex_driver::SetSensorSettings::Request  &req, kortex_driver::SetSensorSettings::Response &res) override;
+        std::function<kortex_driver::GetSensorSettings::Response(const kortex_driver::GetSensorSettings::Request&)> GetSensorSettingsHandler = nullptr;
+        virtual bool GetSensorSettings(kortex_driver::GetSensorSettings::Request  &req, kortex_driver::GetSensorSettings::Response &res) override;
+        std::function<kortex_driver::GetOptionValue::Response(const kortex_driver::GetOptionValue::Request&)> GetOptionValueHandler = nullptr;
+        virtual bool GetOptionValue(kortex_driver::GetOptionValue::Request  &req, kortex_driver::GetOptionValue::Response &res) override;
+        std::function<kortex_driver::SetOptionValue::Response(const kortex_driver::SetOptionValue::Request&)> SetOptionValueHandler = nullptr;
+        virtual bool SetOptionValue(kortex_driver::SetOptionValue::Request  &req, kortex_driver::SetOptionValue::Response &res) override;
+        std::function<kortex_driver::GetOptionInformation::Response(const kortex_driver::GetOptionInformation::Request&)> GetOptionInformationHandler = nullptr;
+        virtual bool GetOptionInformation(kortex_driver::GetOptionInformation::Request  &req, kortex_driver::GetOptionInformation::Response &res) override;
+        std::function<kortex_driver::OnNotificationVisionTopic::Response(const kortex_driver::OnNotificationVisionTopic::Request&)> OnNotificationVisionTopicHandler = nullptr;
+        virtual bool OnNotificationVisionTopic(kortex_driver::OnNotificationVisionTopic::Request  &req, kortex_driver::OnNotificationVisionTopic::Response &res) override;
+        virtual void cb_VisionTopic(Kinova::Api::VisionConfig::VisionNotification notif) override;
+        std::function<kortex_driver::DoSensorFocusAction::Response(const kortex_driver::DoSensorFocusAction::Request&)> DoSensorFocusActionHandler = nullptr;
+        virtual bool DoSensorFocusAction(kortex_driver::DoSensorFocusAction::Request  &req, kortex_driver::DoSensorFocusAction::Response &res) override;
+        std::function<kortex_driver::GetIntrinsicParameters::Response(const kortex_driver::GetIntrinsicParameters::Request&)> GetIntrinsicParametersHandler = nullptr;
+        virtual bool GetIntrinsicParameters(kortex_driver::GetIntrinsicParameters::Request  &req, kortex_driver::GetIntrinsicParameters::Response &res) override;
+        std::function<kortex_driver::GetIntrinsicParametersProfile::Response(const kortex_driver::GetIntrinsicParametersProfile::Request&)> GetIntrinsicParametersProfileHandler = nullptr;
+        virtual bool GetIntrinsicParametersProfile(kortex_driver::GetIntrinsicParametersProfile::Request  &req, kortex_driver::GetIntrinsicParametersProfile::Response &res) override;
+        std::function<kortex_driver::SetIntrinsicParameters::Response(const kortex_driver::SetIntrinsicParameters::Request&)> SetIntrinsicParametersHandler = nullptr;
+        virtual bool SetIntrinsicParameters(kortex_driver::SetIntrinsicParameters::Request  &req, kortex_driver::SetIntrinsicParameters::Response &res) override;
+        std::function<kortex_driver::GetExtrinsicParameters::Response(const kortex_driver::GetExtrinsicParameters::Request&)> GetExtrinsicParametersHandler = nullptr;
+        virtual bool GetExtrinsicParameters(kortex_driver::GetExtrinsicParameters::Request  &req, kortex_driver::GetExtrinsicParameters::Response &res) override;
+        std::function<kortex_driver::SetExtrinsicParameters::Response(const kortex_driver::SetExtrinsicParameters::Request&)> SetExtrinsicParametersHandler = nullptr;
+        virtual bool SetExtrinsicParameters(kortex_driver::SetExtrinsicParameters::Request  &req, kortex_driver::SetExtrinsicParameters::Response &res) override;
+
+};
+#endif
diff --git a/kortex_driver/include/kortex_driver/non-generated/kortex_arm_driver.h b/kortex_driver/include/kortex_driver/non-generated/kortex_arm_driver.h
new file mode 100644
index 0000000..e15da23
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/non-generated/kortex_arm_driver.h
@@ -0,0 +1,170 @@
+#ifndef _KORTEX_ARM_DRIVER_H_
+#define _KORTEX_ARM_DRIVER_H_
+
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include <ros/ros.h>
+#include <sensor_msgs/JointState.h>
+
+#include <thread>
+
+#include "SessionManager.h"
+#include "TransportClientTcp.h"
+#include "TransportClientUdp.h"
+#include "RouterClient.h"
+
+#include "ActuatorConfigClientRpc.h"
+#include "BaseClientRpc.h"
+#include "DeviceConfigClientRpc.h"
+#include "DeviceManagerClientRpc.h"
+#include "InterconnectConfigClientRpc.h"
+#include "VisionConfigClientRpc.h"
+#include "BaseCyclicClientRpc.h"
+#include "SessionManager.h"
+
+#include "kortex_driver/non-generated/kortex_math_util.h"
+
+#include "kortex_driver/BaseCyclic_Feedback.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+
+#include "kortex_driver/generated/robot/actuatorconfig_services.h"
+#include "kortex_driver/generated/robot/base_services.h"
+#include "kortex_driver/generated/robot/deviceconfig_services.h"
+#include "kortex_driver/generated/robot/devicemanager_services.h"
+#include "kortex_driver/generated/robot/interconnectconfig_services.h"
+#include "kortex_driver/generated/robot/visionconfig_services.h"
+#include "kortex_driver/generated/robot/controlconfig_services.h"
+
+#include "kortex_driver/generated/simulation/actuatorconfig_services.h"
+#include "kortex_driver/generated/simulation/base_services.h"
+#include "kortex_driver/generated/simulation/deviceconfig_services.h"
+#include "kortex_driver/generated/simulation/devicemanager_services.h"
+#include "kortex_driver/generated/simulation/interconnectconfig_services.h"
+#include "kortex_driver/generated/simulation/visionconfig_services.h"
+#include "kortex_driver/generated/simulation/controlconfig_services.h"
+
+#include "kortex_driver/non-generated/pre_computed_joint_trajectory_action_server.h"
+#include "kortex_driver/non-generated/robotiq_gripper_command_action_server.h"
+#include "kortex_driver/non-generated/kortex_subscribers.h"
+#include "kortex_driver/non-generated/kortex_arm_simulation.h"
+
+#define TCP_PORT 10000
+#define UDP_PORT 10001
+
+#define MAX_CONSECUTIVE_TIMEOUTS_BEFORE_SHUTDOWN 3
+
+#define GREEN_COLOR_CONSOLE "\033[92m"
+#define RESET_COLOR_CONSOLE "\033[0m"
+
+class KortexArmDriver
+{
+  public:
+    KortexArmDriver() = delete;
+    KortexArmDriver(ros::NodeHandle nh);
+    ~KortexArmDriver();
+
+    void parseRosArguments();
+    void initApi();
+    void verifyProductConfiguration();
+    void initSubscribers();
+    void initRosServices();
+    void startActionServers();
+
+  private:
+
+    ros::NodeHandle m_node_handle;
+
+    // False if in simulation
+    bool m_is_real_robot;
+    std::unique_ptr<KortexArmSimulation> m_simulator;
+
+    // Api options
+    std::string m_ip_address;
+    std::string m_username;
+    std::string m_password;
+    bool m_use_hard_limits;
+    int m_cyclic_data_publish_rate;
+    int m_api_rpc_timeout_ms;
+    int m_api_session_inactivity_timeout_ms;
+    int m_api_connection_inactivity_timeout_ms;
+
+    // Product configuration and ROS params related to the hardware
+    std::string m_arm_name;
+    std::vector<std::string> m_arm_joint_names;
+
+    std::string m_gripper_name;
+    std::string m_prefix;
+    std::vector<std::string> m_gripper_joint_names;
+    std::vector<float> m_gripper_joint_limits_min;
+    std::vector<float> m_gripper_joint_limits_max;
+
+    int m_degrees_of_freedom;
+
+    bool m_is_interconnect_module_present;
+    int m_interconnect_device_id;
+
+    bool m_is_vision_module_present;
+    int m_vision_device_id;
+
+    // Kortex Api objects
+    Kinova::Api::TransportClientTcp*  m_tcp_transport;
+    Kinova::Api::TransportClientUdp*  m_udp_transport;
+
+    Kinova::Api::RouterClient* m_tcp_router;
+    Kinova::Api::RouterClient* m_udp_router;
+
+    Kinova::Api::ActuatorConfig::ActuatorConfigClient*          m_actuator_config;
+    Kinova::Api::Base::BaseClient*                              m_base;
+    Kinova::Api::ControlConfig::ControlConfigClient*            m_control_config;
+    Kinova::Api::DeviceConfig::DeviceConfigClient*              m_device_config;
+    Kinova::Api::DeviceManager::DeviceManagerClient*            m_device_manager;
+    Kinova::Api::InterconnectConfig::InterconnectConfigClient*  m_interconnect_config;
+    Kinova::Api::VisionConfig::VisionConfigClient*              m_vision_config;
+    Kinova::Api::BaseCyclic::BaseCyclicClient*                  m_base_cyclic;
+    Kinova::Api::SessionManager*                                m_tcp_session_manager;
+    Kinova::Api::SessionManager*                                m_udp_session_manager;
+
+    // ROS ServiceProxy's
+    IActuatorConfigServices*     m_actuator_config_ros_services;
+    IBaseServices*               m_base_ros_services;
+    IControlConfigServices*      m_control_config_ros_services;
+    IDeviceConfigServices*       m_device_config_ros_services;
+    IDeviceManagerServices*      m_device_manager_ros_services;
+    IInterconnectConfigServices* m_interconnect_config_ros_services;
+    IVisionConfigServices*       m_vision_config_ros_services;
+
+    // Action servers
+    PreComputedJointTrajectoryActionServer* m_action_server_follow_joint_trajectory;
+    RobotiqGripperCommandActionServer* m_action_server_gripper_command;
+
+    // Topic subscribers
+    KortexSubscribers* m_topic_subscribers;
+
+    // ROS and thread objects to publish the feedback from the robot
+    bool m_node_is_running;
+    int m_consecutive_base_cyclic_timeouts;
+    std::mutex m_is_trajectory_running_lock;
+    std::thread m_publish_feedback_thread;
+    ros::Publisher m_pub_base_feedback;
+    ros::Publisher m_pub_joint_state;
+    KortexMathUtil m_math_util;
+    
+    // Private methods
+    bool isGripperPresent();
+    void setAngularTrajectorySoftLimitsToMax();
+    void publishRobotFeedback();
+    void publishSimulationFeedback();
+    void registerSimulationHandlers();
+};
+
+#endif
diff --git a/kortex_driver/include/kortex_driver/non-generated/kortex_arm_simulation.h b/kortex_driver/include/kortex_driver/non-generated/kortex_arm_simulation.h
new file mode 100644
index 0000000..21a0aa1
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/non-generated/kortex_arm_simulation.h
@@ -0,0 +1,211 @@
+#ifndef _KORTEX_ARM_SIMULATION_H_
+#define _KORTEX_ARM_SIMULATION_H_
+
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2020 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+// ROS
+#include <ros/ros.h>
+#include <std_msgs/Empty.h>
+#include <control_msgs/JointTrajectoryControllerState.h>
+#include <control_msgs/FollowJointTrajectoryAction.h>
+#include <control_msgs/GripperCommandAction.h>
+#include <actionlib/client/action_client.h>
+
+// MoveIt
+#include <moveit/move_group_interface/move_group_interface.h>
+
+// KDL
+#include <kdl/chain.hpp>
+#include <kdl/chainfksolverpos_recursive.hpp>
+#include <kdl/chainiksolverpos_nr.hpp>
+#include <kdl/chainiksolvervel_pinv.hpp>
+#include <kdl/velocityprofile_trap.hpp>
+
+// Standard
+#include <unordered_map>
+#include <thread>
+#include <mutex>
+#include <atomic>
+
+// Kortex
+#include "kortex_driver/non-generated/kortex_math_util.h"
+
+#include "kortex_driver/ActionType.h"
+#include "kortex_driver/KortexError.h"
+#include "kortex_driver/BaseCyclic_Feedback.h"
+
+#include "kortex_driver/CreateAction.h"
+#include "kortex_driver/ReadAction.h"
+#include "kortex_driver/ReadAllActions.h"
+#include "kortex_driver/DeleteAction.h"
+#include "kortex_driver/UpdateAction.h"
+#include "kortex_driver/ExecuteActionFromReference.h"
+#include "kortex_driver/ExecuteAction.h"
+#include "kortex_driver/PauseAction.h"
+#include "kortex_driver/StopAction.h"
+#include "kortex_driver/ResumeAction.h"
+
+#include "kortex_driver/PlayCartesianTrajectory.h"
+#include "kortex_driver/Stop.h"
+#include "kortex_driver/GetMeasuredCartesianPose.h"
+#include "kortex_driver/SendTwistCommand.h"
+#include "kortex_driver/PlayJointTrajectory.h"
+#include "kortex_driver/SendJointSpeedsCommand.h"
+#include "kortex_driver/SendGripperCommand.h"
+#include "kortex_driver/ApplyEmergencyStop.h"
+
+enum class ControllerType
+{
+  kTrajectory, // this is for the JointTrajectoryController
+  kIndividual  // this is for the individual JointPositionController's
+};
+
+class KortexArmSimulation
+{
+  public:
+    KortexArmSimulation() = delete;
+    KortexArmSimulation(ros::NodeHandle& nh);
+    ~KortexArmSimulation();
+    std::unordered_map<uint32_t, kortex_driver::Action> GetActionsMap() const;
+    int GetDOF() const {return m_degrees_of_freedom;}
+
+    kortex_driver::BaseCyclic_Feedback GetFeedback();
+
+    // Handlers for simulated Kortex API functions
+    // Actions API
+    kortex_driver::CreateAction::Response CreateAction(const kortex_driver::CreateAction::Request& req);
+    kortex_driver::ReadAction::Response ReadAction(const kortex_driver::ReadAction::Request& req);
+    kortex_driver::ReadAllActions::Response ReadAllActions(const kortex_driver::ReadAllActions::Request& req);
+    kortex_driver::DeleteAction::Response DeleteAction(const kortex_driver::DeleteAction::Request& req);
+    kortex_driver::UpdateAction::Response UpdateAction(const kortex_driver::UpdateAction::Request& req);
+    kortex_driver::ExecuteActionFromReference::Response ExecuteActionFromReference(const kortex_driver::ExecuteActionFromReference::Request& req);
+    kortex_driver::ExecuteAction::Response ExecuteAction(const kortex_driver::ExecuteAction::Request& req);
+    kortex_driver::StopAction::Response StopAction(const kortex_driver::StopAction::Request& req);
+    // Other RPCs
+    kortex_driver::PlayCartesianTrajectory::Response PlayCartesianTrajectory(const kortex_driver::PlayCartesianTrajectory::Request& req);
+    kortex_driver::SendTwistCommand::Response SendTwistCommand(const kortex_driver::SendTwistCommand::Request& req);
+    kortex_driver::PlayJointTrajectory::Response PlayJointTrajectory(const kortex_driver::PlayJointTrajectory::Request& req);
+    kortex_driver::SendJointSpeedsCommand::Response SendJointSpeedsCommand(const kortex_driver::SendJointSpeedsCommand::Request& req);
+    kortex_driver::SendGripperCommand::Response SendGripperCommand(const kortex_driver::SendGripperCommand::Request& req);
+    kortex_driver::Stop::Response Stop(const kortex_driver::Stop::Request& req);
+    kortex_driver::ApplyEmergencyStop::Response ApplyEmergencyStop(const kortex_driver::ApplyEmergencyStop::Request& req);
+
+  private:
+    // ROS
+    ros::NodeHandle m_node_handle;
+
+    // Publishers
+    ros::Publisher m_pub_action_topic;
+    std::vector<ros::Publisher> m_pub_position_controllers;
+
+    // Subscribers
+    ros::Subscriber m_sub_joint_trajectory_controller_state;
+    ros::Subscriber m_sub_joint_state;
+    ros::Subscriber m_sub_joint_speeds;
+    ros::Subscriber m_sub_twist;
+    ros::Subscriber m_sub_clear_faults;
+    ros::Subscriber m_sub_stop;
+    ros::Subscriber m_sub_emergency_stop;
+
+    // Service clients
+    ros::ServiceClient m_client_switch_controllers;
+    ControllerType m_active_controller_type;
+    std::vector<std::string> m_trajectory_controllers_list;
+    std::vector<std::string> m_position_controllers_list;
+    std::vector<double> m_velocity_commands;
+    kortex_driver::Twist m_twist_command;
+
+    // Action clients
+    std::unique_ptr<actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction>> m_follow_joint_trajectory_action_client;
+    std::unique_ptr<actionlib::SimpleActionClient<control_msgs::GripperCommandAction>> m_gripper_action_client;
+
+    // Namespacing and prefixing information
+    std::string m_prefix;
+    std::string m_robot_name;
+
+    // Arm information
+    std::string m_arm_name;
+    std::vector<std::string> m_arm_joint_names;
+    std::vector<double> m_arm_joint_limits_min;
+    std::vector<double> m_arm_joint_limits_max;
+    std::vector<float> m_arm_velocity_max_limits;
+    std::vector<float> m_arm_acceleration_max_limits;
+    float m_max_cartesian_twist_linear;
+    float m_max_cartesian_twist_angular;
+    float m_max_cartesian_acceleration_linear;
+    float m_max_cartesian_acceleration_angular;
+
+    // Gripper information
+    std::string m_gripper_name;
+    std::vector<std::string> m_gripper_joint_names;
+    std::vector<float> m_gripper_joint_limits_max;
+    std::vector<float> m_gripper_joint_limits_min;
+    int m_degrees_of_freedom;
+
+    // The indexes of the first arm joint and of the gripper joint in the "joint_states" feedback
+    int m_first_arm_joint_index;
+    int m_gripper_joint_index;
+
+    // Action-related
+    std::unordered_map<uint32_t, kortex_driver::Action> m_map_actions;
+
+    // Math utility
+    KortexMathUtil m_math_util;
+
+    // KDL chain, solvers and motions
+    KDL::Chain m_chain;
+    std::unique_ptr<KDL::ChainFkSolverPos_recursive> m_fk_solver;
+    std::unique_ptr<KDL::ChainIkSolverPos_NR> m_ik_pos_solver;
+    std::unique_ptr<KDL::ChainIkSolverVel_pinv> m_ik_vel_solver;
+    std::vector<KDL::VelocityProfile_Trap> m_velocity_trap_profiles;
+
+    // Threading
+    std::atomic<bool> m_is_action_being_executed;
+    std::atomic<bool> m_action_preempted;
+    std::atomic<int> m_current_action_type;
+    std::thread m_action_executor_thread;
+
+    // MoveIt-related
+    std::unique_ptr<moveit::planning_interface::MoveGroupInterface> m_moveit_arm_interface;
+    std::unique_ptr<moveit::planning_interface::MoveGroupInterface> m_moveit_gripper_interface;
+
+    // Subscription callbacks and data structures with their mutexes
+    void cb_joint_states(const sensor_msgs::JointState& state);
+    sensor_msgs::JointState m_current_state;
+    bool m_first_state_received;
+    kortex_driver::BaseCyclic_Feedback m_feedback;
+    std::mutex m_state_mutex;
+
+    // Helper functions
+    bool IsGripperPresent() const {return !m_gripper_name.empty();}
+    void CreateDefaultActions();
+    bool SwitchControllerType(ControllerType new_type);
+    void PlayAction(const kortex_driver::Action& action);
+    void JoinThreadAndCancelAction();
+    kortex_driver::KortexError FillKortexError(uint32_t code, uint32_t subCode, const std::string& description = std::string()) const;
+    kortex_driver::KortexError ExecuteReachJointAngles(const kortex_driver::Action& action);
+    kortex_driver::KortexError ExecuteReachPose(const kortex_driver::Action& action);
+    kortex_driver::KortexError ExecuteSendJointSpeeds(const kortex_driver::Action& action);
+    kortex_driver::KortexError ExecuteSendTwist(const kortex_driver::Action& action);
+    kortex_driver::KortexError ExecuteSendGripperCommand(const kortex_driver::Action& action);
+    kortex_driver::KortexError ExecuteTimeDelay(const kortex_driver::Action& action);
+
+    // Callbacks
+    void new_joint_speeds_cb(const kortex_driver::Base_JointSpeeds& joint_speeds);
+    void new_twist_cb(const kortex_driver::TwistCommand& twist);
+    void clear_faults_cb(const std_msgs::Empty& empty);
+    void stop_cb(const std_msgs::Empty& empty);
+    void emergency_stop_cb(const std_msgs::Empty& empty);
+};
+
+#endif //_KORTEX_ARM_SIMULATION_H_
diff --git a/kortex_driver/include/kortex_driver/non-generated/kortex_math_util.h b/kortex_driver/include/kortex_driver/non-generated/kortex_math_util.h
new file mode 100644
index 0000000..59b4c85
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/non-generated/kortex_math_util.h
@@ -0,0 +1,37 @@
+#ifndef _KORTEX_MATH_UTIL_H_
+#define _KORTEX_MATH_UTIL_H_
+
+/* 
+ * Copyright (c) 2019 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed under the 
+ * terms of the BSD 3-Clause license. 
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+#include <cmath>
+#include "kortex_driver/Twist.h"
+
+class KortexMathUtil
+{
+public:
+    KortexMathUtil() {}
+    ~KortexMathUtil() {}
+
+    static double toRad(double degree);
+    static double toDeg(double rad);
+    static int getNumberOfTurns(double rad_not_wrapped);
+    static double wrapRadiansFromMinusPiToPi(double rad_not_wrapped);
+    static double wrapRadiansFromMinusPiToPi(double rad_not_wrapped, int& number_of_turns);
+    static double wrapDegreesFromZeroTo360(double deg_not_wrapped);
+    static double wrapDegreesFromZeroTo360(double deg_not_wrapped, int& number_of_turns);
+    static double relative_position_from_absolute(double absolute_position, double min_value, double max_value);
+    static double absolute_position_from_relative(double relative_position, double min_value, double max_value);
+    
+    // kortex_driver::Twist helper functions
+    static kortex_driver::Twist substractTwists(const kortex_driver::Twist& a, const kortex_driver::Twist& b);
+};
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/include/kortex_driver/non-generated/kortex_subscribers.h b/kortex_driver/include/kortex_driver/non-generated/kortex_subscribers.h
new file mode 100644
index 0000000..45ed76b
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/non-generated/kortex_subscribers.h
@@ -0,0 +1,55 @@
+#ifndef _KORTEX_SUBSCRIBERS_H_
+#define _KORTEX_SUBSCRIBERS_H_
+
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2020 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include <ros/ros.h>
+#include "std_msgs/Empty.h"
+#include <thread>
+#include "BaseClientRpc.h"
+
+#include "kortex_driver/TwistCommand.h"
+#include "kortex_driver/Base_JointSpeeds.h"
+
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/non-generated/kortex_math_util.h"
+
+class KortexSubscribers
+{
+
+public:
+    
+    KortexSubscribers(ros::NodeHandle& node_handle, Kinova::Api::Base::BaseClient* base);
+    ~KortexSubscribers();
+
+private:
+
+    ros::NodeHandle& m_node_handle;
+    Kinova::Api::Base::BaseClient* m_base;
+
+    // Subscribers
+    ros::Subscriber m_joint_speeds_sub;
+    ros::Subscriber m_twist_sub;
+    ros::Subscriber m_clear_faults_sub;
+    ros::Subscriber m_stop_sub;
+    ros::Subscriber m_emergency_stop_sub;
+
+    // Callbacks
+    void new_joint_speeds_cb(const kortex_driver::Base_JointSpeeds& joint_speeds);
+    void new_twist_cb(const kortex_driver::TwistCommand& twist);
+    void clear_faults_cb(const std_msgs::Empty& empty);
+    void stop_cb(const std_msgs::Empty& empty);
+    void emergency_stop_cb(const std_msgs::Empty& empty);
+};
+
+#endif //_KORTEX_SUBSCRIBERS_H_
diff --git a/kortex_driver/include/kortex_driver/non-generated/pre_computed_joint_trajectory_action_server.h b/kortex_driver/include/kortex_driver/non-generated/pre_computed_joint_trajectory_action_server.h
new file mode 100644
index 0000000..85bcb3b
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/non-generated/pre_computed_joint_trajectory_action_server.h
@@ -0,0 +1,102 @@
+#ifndef _KORTEX_PRE_COMPUTED_JOINT_TRAJECTORY_ACTION_SERVER_H_
+#define _KORTEX_PRE_COMPUTED_JOINT_TRAJECTORY_ACTION_SERVER_H_
+
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include <ros/ros.h>
+#include <actionlib/server/simple_action_server.h>
+#include <control_msgs/FollowJointTrajectoryAction.h>
+#include <chrono>
+#include <mutex>
+
+#include "BaseClientRpc.h"
+#include "BaseCyclicClientRpc.h"
+#include "Errors.pb.h"
+#include "kortex_driver/non-generated/kortex_math_util.h"
+
+class PreComputedJointTrajectoryActionServer
+{
+    public:
+
+        enum ActionServerState
+        {
+            INITIALIZING = 0,
+            IDLE,
+            PRE_PROCESSING_PENDING,
+            PRE_PROCESSING_IN_PROGRESS,
+            TRAJECTORY_EXECUTION_PENDING,
+            TRAJECTORY_EXECUTION_IN_PROGRESS,
+        };
+
+        PreComputedJointTrajectoryActionServer() = delete;
+        PreComputedJointTrajectoryActionServer(const std::string& server_name, ros::NodeHandle& nh, Kinova::Api::Base::BaseClient* base, Kinova::Api::BaseCyclic::BaseCyclicClient* base_cyclic);
+        ~PreComputedJointTrajectoryActionServer();
+
+        ActionServerState getState() {return m_server_state;};
+
+        const char* actionServerStateNames[int(ActionServerState::TRAJECTORY_EXECUTION_IN_PROGRESS) + 1] =
+        {
+            "INITIALIZING",
+            "IDLE",
+            "PRE_PROCESSING_PENDING",
+            "PRE_PROCESSING_IN_PROGRESS",
+            "TRAJECTORY_EXECUTION_PENDING",
+            "TRAJECTORY_EXECUTION_IN_PROGRESS"
+        };
+
+    private:
+        // Members
+        ros::NodeHandle m_node_handle;
+        actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> m_server;
+
+        Kinova::Api::Common::NotificationHandle m_sub_action_notif_handle;
+
+        Kinova::Api::Base::BaseClient*              m_base;
+        Kinova::Api::BaseCyclic::BaseCyclicClient*  m_base_cyclic;
+
+        std::string m_server_name;
+
+        control_msgs::FollowJointTrajectoryFeedback     m_feedback;
+        actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::GoalHandle m_goal;
+        std::chrono::system_clock::time_point m_trajectory_start_time;
+        std::chrono::system_clock::time_point m_trajectory_end_time;
+
+        std::mutex m_server_state_lock;
+        std::mutex m_action_notification_thread_lock;
+        ActionServerState m_server_state;
+
+        KortexMathUtil m_math_util;
+
+        // ROS Params
+        double m_default_goal_time_tolerance;
+        double m_default_goal_tolerance;
+        std::vector<std::string> m_joint_names;
+        std::string m_prefix;
+
+        // Action Server Callbacks
+        void goal_received_callback(actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::GoalHandle new_goal_handle);
+        void preempt_received_callback(actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::GoalHandle goal_handle);
+
+        // Kortex Notifications Callbacks
+        void action_notif_callback(Kinova::Api::Base::ActionNotification notif);
+
+        // Private methods
+        bool is_goal_acceptable(actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::GoalHandle goal_handle);
+        bool is_goal_tolerance_respected(bool enable_prints, bool check_time_tolerance);
+        void stop_all_movement();
+
+        void set_server_state(ActionServerState s);
+
+};
+
+#endif
diff --git a/kortex_driver/include/kortex_driver/non-generated/robotiq_gripper_command_action_server.h b/kortex_driver/include/kortex_driver/non-generated/robotiq_gripper_command_action_server.h
new file mode 100644
index 0000000..6eb4394
--- /dev/null
+++ b/kortex_driver/include/kortex_driver/non-generated/robotiq_gripper_command_action_server.h
@@ -0,0 +1,86 @@
+#ifndef _KORTEX_ROBOTIQ_GRIPPER_COMMAND_ACTION_SERVER_H_
+#define _KORTEX_ROBOTIQ_GRIPPER_COMMAND_ACTION_SERVER_H_
+
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include <ros/ros.h>
+#include <actionlib/server/simple_action_server.h>
+#include <control_msgs/GripperCommandAction.h>
+#include <chrono>
+#include <mutex>
+#include <thread>
+
+#include "BaseClientRpc.h"
+#include "BaseCyclicClientRpc.h"
+#include "Errors.pb.h"
+
+#include "kortex_math_util.h"
+
+// Duration timeout for a gripper trajectory (in seconds) 
+#define GRIPPER_TRAJECTORY_TIME_LIMIT 2.0
+
+#define MAX_GRIPPER_RELATIVE_ERROR 0.05
+#define MAX_CONSECUTIVE_POSITION_DIFFERENCE 0.01
+#define MAX_CONSECUTIVE_IDENTICAL_POSITIONS 4
+
+class RobotiqGripperCommandActionServer
+{
+    public:
+        RobotiqGripperCommandActionServer() = delete;
+        RobotiqGripperCommandActionServer(const std::string& server_name, const std::string& gripper_joint_name, double gripper_joint_limit_min, double gripper_joint_limit_max, ros::NodeHandle& nh, Kinova::Api::Base::BaseClient* base, Kinova::Api::BaseCyclic::BaseCyclicClient* base_cyclic);
+        ~RobotiqGripperCommandActionServer();
+   
+    private:
+        // Members
+        ros::NodeHandle m_node_handle;
+        actionlib::ActionServer<control_msgs::GripperCommandAction> m_server;
+
+        Kinova::Api::Common::NotificationHandle m_sub_action_notif_handle;
+
+        Kinova::Api::Base::GripperCommand           m_cancel_gripper_command;
+
+        Kinova::Api::Base::BaseClient*              m_base;
+        Kinova::Api::BaseCyclic::BaseCyclicClient*  m_base_cyclic;
+
+        std::string m_server_name;
+
+        control_msgs::GripperCommandFeedback     m_feedback;
+        actionlib::ActionServer<control_msgs::GripperCommandAction>::GoalHandle m_goal;
+        std::chrono::system_clock::time_point m_trajectory_start_time;
+        
+        bool m_is_trajectory_running;
+        std::mutex m_is_trajectory_running_lock;
+        std::thread m_gripper_position_polling_thread;
+
+        KortexMathUtil m_math_util;
+
+        // ROS Params
+        std::string m_gripper_joint_name;
+        double      m_gripper_joint_limit_min;
+        double      m_gripper_joint_limit_max;
+
+        // Action Server Callbacks
+        void goal_received_callback(actionlib::ActionServer<control_msgs::GripperCommandAction>::GoalHandle new_goal_handle);
+        void preempt_received_callback(actionlib::ActionServer<control_msgs::GripperCommandAction>::GoalHandle goal_handle);
+
+        // Polling thread function
+        void gripper_position_polling_thread();
+
+        // Private methods
+        bool is_goal_acceptable(actionlib::ActionServer<control_msgs::GripperCommandAction>::GoalHandle goal_handle);
+        bool is_goal_tolerance_respected();
+        void stop_all_movement();
+        void join_polling_thread();
+};
+
+#endif
\ No newline at end of file
diff --git a/kortex_driver/launch/kortex_driver.launch b/kortex_driver/launch/kortex_driver.launch
new file mode 100644
index 0000000..94a644b
--- /dev/null
+++ b/kortex_driver/launch/kortex_driver.launch
@@ -0,0 +1,170 @@
+<?xml version="1.0"?>
+<launch>
+    
+    <!-- Arm configuration -->
+    <arg name="arm" default="gen3"/>
+    <arg name="dof" default="7" if="$(eval arg('arm') == 'gen3')"/> <!-- Number of degrees of freedom of the arm -->
+    <arg name="dof" default="6" if="$(eval arg('arm') == 'gen3_lite')"/> <!-- Number of degrees of freedom of the arm -->
+    <arg name="vision" default="true"/> <!-- True if the arm has a Vision module -->
+    <arg name="use_hard_limits" default="false"/> <!-- Set soft limits as hard limits (Gen3 only) -->
+
+    <!-- Gripper configuration -->
+    <!-- Default gripper for Gen3 is none, default gripper for Gen3 lite is gen3_lite_2f -->
+    <arg name="gripper" default="" if="$(eval arg('arm') == 'gen3')"/>
+    <arg name="gripper" default="gen3_lite_2f" if="$(eval arg('arm') == 'gen3_lite')"/>
+
+    <!-- Namespace -->
+    <arg name="robot_name" default="my_$(arg arm)"/>
+    <arg name="prefix" default=""/>
+
+    <!-- Kortex API options -->
+    <arg name="ip_address" default="192.168.1.10"/>
+    <arg name="username" default="admin"/>
+    <arg name="password" default="admin"/>
+    <arg name="cyclic_data_publish_rate" default="40"/> <!--Hz-->
+    <arg name="api_rpc_timeout_ms" default="2000"/> <!--milliseconds-->
+    <arg name="api_session_inactivity_timeout_ms" default="35000"/> <!--milliseconds-->
+    <arg name="api_connection_inactivity_timeout_ms" default="20000"/> <!--milliseconds-->
+
+    <!-- Automatically start other modules -->
+    <arg name="start_rviz" default="true"/>
+    <arg name="start_moveit" default="true"/>
+
+    <!-- Action server params -->
+    <arg name="default_goal_time_tolerance" default="0.5"/> <!--seconds-->
+    <arg name="default_goal_tolerance" default="0.005"/> <!--radians-->
+
+    <group ns="$(arg robot_name)">
+        <group if="$(eval not arg('prefix'))">
+            <!-- Load the description for the robot -->
+            <!-- Without gripper -->
+            <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/$(arg arm).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=false"
+                if="$(eval not arg('gripper'))"/>
+            <!-- With gripper -->
+            <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/$(arg arm)_$(arg gripper).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=false"
+                unless="$(eval not arg('gripper'))"/>
+        </group>
+        <group unless="$(eval not arg('prefix'))">
+            <!-- Load the description for the robot -->
+            <!-- Without gripper -->
+            <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/$(arg arm).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=false prefix:=$(arg prefix)"
+                if="$(eval not arg('gripper'))"/>
+            <!-- With gripper -->
+            <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/$(arg arm)_$(arg gripper).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=false prefix:=$(arg prefix)"
+                unless="$(eval not arg('gripper'))"/>
+        </group>
+
+
+
+        <!-- Start the kortex_driver node -->
+        <node name="$(arg robot_name)_driver" pkg="kortex_driver" type="kortex_arm_driver" output="screen"> <!--launch-prefix="gdb -ex run args"-->
+            <param name="sim" value="false"/>
+            <param name="ip_address" value="$(arg ip_address)"/>
+            <param name="username" value="$(arg username)"/>
+            <param name="password" value="$(arg password)"/>
+            <param name="cyclic_data_publish_rate" value="$(arg cyclic_data_publish_rate)"/>
+            <param name="api_rpc_timeout_ms" value="$(arg api_rpc_timeout_ms)"/>
+            <param name="api_session_inactivity_timeout_ms" value="$(arg api_session_inactivity_timeout_ms)"/>
+            <param name="api_connection_inactivity_timeout_ms" value="$(arg api_connection_inactivity_timeout_ms)"/>
+            <param name="default_goal_time_tolerance" value="$(arg default_goal_time_tolerance)"/>
+            <param name="default_goal_tolerance" value="$(arg default_goal_tolerance)"/>
+            <param name="arm" value="$(arg arm)"/>
+            <param name="gripper" value="$(arg gripper)"/>
+            <param name="dof" value="$(arg dof)"/>
+            <param name="use_hard_limits" value="$(arg use_hard_limits)"/>
+            <param name="robot_name" value="$(arg robot_name)"/>
+            <param name="prefix" value="$(arg prefix)"/>
+            <rosparam command="load" file="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/config/joint_limits.yaml" subst_value="true"/>
+            <!-- If there is a gripper, load the active joint names for it -->
+            <rosparam command="load" file="$(find kortex_description)/grippers/$(arg gripper)/config/joint_limits.yaml" unless="$(eval not arg('gripper'))" subst_value="true"/>
+        </node>
+        
+        <!-- Start MoveIt! main executable -->
+        <group if="$(arg start_moveit)">
+
+            <!-- TODO Find cleaner way to do that and that will work with other arms -->
+            <!-- Without gripper -->
+            <include file="$(find kortex_description)/../kortex_move_it_config/$(arg arm)_move_it_config/launch/move_group.launch" if="$(eval not arg('gripper'))"> 
+                <arg name="dof" value="$(arg dof)"/>
+                <arg name="use_hard_limits" value="$(arg use_hard_limits)"/>
+                <arg name="prefix" value="$(arg prefix)"/>
+            </include>
+            <!-- With gripper -->
+            <include file="$(find kortex_description)/../kortex_move_it_config/$(arg arm)_$(arg gripper)_move_it_config/launch/move_group.launch" unless="$(eval not arg('gripper'))"> 
+                <arg name="dof" value="$(arg dof)"/>
+                <arg name="use_hard_limits" value="$(arg use_hard_limits)"/>
+                <arg name="prefix" value="$(arg prefix)"/>
+            </include>
+
+        </group>
+
+        <!-- Start joint and robot state publisher -->
+        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+            <rosparam param="source_list">[base_feedback/joint_state]</rosparam>
+            <param name="use_gui" value="false"/>
+            <param name="rate" value="$(arg cyclic_data_publish_rate)" />
+        </node>
+        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+        <!-- Start RViz -->
+        <node name="rviz" pkg="rviz" type="rviz" output="log" args="-f base_link" if="$(arg start_rviz)"/> 
+
+        <!-- Tests -->
+        <!-- Initialization test and custom functional tests -->
+        <test test-name="kortex_driver_tests" pkg="kortex_driver" type="kortex_arm_driver_func_tests">
+            <param name="ip_address" value="$(arg ip_address)"/>
+            <param name="cyclic_data_publish_rate" value="$(arg cyclic_data_publish_rate)"/>
+            <param name="api_rpc_timeout_ms" value="$(arg api_rpc_timeout_ms)"/>
+            <param name="api_session_inactivity_timeout_ms" value="$(arg api_session_inactivity_timeout_ms)"/>
+            <param name="api_connection_inactivity_timeout_ms" value="$(arg api_connection_inactivity_timeout_ms)"/>
+            <param name="default_goal_time_tolerance" value="$(arg default_goal_time_tolerance)"/>
+            <param name="default_goal_tolerance" value="$(arg default_goal_tolerance)"/>
+            <param name="arm" value="$(arg arm)"/>
+            <param name="gripper" value="$(arg gripper)"/>
+            <param name="dof" value="$(arg dof)"/>
+            <rosparam command="load" file="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/config/joint_limits.yaml" subst_value="true"/>
+            <!-- If there is a gripper, load the active joint names for it -->
+            <rosparam command="load" file="$(find kortex_description)/grippers/$(arg gripper)/config/joint_limits.yaml" unless="$(eval not arg('gripper'))" subst_value="true"/>
+        </test>
+
+        <!-- Test feedback and joint state publishing -->
+        <test test-name="publish_test_kortex_driver" pkg="rostest" type="publishtest">
+            <rosparam subst_value="true">
+            topics:
+                - name: /$(arg robot_name)/base_feedback
+                  timeout: 10
+                  negative: False
+                - name: /$(arg robot_name)/base_feedback/joint_state
+                  timeout: 10
+                  negative: False
+                - name: /$(arg robot_name)/joint_states
+                  timeout: 10
+                  negative: False
+            </rosparam>
+        </test>
+
+        <!-- Test publishers rate -->
+        <test test-name="hztest_test_base_feedback" pkg="rostest" type="hztest">
+            <param name="topic" value="base_feedback" />
+            <param name="hz" value="$(arg cyclic_data_publish_rate)" />
+            <param name="hzerror" value="5.0" />
+            <param name="test_duration" value="30.0" />
+            <param name="wait_time" value="10.0" />
+        </test>
+        <test test-name="hztest_test_driver_joint_state" pkg="rostest" type="hztest">
+            <param name="topic" value="base_feedback/joint_state" />
+            <param name="hz" value="$(arg cyclic_data_publish_rate)" />
+            <param name="hzerror" value="5.0" />
+            <param name="test_duration" value="30.0" />
+            <param name="wait_time" value="10.0" />
+        </test>
+        <test test-name="hztest_test_joint_state_publisher_joint_states" pkg="rostest" type="hztest">
+            <param name="topic" value="joint_states" />
+            <param name="hz" value="$(arg cyclic_data_publish_rate)" />
+            <param name="hzerror" value="5.0" />
+            <param name="test_duration" value="30.0" />
+            <param name="wait_time" value="10.0" />
+        </test>
+
+    </group>
+</launch>
diff --git a/kortex_driver/launch/kortex_dual_driver.launch b/kortex_driver/launch/kortex_dual_driver.launch
new file mode 100644
index 0000000..0e79d2c
--- /dev/null
+++ b/kortex_driver/launch/kortex_dual_driver.launch
@@ -0,0 +1,132 @@
+<?xml version="1.0"?>
+<launch>
+
+    <!-- Namespace -->
+
+    <!-- Automatically start other modules -->
+    <arg name="start_rviz" default="true"/>
+    <arg name="start_moveit" default="true"/>
+
+    <arg name="cyclic_data_publish_rate" default="100"/> <!--Hz-->
+
+    <!-- LEFT ARM -->
+    <arg name="left_robot_name" default="my_left_arm"/>
+    <arg name="left_prefix" default="left_"/>
+    <arg name="left_arm" default="gen3"/>
+    <arg name="left_dof" default="7" if="$(eval arg('left_arm') == 'gen3')"/> <!-- Number of degrees of freedom of the arm -->
+    <arg name="left_dof" default="6" if="$(eval arg('left_arm') == 'gen3_lite')"/> <!-- Number of degrees of freedom of the arm -->
+    <arg name="left_vision" default="true"/> <!-- True if the arm has a Vision module -->
+
+    <!-- Gripper configuration -->
+    <arg name="left_gripper" default=""/>
+
+    <!-- Kortex API options -->
+    <arg name="left_ip_address" default="192.168.1.10"/>
+    <arg name="left_username" default="admin"/>
+    <arg name="left_password" default="admin"/>
+    <arg name="left_cyclic_data_publish_rate" default="$(arg cyclic_data_publish_rate)"/> <!--Hz-->
+    <arg name="left_api_rpc_timeout_ms" default="2000"/> <!--milliseconds-->
+    <arg name="left_api_session_inactivity_timeout_ms" default="35000"/> <!--milliseconds-->
+    <arg name="left_api_connection_inactivity_timeout_ms" default="20000"/> <!--milliseconds-->
+
+    <!-- Action server params -->
+    <arg name="left_default_goal_time_tolerance" default="0.5"/> <!--seconds-->
+    <arg name="left_default_goal_tolerance" default="0.005"/> <!--radians-->
+
+    <!-- RIGHT ARM -->
+    <arg name="right_robot_name" default="my_right_arm"/>
+    <arg name="right_prefix" default="right_"/>
+    <arg name="right_arm" default="gen3"/>
+    <arg name="right_dof" default="7" if="$(eval arg('right_arm') == 'gen3')"/> <!-- Number of degrees of freedom of the arm -->
+    <arg name="right_dof" default="6" if="$(eval arg('right_arm') == 'gen3_lite')"/> <!-- Number of degrees of freedom of the arm -->
+    <arg name="right_vision" default="true"/> <!-- True if the arm has a Vision module -->
+
+    <!-- Gripper configuration -->
+    <arg name="right_gripper" default=""/>
+
+    <!-- Kortex API options -->
+    <arg name="right_ip_address" default="192.168.1.10"/>
+    <arg name="right_username" default="admin"/>
+    <arg name="right_password" default="admin"/>
+    <arg name="right_cyclic_data_publish_rate" default="$(arg cyclic_data_publish_rate)"/> <!--Hz-->
+    <arg name="right_api_rpc_timeout_ms" default="2000"/> <!--milliseconds-->
+    <arg name="right_api_session_inactivity_timeout_ms" default="35000"/> <!--milliseconds-->
+    <arg name="right_api_connection_inactivity_timeout_ms" default="20000"/> <!--milliseconds-->
+
+    <!-- Action server params -->
+    <arg name="right_default_goal_time_tolerance" default="0.5"/> <!--seconds-->
+    <arg name="right_default_goal_tolerance" default="0.005"/> <!--radians-->
+
+    <!-- Load arms descriptions -->
+   <param 
+        name="robot_description" 
+        command="$(find xacro)/xacro --inorder $(find kortex_description)/multiple_robots/kortex_dual_robots.xacro 
+            left_arm:=$(arg left_arm) 
+            left_gripper:=$(arg left_gripper)
+            left_dof:=$(arg left_dof)
+            left_vision:=$(arg left_vision)
+            left_sim:=false
+            left_prefix:=$(arg left_prefix)
+            right_arm:=$(arg right_arm)
+            right_gripper:=$(arg right_gripper)
+            right_dof:=$(arg right_dof)
+            right_vision:=$(arg right_vision)
+            right_sim:=false
+            right_prefix:=$(arg right_prefix)"
+    />
+
+    <!-- Start the left arm kortex_driver node -->
+    <node name="$(arg left_robot_name)_driver" pkg="kortex_driver" type="kortex_arm_driver" output="screen" ns="$(arg left_robot_name)"> launch-prefix="gdb -ex run args"
+        <param name="ip_address" value="$(arg left_ip_address)"/>
+        <param name="username" value="$(arg left_username)"/>
+        <param name="password" value="$(arg left_password)"/>
+        <param name="cyclic_data_publish_rate" value="$(arg left_cyclic_data_publish_rate)"/>
+        <param name="api_rpc_timeout_ms" value="$(arg left_api_rpc_timeout_ms)"/>
+        <param name="api_session_inactivity_timeout_ms" value="$(arg left_api_session_inactivity_timeout_ms)"/>
+        <param name="api_connection_inactivity_timeout_ms" value="$(arg left_api_connection_inactivity_timeout_ms)"/>
+        <param name="default_goal_time_tolerance" value="$(arg left_default_goal_time_tolerance)"/>
+        <param name="default_goal_tolerance" value="$(arg left_default_goal_tolerance)"/>
+        <param name="arm" value="$(arg left_arm)"/>
+        <param name="gripper" value="$(arg left_gripper)"/>
+        <param name="dof" value="$(arg left_dof)"/>
+        <param name="prefix" value="$(arg left_prefix)"/>
+        <param name="robot_name" value="$(arg left_robot_name)"/>
+        <rosparam command="load" file="$(find kortex_description)/arms/$(arg left_arm)/$(arg left_dof)dof/config/joint_limits.yaml" subst_value="true"/>
+        <!-- If there is a gripper, load the active joint names for it -->
+        <rosparam command="load" file="$(find kortex_description)/grippers/$(arg left_gripper)/config/joint_limits.yaml" unless="$(eval not arg('left_gripper'))" subst_value="true"/>
+    </node>
+    <!-- Start the right arm kortex_driver node -->
+    <node name="$(arg right_robot_name)_driver" pkg="kortex_driver" type="kortex_arm_driver" output="screen" ns="$(arg right_robot_name)"> launch-prefix="gdb -ex run args"
+        <param name="ip_address" value="$(arg right_ip_address)"/>
+        <param name="username" value="$(arg right_username)"/>
+        <param name="password" value="$(arg right_password)"/>
+        <param name="cyclic_data_publish_rate" value="$(arg right_cyclic_data_publish_rate)"/>
+        <param name="api_rpc_timeout_ms" value="$(arg right_api_rpc_timeout_ms)"/>
+        <param name="api_session_inactivity_timeout_ms" value="$(arg right_api_session_inactivity_timeout_ms)"/>
+        <param name="api_connection_inactivity_timeout_ms" value="$(arg right_api_connection_inactivity_timeout_ms)"/>
+        <param name="default_goal_time_tolerance" value="$(arg right_default_goal_time_tolerance)"/>
+        <param name="default_goal_tolerance" value="$(arg right_default_goal_tolerance)"/>
+        <param name="arm" value="$(arg right_arm)"/>
+        <param name="gripper" value="$(arg right_gripper)"/>
+        <param name="dof" value="$(arg right_dof)"/>
+        <param name="prefix" value="$(arg right_prefix)"/>
+        <param name="robot_name" value="$(arg right_robot_name)"/>
+        <rosparam command="load" file="$(find kortex_description)/arms/$(arg right_arm)/$(arg right_dof)dof/config/joint_limits.yaml" subst_value="true"/>
+        <!-- If there is a gripper, load the active joint names for it -->
+        <rosparam command="load" file="$(find kortex_description)/grippers/$(arg right_gripper)/config/joint_limits.yaml" unless="$(eval not arg('right_gripper'))" subst_value="true"/>
+    </node>
+
+    <!-- Start joint and robot state publisher -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+        <param name="rate" value="$(arg cyclic_data_publish_rate)" />
+        <rosparam param="source_list" subst_value="true">
+            [$(arg left_robot_name)/base_feedback/joint_state, $(arg right_robot_name)/base_feedback/joint_state]
+        </rosparam>
+        <param name="use_gui" value="false"/>
+    </node>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+
+    <!-- Start RViz -->
+    <node name="rviz" pkg="rviz" type="rviz" output="log" args="world" if="$(arg start_rviz)"/> 
+
+</launch>
diff --git a/kortex_driver/msg/generated/ErrorCodes.msg b/kortex_driver/msg/generated/ErrorCodes.msg
new file mode 100644
index 0000000..d3731e8
--- /dev/null
+++ b/kortex_driver/msg/generated/ErrorCodes.msg
@@ -0,0 +1,10 @@
+
+uint32 ERROR_NONE = 0
+
+uint32 ERROR_PROTOCOL_SERVER = 1
+
+uint32 ERROR_PROTOCOL_CLIENT = 2
+
+uint32 ERROR_DEVICE = 3
+
+uint32 ERROR_INTERNAL = 4
diff --git a/kortex_driver/msg/generated/SubErrorCodes.msg b/kortex_driver/msg/generated/SubErrorCodes.msg
new file mode 100644
index 0000000..a5797ae
--- /dev/null
+++ b/kortex_driver/msg/generated/SubErrorCodes.msg
@@ -0,0 +1,194 @@
+
+uint32 SUB_ERROR_NONE = 0
+
+uint32 METHOD_FAILED = 1
+
+uint32 UNIMPLEMENTED = 2
+
+uint32 INVALID_PARAM = 3
+
+uint32 UNSUPPORTED_SERVICE = 4
+
+uint32 UNSUPPORTED_METHOD = 5
+
+uint32 TOO_LARGE_ENCODED_FRAME_BUFFER = 6
+
+uint32 FRAME_ENCODING_ERR = 7
+
+uint32 FRAME_DECODING_ERR = 8
+
+uint32 INCOMPATIBLE_HEADER_VERSION = 9
+
+uint32 UNSUPPORTED_FRAME_TYPE = 10
+
+uint32 UNREGISTERED_NOTIFICATION_RECEIVED = 11
+
+uint32 INVALID_SESSION = 12
+
+uint32 PAYLOAD_DECODING_ERR = 13
+
+uint32 UNREGISTERED_FRAME_RECEIVED = 14
+
+uint32 INVALID_PASSWORD = 15
+
+uint32 USER_NOT_FOUND = 16
+
+uint32 ENTITY_NOT_FOUND = 17
+
+uint32 ROBOT_MOVEMENT_IN_PROGRESS = 18
+
+uint32 ROBOT_NOT_MOVING = 19
+
+uint32 NO_MORE_STORAGE_SPACE = 20
+
+uint32 ROBOT_NOT_READY = 21
+
+uint32 ROBOT_IN_FAULT = 22
+
+uint32 ROBOT_IN_MAINTENANCE = 23
+
+uint32 ROBOT_IN_UPDATE_MODE = 24
+
+uint32 ROBOT_IN_EMERGENCY_STOP = 25
+
+uint32 SINGLE_LEVEL_SERVOING = 26
+
+uint32 LOW_LEVEL_SERVOING = 27
+
+uint32 MAPPING_GROUP_NON_ROOT = 28
+
+uint32 MAPPING_INVALID_GROUP = 29
+
+uint32 MAPPING_INVALID_MAP = 30
+
+uint32 MAP_GROUP_INVALID_MAP = 31
+
+uint32 MAP_GROUP_INVALID_PARENT = 32
+
+uint32 MAP_GROUP_INVALID_CHILD = 33
+
+uint32 MAP_GROUP_INVALID_MOVE = 34
+
+uint32 MAP_IN_USE = 35
+
+uint32 WIFI_CONNECT_ERROR = 36
+
+uint32 UNSUPPORTED_NETWORK_TYPE = 37
+
+uint32 TOO_LARGE_ENCODED_PAYLOAD_BUFFER = 38
+
+uint32 UPDATE_PERMISSION_DENIED = 39
+
+uint32 DELETE_PERMISSION_DENIED = 40
+
+uint32 DATABASE_ERROR = 41
+
+uint32 UNSUPPORTED_OPTION = 42
+
+uint32 UNSUPPORTED_RESOLUTION = 43
+
+uint32 UNSUPPORTED_FRAME_RATE = 44
+
+uint32 UNSUPPORTED_BIT_RATE = 45
+
+uint32 UNSUPPORTED_ACTION = 46
+
+uint32 UNSUPPORTED_FOCUS_ACTION = 47
+
+uint32 VALUE_IS_ABOVE_MAXIMUM = 48
+
+uint32 VALUE_IS_BELOW_MINIMUM = 49
+
+uint32 DEVICE_DISCONNECTED = 50
+
+uint32 DEVICE_NOT_READY = 51
+
+uint32 INVALID_DEVICE = 52
+
+uint32 SAFETY_THRESHOLD_REACHED = 53
+
+uint32 INVALID_USER_SESSION_ACCESS = 54
+
+uint32 CONTROL_MANUAL_STOP = 55
+
+uint32 CONTROL_OUTSIDE_WORKSPACE = 56
+
+uint32 CONTROL_ACTUATOR_COUNT_MISMATCH = 57
+
+uint32 CONTROL_INVALID_DURATION = 58
+
+uint32 CONTROL_INVALID_SPEED = 59
+
+uint32 CONTROL_LARGE_SPEED = 60
+
+uint32 CONTROL_INVALID_ACCELERATION = 61
+
+uint32 CONTROL_INVALID_TIME_STEP = 62
+
+uint32 CONTROL_LARGE_SIZE = 63
+
+uint32 CONTROL_WRONG_MODE = 64
+
+uint32 CONTROL_JOINT_POSITION_LIMIT = 65
+
+uint32 CONTROL_NO_FILE_IN_MEMORY = 66
+
+uint32 CONTROL_INDEX_OUT_OF_TRAJECTORY = 67
+
+uint32 CONTROL_ALREADY_RUNNING = 68
+
+uint32 CONTROL_WRONG_STARTING_POINT = 69
+
+uint32 CONTROL_CARTESIAN_CANNOT_START = 70
+
+uint32 CONTROL_UNDEFINED_CONSTRAINT = 71
+
+uint32 CONTROL_UNINITIALIZED = 72
+
+uint32 CONTROL_NO_ACTION = 73
+
+uint32 CONTROL_UNDEFINED = 74
+
+uint32 WRONG_SERVOING_MODE = 75
+
+uint32 CONTROL_WRONG_STARTING_SPEED = 76
+
+uint32 USERNAME_LENGTH_EXCEEDED = 100
+
+uint32 FIRSTNAME_LENGTH_EXCEEDED = 101
+
+uint32 LASTNAME_LENGTH_EXCEEDED = 102
+
+uint32 PASSWORD_LENGTH_EXCEEDED = 103
+
+uint32 USERNAME_ALREADY_EXISTS = 104
+
+uint32 USERNAME_EMPTY = 105
+
+uint32 PASSWORD_NOT_CHANGED = 106
+
+uint32 MAXIMUM_USER_PROFILES_USED = 107
+
+uint32 ROUTER_UNVAILABLE = 108
+
+uint32 ADDRESS_NOT_IN_VALID_RANGE = 120
+
+uint32 ADDRESS_NOT_CONFIGURABLE = 121
+
+uint32 SESSION_NOT_IN_CONTROL = 130
+
+uint32 METHOD_TIMEOUT = 131
+
+uint32 UNSUPPORTED_ROBOT_CONFIGURATION = 132
+
+uint32 NVRAM_READ_FAIL = 133
+
+uint32 NVRAM_WRITE_FAIL = 134
+
+uint32 NETWORK_NO_ADDRESS_ASSIGNED = 135
+
+uint32 READ_PERMISSION_DENIED = 136
+
+uint32 CONTROLLER_INVALID_MAPPING = 137
+
+uint32 ACTION_IN_USE = 138
diff --git a/kortex_driver/msg/generated/actuator_config/ActuatorConfig_ControlMode.msg b/kortex_driver/msg/generated/actuator_config/ActuatorConfig_ControlMode.msg
new file mode 100644
index 0000000..7f80fdc
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/ActuatorConfig_ControlMode.msg
@@ -0,0 +1,12 @@
+
+uint32 NONE = 0
+
+uint32 POSITION = 1
+
+uint32 VELOCITY = 2
+
+uint32 TORQUE = 3
+
+uint32 CURRENT = 4
+
+uint32 CUSTOM = 5
diff --git a/kortex_driver/msg/generated/actuator_config/ActuatorConfig_ControlModeInformation.msg b/kortex_driver/msg/generated/actuator_config/ActuatorConfig_ControlModeInformation.msg
new file mode 100644
index 0000000..713ed37
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/ActuatorConfig_ControlModeInformation.msg
@@ -0,0 +1,2 @@
+
+uint32 control_mode
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/ActuatorConfig_SafetyLimitType.msg b/kortex_driver/msg/generated/actuator_config/ActuatorConfig_SafetyLimitType.msg
new file mode 100644
index 0000000..a8d7a17
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/ActuatorConfig_SafetyLimitType.msg
@@ -0,0 +1,4 @@
+
+uint32 MAXIMAL_LIMIT = 0
+
+uint32 MINIMAL_LIMIT = 1
diff --git a/kortex_driver/msg/generated/actuator_config/ActuatorConfig_ServiceVersion.msg b/kortex_driver/msg/generated/actuator_config/ActuatorConfig_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/ActuatorConfig_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/actuator_config/AxisOffsets.msg b/kortex_driver/msg/generated/actuator_config/AxisOffsets.msg
new file mode 100644
index 0000000..eb4136d
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/AxisOffsets.msg
@@ -0,0 +1,3 @@
+
+float32 absolute_offset
+float32 relative_offset
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/AxisPosition.msg b/kortex_driver/msg/generated/actuator_config/AxisPosition.msg
new file mode 100644
index 0000000..95750a0
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/AxisPosition.msg
@@ -0,0 +1,2 @@
+
+float32 position
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardMode.msg b/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardMode.msg
new file mode 100644
index 0000000..2e6d795
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardMode.msg
@@ -0,0 +1,6 @@
+
+uint32 FEEDFORWARD_OFF = 0
+
+uint32 FEEDFORWARD_ADAPTIVE = 1
+
+uint32 FEEDFORWARD_CALIBRATED = 2
diff --git a/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardModeInformation.msg b/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardModeInformation.msg
new file mode 100644
index 0000000..6fe1630
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/CoggingFeedforwardModeInformation.msg
@@ -0,0 +1,2 @@
+
+uint32 cogging_feedforward_mode
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/CommandMode.msg b/kortex_driver/msg/generated/actuator_config/CommandMode.msg
new file mode 100644
index 0000000..fad4f4d
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/CommandMode.msg
@@ -0,0 +1,12 @@
+
+uint32 CYCLIC = 0
+
+uint32 ASYNC_CYCLIC_FLAGS = 1
+
+uint32 ASYNC = 2
+
+uint32 CYCLIC_JITTERCOMPENSATED_POSITION = 3
+
+uint32 CYCLIC_JITTERCOMPENSATED_VELOCITY = 4
+
+uint32 CYCLIC_JITTERCOMPENSATED_ACCELERATION = 5
diff --git a/kortex_driver/msg/generated/actuator_config/CommandModeInformation.msg b/kortex_driver/msg/generated/actuator_config/CommandModeInformation.msg
new file mode 100644
index 0000000..f066818
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/CommandModeInformation.msg
@@ -0,0 +1,2 @@
+
+uint32 command_mode
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/ControlLoop.msg b/kortex_driver/msg/generated/actuator_config/ControlLoop.msg
new file mode 100644
index 0000000..715ca4b
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/ControlLoop.msg
@@ -0,0 +1,2 @@
+
+uint32 control_loop
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/ControlLoopParameters.msg b/kortex_driver/msg/generated/actuator_config/ControlLoopParameters.msg
new file mode 100644
index 0000000..5cad290
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/ControlLoopParameters.msg
@@ -0,0 +1,7 @@
+
+uint32 loop_selection
+float32 error_saturation
+float32 output_saturation
+float32[] kAz
+float32[] kBz
+float32 error_dead_band
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/ControlLoopSelection.msg b/kortex_driver/msg/generated/actuator_config/ControlLoopSelection.msg
new file mode 100644
index 0000000..6b62093
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/ControlLoopSelection.msg
@@ -0,0 +1,14 @@
+
+uint32 RESERVED = 0
+
+uint32 JOINT_POSITION = 1
+
+uint32 MOTOR_POSITION = 2
+
+uint32 JOINT_VELOCITY = 4
+
+uint32 MOTOR_VELOCITY = 8
+
+uint32 JOINT_TORQUE = 16
+
+uint32 MOTOR_CURRENT = 32
diff --git a/kortex_driver/msg/generated/actuator_config/CustomDataIndex.msg b/kortex_driver/msg/generated/actuator_config/CustomDataIndex.msg
new file mode 100644
index 0000000..c7a9b45
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/CustomDataIndex.msg
@@ -0,0 +1,190 @@
+
+uint32 NO_CUSTOM_DATA_SELECTED = 0
+
+uint32 UINT32_TEST_RAMP = 1
+
+uint32 UINT32_MOTOR_ENCODER_RAW = 2
+
+uint32 UINT32_JOINT_ENCODER_RAW = 3
+
+uint32 FLOAT_TEMPERATURE_PHASE_0 = 4
+
+uint32 FLOAT_TEMPERATURE_PHASE_1 = 5
+
+uint32 FLOAT_TEMPERATURE_PHASE_2 = 6
+
+uint32 INT32_TORQUE_SENSOR_RAW_0 = 7
+
+uint32 INT32_TORQUE_SENSOR_RAW_1 = 8
+
+uint32 INT32_TORQUE_SENSOR_RAW_2 = 9
+
+uint32 INT32_TORQUE_SENSOR_RAW_3 = 10
+
+uint32 FLOAT_TORQUE_SENSOR_0 = 11
+
+uint32 FLOAT_TORQUE_SENSOR_1 = 12
+
+uint32 FLOAT_TORQUE_SENSOR_2 = 13
+
+uint32 FLOAT_TORQUE_SENSOR_3 = 14
+
+uint32 UINT32_MOTOR_ENCODER_RAW_LATCH_ON_INDEX_RISING = 15
+
+uint32 UINT32_JOINT_ENCODER_RAW_LATCH_ON_INDEX_RISING = 16
+
+uint32 UINT32_ABSOLUTE_POSITION_SENSOR_RAW = 17
+
+uint32 FLOAT_ABSOLUTE_POSITION_SENSOR = 18
+
+uint32 FLOAT_CONTROL_POSITION_JOINT_REQUESTED = 19
+
+uint32 UINT32_JIG_FLAGS = 20
+
+uint32 UINT32_TICK_MOTOR_CONTROL = 21
+
+uint32 UINT32_TICK_JOINT_CONTROL = 22
+
+uint32 UINT32_INDEX_TICK_MOTOR_CONTROL = 23
+
+uint32 UINT32_INDEX_TICK_JOINT_CONTROL = 24
+
+uint32 FLOAT_ACCELERATION_X = 25
+
+uint32 FLOAT_ACCELERATION_Y = 26
+
+uint32 FLOAT_ACCELERATION_Z = 27
+
+uint32 FLOAT_ANGULAR_RATE_X = 28
+
+uint32 FLOAT_ANGULAR_RATE_Y = 29
+
+uint32 FLOAT_ANGULAR_RATE_Z = 30
+
+uint32 FLOAT_POSITION_MOTOR_CMD = 31
+
+uint32 FLOAT_VELOCITY_MOTOR_CMD = 32
+
+uint32 FLOAT_POSITION_MOTOR = 33
+
+uint32 FLOAT_VELOCITY_MOTOR = 34
+
+uint32 UINT32_COMMUNICATIONS_JITTER = 35
+
+uint32 FLOAT_TORQUE_AVERAGE = 36
+
+uint32 FLOAT_CURRENT_MOTOR = 37
+
+uint32 FLOAT_VOLTAGE_DIGITAL = 38
+
+uint32 FLOAT_TEMPERATURE_MOTOR_CELSIUS = 39
+
+uint32 FLOAT_TEMPERATURE_CORE_CELSIUS = 40
+
+uint32 UINT32_FAULT_A = 41
+
+uint32 UINT32_FAULT_B = 42
+
+uint32 UINT32_WARNING_A = 43
+
+uint32 UINT32_WARNING_B = 44
+
+uint32 FLOAT_POSITION_FROM_HALLS = 45
+
+uint32 FLOAT_PHASE_CURRENT_0 = 46
+
+uint32 FLOAT_PHASE_CURRENT_1 = 47
+
+uint32 FLOAT_PHASE_CURRENT_2 = 48
+
+uint32 FLOAT_PHASE_PWM_0 = 49
+
+uint32 FLOAT_PHASE_PWM_1 = 50
+
+uint32 FLOAT_PHASE_PWM_2 = 51
+
+uint32 FLOAT_MOTOR_ELECTRICAL_ANGLE = 52
+
+uint32 FLOAT_CURRENT_MOTOR_CMD = 53
+
+uint32 FLOAT_TORQUE_JOINT_CMD = 54
+
+uint32 FLOAT_POSITION_UNWRAPPED = 55
+
+uint32 UINT32_HALL_SENSOR_0 = 56
+
+uint32 UINT32_HALL_SENSOR_1 = 57
+
+uint32 UINT32_HALL_SENSOR_2 = 58
+
+uint32 INT32_HALL_SENSOR_SCALED_0 = 59
+
+uint32 INT32_HALL_SENSOR_SCALED_1 = 60
+
+uint32 INT32_HALL_SENSOR_SCALED_2 = 61
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_0 = 62
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_1 = 63
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_2 = 64
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_3 = 65
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_4 = 66
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_5 = 67
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_6 = 68
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_7 = 69
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_8 = 70
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_9 = 71
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_10 = 72
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_11 = 73
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_12 = 74
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_13 = 75
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_14 = 76
+
+uint32 FLOAT_COGGING_COEFFICIENT_A_15 = 77
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_0 = 78
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_1 = 79
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_2 = 80
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_3 = 81
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_4 = 82
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_5 = 83
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_6 = 84
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_7 = 85
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_8 = 86
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_9 = 87
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_10 = 88
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_11 = 89
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_12 = 90
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_13 = 91
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_14 = 92
+
+uint32 FLOAT_COGGING_COEFFICIENT_B_15 = 93
+
+uint32 FLOAT_CURRENT_COGGING_FEEDFORWARD = 94
diff --git a/kortex_driver/msg/generated/actuator_config/CustomDataSelection.msg b/kortex_driver/msg/generated/actuator_config/CustomDataSelection.msg
new file mode 100644
index 0000000..84a6107
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/CustomDataSelection.msg
@@ -0,0 +1,2 @@
+
+uint32[] channel
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/EncoderDerivativeParameters.msg b/kortex_driver/msg/generated/actuator_config/EncoderDerivativeParameters.msg
new file mode 100644
index 0000000..df323b3
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/EncoderDerivativeParameters.msg
@@ -0,0 +1,3 @@
+
+uint32 max_window_width
+float32 min_angle
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/FrequencyResponse.msg b/kortex_driver/msg/generated/actuator_config/FrequencyResponse.msg
new file mode 100644
index 0000000..957c975
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/FrequencyResponse.msg
@@ -0,0 +1,6 @@
+
+uint32 loop_selection
+float32 min_frequency
+float32 max_frequency
+float32 amplitude
+float32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/LoopSelection.msg b/kortex_driver/msg/generated/actuator_config/LoopSelection.msg
new file mode 100644
index 0000000..66fdae0
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/LoopSelection.msg
@@ -0,0 +1,2 @@
+
+uint32 loop_selection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/PositionCommand.msg b/kortex_driver/msg/generated/actuator_config/PositionCommand.msg
new file mode 100644
index 0000000..a0477a5
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/PositionCommand.msg
@@ -0,0 +1,4 @@
+
+float32 position
+float32 velocity
+float32 acceleration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/RampResponse.msg b/kortex_driver/msg/generated/actuator_config/RampResponse.msg
new file mode 100644
index 0000000..846abc0
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/RampResponse.msg
@@ -0,0 +1,5 @@
+
+uint32 loop_selection
+float32 slope
+float32 ramp_delay
+float32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/SafetyIdentifierBankA.msg b/kortex_driver/msg/generated/actuator_config/SafetyIdentifierBankA.msg
new file mode 100644
index 0000000..8af8dc2
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/SafetyIdentifierBankA.msg
@@ -0,0 +1,56 @@
+
+uint32 UNSPECIFIED_ACTUATOR_SAFETY_IDENTIFIER_BANK_A = 0
+
+uint32 FOLLOWING_ERROR = 1
+
+uint32 MAXIMUM_VELOCITY = 2
+
+uint32 JOINT_LIMIT_HIGH = 4
+
+uint32 JOINT_LIMIT_LOW = 8
+
+uint32 STRAIN_GAUGE_MISMATCH = 16
+
+uint32 MAXIMUM_TORQUE = 32
+
+uint32 UNRELIABLE_ABSOLUTE_POSITION = 64
+
+uint32 MAGNETIC_POSITION = 128
+
+uint32 HALL_POSITION = 256
+
+uint32 HALL_SEQUENCE = 512
+
+uint32 INPUT_ENCODER_HALL_MISMATCH = 1024
+
+uint32 INPUT_ENCODER_INDEX_MISMATCH = 2048
+
+uint32 INPUT_ENCODER_MAGNETIC_MISMATCH = 4096
+
+uint32 MAXIMUM_MOTOR_CURRENT = 8192
+
+uint32 MOTOR_CURRENT_MISMATCH = 16384
+
+uint32 MAXIMUM_VOLTAGE = 32768
+
+uint32 MINIMUM_VOLTAGE = 65536
+
+uint32 MAXIMUM_MOTOR_TEMPERATURE = 131072
+
+uint32 MAXIMUM_CORE_TEMPERATURE = 262144
+
+uint32 NON_VOLATILE_MEMORY_CORRUPTED = 524288
+
+uint32 MOTOR_DRIVER_FAULT = 1048576
+
+uint32 EMERGENCY_LINE_ASSERTED = 2097152
+
+uint32 COMMUNICATION_TICK_LOST = 4194304
+
+uint32 WATCHDOG_TRIGGERED = 8388608
+
+uint32 UNRELIABLE_CAPACITIVE_SENSOR = 16777216
+
+uint32 UNEXPECTED_GEAR_RATIO = 33554432
+
+uint32 HALL_MAGNETIC_MISMATCH = 67108864
diff --git a/kortex_driver/msg/generated/actuator_config/Servoing.msg b/kortex_driver/msg/generated/actuator_config/Servoing.msg
new file mode 100644
index 0000000..8e3e7a7
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/Servoing.msg
@@ -0,0 +1,2 @@
+
+bool enabled
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/StepResponse.msg b/kortex_driver/msg/generated/actuator_config/StepResponse.msg
new file mode 100644
index 0000000..64fa125
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/StepResponse.msg
@@ -0,0 +1,5 @@
+
+uint32 loop_selection
+float32 amplitude
+float32 step_delay
+float32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/TorqueCalibration.msg b/kortex_driver/msg/generated/actuator_config/TorqueCalibration.msg
new file mode 100644
index 0000000..63568bf
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/TorqueCalibration.msg
@@ -0,0 +1,5 @@
+
+float32 global_gain
+float32 global_offset
+float32[] gain
+float32[] offset
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/TorqueOffset.msg b/kortex_driver/msg/generated/actuator_config/TorqueOffset.msg
new file mode 100644
index 0000000..1087bce
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/TorqueOffset.msg
@@ -0,0 +1,2 @@
+
+float32 torque_offset
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_config/VectorDriveParameters.msg b/kortex_driver/msg/generated/actuator_config/VectorDriveParameters.msg
new file mode 100644
index 0000000..91b822d
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_config/VectorDriveParameters.msg
@@ -0,0 +1,5 @@
+
+float32 kpq
+float32 kiq
+float32 kpd
+float32 kid
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_Command.msg b/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_Command.msg
new file mode 100644
index 0000000..a81238c
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_Command.msg
@@ -0,0 +1,7 @@
+
+ActuatorCyclic_MessageId command_id
+uint32 flags
+float32 position
+float32 velocity
+float32 torque_joint
+float32 current_motor
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_CustomData.msg b/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_CustomData.msg
new file mode 100644
index 0000000..f6f20ed
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_CustomData.msg
@@ -0,0 +1,18 @@
+
+ActuatorCyclic_MessageId custom_data_id
+uint32 custom_data_0
+uint32 custom_data_1
+uint32 custom_data_2
+uint32 custom_data_3
+uint32 custom_data_4
+uint32 custom_data_5
+uint32 custom_data_6
+uint32 custom_data_7
+uint32 custom_data_8
+uint32 custom_data_9
+uint32 custom_data_10
+uint32 custom_data_11
+uint32 custom_data_12
+uint32 custom_data_13
+uint32 custom_data_14
+uint32 custom_data_15
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_Feedback.msg b/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_Feedback.msg
new file mode 100644
index 0000000..a5737e6
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_Feedback.msg
@@ -0,0 +1,15 @@
+
+ActuatorCyclic_MessageId feedback_id
+uint32 status_flags
+uint32 jitter_comm
+float32 position
+float32 velocity
+float32 torque
+float32 current_motor
+float32 voltage
+float32 temperature_motor
+float32 temperature_core
+uint32 fault_bank_a
+uint32 fault_bank_b
+uint32 warning_bank_a
+uint32 warning_bank_b
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_MessageId.msg b/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_MessageId.msg
new file mode 100644
index 0000000..9d1731b
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_MessageId.msg
@@ -0,0 +1,2 @@
+
+uint32 identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_ServiceVersion.msg b/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_cyclic/ActuatorCyclic_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/actuator_cyclic/CommandFlags.msg b/kortex_driver/msg/generated/actuator_cyclic/CommandFlags.msg
new file mode 100644
index 0000000..2440642
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_cyclic/CommandFlags.msg
@@ -0,0 +1,22 @@
+
+uint32 NO_COMMAND = 0
+
+uint32 SERVO_ENABLE = 1
+
+uint32 BRAKE_DISABLE = 2
+
+uint32 CLEAR_MAJOR_FAULT = 4
+
+uint32 CLEAR_MINOR_FAULT = 8
+
+uint32 PROTECTIVE_STOP = 16
+
+uint32 FORCE_BRAKE_RELEASE = 32
+
+uint32 IGNORE = 64
+
+uint32 LOW_GAINS = 128
+
+uint32 LED_0 = 256
+
+uint32 LED_1 = 512
diff --git a/kortex_driver/msg/generated/actuator_cyclic/StatusFlags.msg b/kortex_driver/msg/generated/actuator_cyclic/StatusFlags.msg
new file mode 100644
index 0000000..3f62915
--- /dev/null
+++ b/kortex_driver/msg/generated/actuator_cyclic/StatusFlags.msg
@@ -0,0 +1,50 @@
+
+uint32 UNKNOWN_STATUS = 0
+
+uint32 STABILIZED = 16
+
+uint32 MOTOR_INDEXED = 32
+
+uint32 MOTOR_INDEXING = 64
+
+uint32 JOINT_INDEXED = 128
+
+uint32 JOINT_INDEXING = 256
+
+uint32 HIGH_PRECISION = 512
+
+uint32 BRAKING = 1024
+
+uint32 SERVOING = 2048
+
+uint32 MAJOR_FAULT = 4096
+
+uint32 MINOR_FAULT = 8192
+
+uint32 CALIBRATED_TORQUE = 16384
+
+uint32 CALIBRATED_MAG_SENSOR = 32768
+
+uint32 CALIBRATED_ZERO = 65536
+
+uint32 GPIO_0 = 131072
+
+uint32 GPIO_1 = 262144
+
+uint32 CS_QUASI_STATIC_CONTACT = 524288
+
+uint32 CS_TRANSIENT_CONTACT = 1048576
+
+uint32 VFD_HALL_SYNC = 2097152
+
+uint32 VFD_INDEXED = 4194304
+
+uint32 DRIVE_BOARD_READY = 8388608
+
+uint32 CALIBRATED_CURRENT = 16777216
+
+uint32 CALIBRATED_MOTOR = 33554432
+
+uint32 SW0_ACTIVE = 67108864
+
+uint32 SW1_ACTIVE = 134217728
diff --git a/kortex_driver/msg/generated/base/Action.msg b/kortex_driver/msg/generated/base/Action.msg
new file mode 100644
index 0000000..e832d63
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Action.msg
@@ -0,0 +1,5 @@
+
+ActionHandle handle
+string name
+string application_data
+Action_action_parameters oneof_action_parameters
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ActionEvent.msg b/kortex_driver/msg/generated/base/ActionEvent.msg
new file mode 100644
index 0000000..27e0889
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ActionEvent.msg
@@ -0,0 +1,22 @@
+
+uint32 UNSPECIFIED_ACTION_EVENT = 0
+
+uint32 ACTION_END = 1
+
+uint32 ACTION_ABORT = 2
+
+uint32 ACTION_PAUSE = 3
+
+uint32 ACTION_START = 4
+
+uint32 ACTION_PREPROCESS_START = 5
+
+uint32 ACTION_PREPROCESS_ABORT = 6
+
+uint32 ACTION_PREPROCESS_END = 7
+
+uint32 ACTION_POSTPROCESS_START = 8
+
+uint32 ACTION_POSTPROCESS_ABORT = 9
+
+uint32 ACTION_POSTPROCESS_END = 10
diff --git a/kortex_driver/msg/generated/base/ActionExecutionState.msg b/kortex_driver/msg/generated/base/ActionExecutionState.msg
new file mode 100644
index 0000000..9994e7f
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ActionExecutionState.msg
@@ -0,0 +1,3 @@
+
+uint32 action_event
+ActionHandle handle
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ActionHandle.msg b/kortex_driver/msg/generated/base/ActionHandle.msg
new file mode 100644
index 0000000..723cdcd
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ActionHandle.msg
@@ -0,0 +1,4 @@
+
+uint32 identifier
+uint32 action_type
+uint32 permission
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ActionList.msg b/kortex_driver/msg/generated/base/ActionList.msg
new file mode 100644
index 0000000..cec55d4
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ActionList.msg
@@ -0,0 +1,2 @@
+
+Action[] action_list
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ActionNotification.msg b/kortex_driver/msg/generated/base/ActionNotification.msg
new file mode 100644
index 0000000..097c002
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ActionNotification.msg
@@ -0,0 +1,7 @@
+
+uint32 action_event
+ActionHandle handle
+Timestamp timestamp
+UserProfileHandle user_handle
+uint32 abort_details
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ActionNotificationList.msg b/kortex_driver/msg/generated/base/ActionNotificationList.msg
new file mode 100644
index 0000000..8ba0600
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ActionNotificationList.msg
@@ -0,0 +1,2 @@
+
+ActionNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ActionType.msg b/kortex_driver/msg/generated/base/ActionType.msg
new file mode 100644
index 0000000..d9afad2
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ActionType.msg
@@ -0,0 +1,42 @@
+
+uint32 UNSPECIFIED_ACTION = 0
+
+uint32 SEND_TWIST_COMMAND = 1
+
+uint32 SEND_WRENCH_COMMAND = 2
+
+uint32 SEND_JOINT_SPEEDS = 4
+
+uint32 REACH_POSE = 6
+
+uint32 REACH_JOINT_ANGLES = 7
+
+uint32 TOGGLE_ADMITTANCE_MODE = 13
+
+uint32 SNAPSHOT = 14
+
+uint32 SWITCH_CONTROL_MAPPING = 16
+
+uint32 NAVIGATE_JOINTS = 17
+
+uint32 NAVIGATE_MAPPINGS = 18
+
+uint32 CHANGE_TWIST = 22
+
+uint32 CHANGE_JOINT_SPEEDS = 23
+
+uint32 CHANGE_WRENCH = 25
+
+uint32 APPLY_EMERGENCY_STOP = 28
+
+uint32 CLEAR_FAULTS = 29
+
+uint32 TIME_DELAY = 31
+
+uint32 EXECUTE_ACTION = 32
+
+uint32 SEND_GRIPPER_COMMAND = 33
+
+uint32 STOP_ACTION = 35
+
+uint32 PLAY_PRE_COMPUTED_TRAJECTORY = 39
diff --git a/kortex_driver/msg/generated/base/Action_action_parameters.msg b/kortex_driver/msg/generated/base/Action_action_parameters.msg
new file mode 100644
index 0000000..a5a2853
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Action_action_parameters.msg
@@ -0,0 +1,21 @@
+
+TwistCommand[] send_twist_command
+WrenchCommand[] send_wrench_command
+Base_JointSpeeds[] send_joint_speeds
+ConstrainedPose[] reach_pose
+ConstrainedJointAngles[] reach_joint_angles
+uint32[] toggle_admittance_mode
+Snapshot[] snapshot
+SwitchControlMapping[] switch_control_mapping
+uint32[] navigate_joints
+uint32[] navigate_mappings
+ChangeTwist[] change_twist
+ChangeJointSpeeds[] change_joint_speeds
+ChangeWrench[] change_wrench
+EmergencyStop[] apply_emergency_stop
+Faults[] clear_faults
+Delay[] delay
+ActionHandle[] execute_action
+GripperCommand[] send_gripper_command
+Base_Stop[] stop_action
+PreComputedJointTrajectory[] play_pre_computed_trajectory
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ActivateMapHandle.msg b/kortex_driver/msg/generated/base/ActivateMapHandle.msg
new file mode 100644
index 0000000..32c0e0c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ActivateMapHandle.msg
@@ -0,0 +1,4 @@
+
+MappingHandle mapping_handle
+MapGroupHandle map_group_handle
+MapHandle map_handle
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ActuatorInformation.msg b/kortex_driver/msg/generated/base/ActuatorInformation.msg
new file mode 100644
index 0000000..1f71357
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ActuatorInformation.msg
@@ -0,0 +1,2 @@
+
+uint32 count
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Admittance.msg b/kortex_driver/msg/generated/base/Admittance.msg
new file mode 100644
index 0000000..66e0c52
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Admittance.msg
@@ -0,0 +1,2 @@
+
+uint32 admittance_mode
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/AdmittanceMode.msg b/kortex_driver/msg/generated/base/AdmittanceMode.msg
new file mode 100644
index 0000000..95037f2
--- /dev/null
+++ b/kortex_driver/msg/generated/base/AdmittanceMode.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_ADMITTANCE_MODE = 0
+
+uint32 CARTESIAN = 1
+
+uint32 JOINT = 2
+
+uint32 NULL_SPACE = 3
+
+uint32 DISABLED = 4
diff --git a/kortex_driver/msg/generated/base/AdvancedSequenceHandle.msg b/kortex_driver/msg/generated/base/AdvancedSequenceHandle.msg
new file mode 100644
index 0000000..850ec7f
--- /dev/null
+++ b/kortex_driver/msg/generated/base/AdvancedSequenceHandle.msg
@@ -0,0 +1,3 @@
+
+SequenceHandle handle
+bool in_loop
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/AppendActionInformation.msg b/kortex_driver/msg/generated/base/AppendActionInformation.msg
new file mode 100644
index 0000000..1cbde10
--- /dev/null
+++ b/kortex_driver/msg/generated/base/AppendActionInformation.msg
@@ -0,0 +1,3 @@
+
+SequenceHandle sequence_handle
+Action action
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ArmStateInformation.msg b/kortex_driver/msg/generated/base/ArmStateInformation.msg
new file mode 100644
index 0000000..75f77cc
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ArmStateInformation.msg
@@ -0,0 +1,3 @@
+
+uint32 active_state
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ArmStateNotification.msg b/kortex_driver/msg/generated/base/ArmStateNotification.msg
new file mode 100644
index 0000000..d000f24
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ArmStateNotification.msg
@@ -0,0 +1,4 @@
+
+uint32 active_state
+Timestamp timestamp
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/BackupEvent.msg b/kortex_driver/msg/generated/base/BackupEvent.msg
new file mode 100644
index 0000000..28f21b3
--- /dev/null
+++ b/kortex_driver/msg/generated/base/BackupEvent.msg
@@ -0,0 +1,6 @@
+
+uint32 UNSPECIFIED_BACKUP_EVENT = 0
+
+uint32 BACKUP_RESTORED = 1
+
+uint32 BACKUP_UPLOADED = 2
diff --git a/kortex_driver/msg/generated/base/Base_CapSenseConfig.msg b/kortex_driver/msg/generated/base/Base_CapSenseConfig.msg
new file mode 100644
index 0000000..83b1f55
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Base_CapSenseConfig.msg
@@ -0,0 +1,7 @@
+
+uint32 identifier
+uint32 mode
+float32 threshold_a
+float32 threshold_b
+float32 sensitivity_a
+float32 sensitivity_b
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Base_CapSenseMode.msg b/kortex_driver/msg/generated/base/Base_CapSenseMode.msg
new file mode 100644
index 0000000..5a7abc4
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Base_CapSenseMode.msg
@@ -0,0 +1,12 @@
+
+uint32 RESERVED = 0
+
+uint32 INACTIVE = 1
+
+uint32 ACTIVE_AUTO_THRESHOLD = 2
+
+uint32 ACTIVE_NOISE_ATT = 4
+
+uint32 ACTIVE_NORMAL = 5
+
+uint32 CONFIGURATION = 6
diff --git a/kortex_driver/msg/generated/base/Base_ControlMode.msg b/kortex_driver/msg/generated/base/Base_ControlMode.msg
new file mode 100644
index 0000000..0ded911
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Base_ControlMode.msg
@@ -0,0 +1,22 @@
+
+uint32 UNSPECIFIED_CONTROL_MODE = 0
+
+uint32 ANGULAR_JOYSTICK = 1
+
+uint32 CARTESIAN_JOYSTICK = 2
+
+uint32 ANGULAR_TRAJECTORY = 4
+
+uint32 CARTESIAN_TRAJECTORY = 5
+
+uint32 CARTESIAN_ADMITTANCE = 6
+
+uint32 JOINT_ADMITTANCE = 7
+
+uint32 NULL_SPACE_ADMITTANCE = 8
+
+uint32 FORCE_CONTROL = 10
+
+uint32 FORCE_CONTROL_MOTION_RESTRICTED = 11
+
+uint32 IDLE = 13
diff --git a/kortex_driver/msg/generated/base/Base_ControlModeInformation.msg b/kortex_driver/msg/generated/base/Base_ControlModeInformation.msg
new file mode 100644
index 0000000..6342d92
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Base_ControlModeInformation.msg
@@ -0,0 +1,2 @@
+
+uint32 mode
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Base_JointSpeeds.msg b/kortex_driver/msg/generated/base/Base_JointSpeeds.msg
new file mode 100644
index 0000000..6bb7881
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Base_JointSpeeds.msg
@@ -0,0 +1,3 @@
+
+JointSpeed[] joint_speeds
+uint32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Base_Position.msg b/kortex_driver/msg/generated/base/Base_Position.msg
new file mode 100644
index 0000000..678ce63
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Base_Position.msg
@@ -0,0 +1,4 @@
+
+float32 x
+float32 y
+float32 z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Base_RotationMatrix.msg b/kortex_driver/msg/generated/base/Base_RotationMatrix.msg
new file mode 100644
index 0000000..2dd0265
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Base_RotationMatrix.msg
@@ -0,0 +1,4 @@
+
+Base_RotationMatrixRow row1
+Base_RotationMatrixRow row2
+Base_RotationMatrixRow row3
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Base_RotationMatrixRow.msg b/kortex_driver/msg/generated/base/Base_RotationMatrixRow.msg
new file mode 100644
index 0000000..a389a4e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Base_RotationMatrixRow.msg
@@ -0,0 +1,4 @@
+
+float32 column1
+float32 column2
+float32 column3
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Base_SafetyIdentifier.msg b/kortex_driver/msg/generated/base/Base_SafetyIdentifier.msg
new file mode 100644
index 0000000..b33eefb
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Base_SafetyIdentifier.msg
@@ -0,0 +1,64 @@
+
+uint32 UNSPECIFIED_BASE_SAFETY_IDENTIFIER = 0
+
+uint32 FIRMWARE_UPDATE_FAILURE = 1
+
+uint32 EXTERNAL_COMMUNICATION_ERROR = 2
+
+uint32 MAXIMUM_AMBIENT_TEMPERATURE = 4
+
+uint32 MAXIMUM_CORE_TEMPERATURE = 8
+
+uint32 JOINT_FAULT = 16
+
+uint32 CYCLIC_DATA_JITTER = 32
+
+uint32 REACHED_MAXIMUM_EVENT_LOGS = 64
+
+uint32 NO_KINEMATICS_SUPPORT = 128
+
+uint32 ABOVE_MAXIMUM_DOF = 256
+
+uint32 NETWORK_ERROR = 512
+
+uint32 UNABLE_TO_REACH_POSE = 1024
+
+uint32 JOINT_DETECTION_ERROR = 2048
+
+uint32 NETWORK_INITIALIZATION_ERROR = 4096
+
+uint32 MAXIMUM_CURRENT = 8192
+
+uint32 MAXIMUM_VOLTAGE = 16384
+
+uint32 MINIMUM_VOLTAGE = 32768
+
+uint32 MAXIMUM_END_EFFECTOR_TRANSLATION_VELOCITY = 65536
+
+uint32 MAXIMUM_END_EFFECTOR_ORIENTATION_VELOCITY = 131072
+
+uint32 MAXIMUM_END_EFFECTOR_TRANSLATION_ACCELERATION = 262144
+
+uint32 MAXIMUM_END_EFFECTOR_ORIENTATION_ACCELERATION = 524288
+
+uint32 MAXIMUM_END_EFFECTOR_TRANSLATION_FORCE = 1048576
+
+uint32 MAXIMUM_END_EFFECTOR_ORIENTATION_FORCE = 2097152
+
+uint32 MAXIMUM_END_EFFECTOR_PAYLOAD = 4194304
+
+uint32 EMERGENCY_STOP_ACTIVATED = 8388608
+
+uint32 EMERGENCY_LINE_ACTIVATED = 16777216
+
+uint32 INRUSH_CURRENT_LIMITER_FAULT = 33554432
+
+uint32 NVRAM_CORRUPTED = 67108864
+
+uint32 INCOMPATIBLE_FIRMWARE_VERSION = 134217728
+
+uint32 POWERON_SELF_TEST_FAILURE = 268435456
+
+uint32 DISCRETE_INPUT_STUCK_ACTIVE = 536870912
+
+uint32 ARM_INTO_ILLEGAL_POSITION = 1073741824
diff --git a/kortex_driver/msg/generated/base/Base_ServiceVersion.msg b/kortex_driver/msg/generated/base/Base_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Base_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/base/Base_Stop.msg b/kortex_driver/msg/generated/base/Base_Stop.msg
new file mode 100644
index 0000000..e69de29
diff --git a/kortex_driver/msg/generated/base/BridgeConfig.msg b/kortex_driver/msg/generated/base/BridgeConfig.msg
new file mode 100644
index 0000000..e3b6f51
--- /dev/null
+++ b/kortex_driver/msg/generated/base/BridgeConfig.msg
@@ -0,0 +1,5 @@
+
+uint32 device_identifier
+uint32 bridgetype
+BridgePortConfig port_config
+BridgeIdentifier bridge_id
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/BridgeIdentifier.msg b/kortex_driver/msg/generated/base/BridgeIdentifier.msg
new file mode 100644
index 0000000..13dd187
--- /dev/null
+++ b/kortex_driver/msg/generated/base/BridgeIdentifier.msg
@@ -0,0 +1,2 @@
+
+uint32 bridge_id
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/BridgeList.msg b/kortex_driver/msg/generated/base/BridgeList.msg
new file mode 100644
index 0000000..dfb210e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/BridgeList.msg
@@ -0,0 +1,2 @@
+
+BridgeConfig[] bridgeConfig
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/BridgePortConfig.msg b/kortex_driver/msg/generated/base/BridgePortConfig.msg
new file mode 100644
index 0000000..af1940c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/BridgePortConfig.msg
@@ -0,0 +1,3 @@
+
+uint32 target_port
+uint32 out_port
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/BridgeResult.msg b/kortex_driver/msg/generated/base/BridgeResult.msg
new file mode 100644
index 0000000..c5f383e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/BridgeResult.msg
@@ -0,0 +1,3 @@
+
+BridgeIdentifier bridge_id
+uint32 status
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/BridgeStatus.msg b/kortex_driver/msg/generated/base/BridgeStatus.msg
new file mode 100644
index 0000000..50e6414
--- /dev/null
+++ b/kortex_driver/msg/generated/base/BridgeStatus.msg
@@ -0,0 +1,14 @@
+
+uint32 BRIDGE_STATUS_OK = 0
+
+uint32 BRIDGE_STATUS_OUTP_UNAVAILABLE = 1
+
+uint32 BRIDGE_STATUS_UNKNOWN_DEVID = 2
+
+uint32 BRIDGE_STATUS_UNKNOWN_BRIDGE_TYPE = 3
+
+uint32 BRIDGE_STATUS_NOT_FOUND = 4
+
+uint32 BRIDGE_STATUS_NOT_INITIALIZED = 5
+
+uint32 BRIDGE_STATUS_UNKNOWN = 6
diff --git a/kortex_driver/msg/generated/base/BridgeType.msg b/kortex_driver/msg/generated/base/BridgeType.msg
new file mode 100644
index 0000000..be18919
--- /dev/null
+++ b/kortex_driver/msg/generated/base/BridgeType.msg
@@ -0,0 +1,6 @@
+
+uint32 BRIDGE_TYPE_UNSPECIFIED = 0
+
+uint32 BRIDGE_TYPE_UART = 1
+
+uint32 BRIDGE_TYPE_TELNET = 2
diff --git a/kortex_driver/msg/generated/base/CartesianLimitation.msg b/kortex_driver/msg/generated/base/CartesianLimitation.msg
new file mode 100644
index 0000000..110e361
--- /dev/null
+++ b/kortex_driver/msg/generated/base/CartesianLimitation.msg
@@ -0,0 +1,4 @@
+
+uint32 type
+float32 translation
+float32 orientation
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/CartesianLimitationList.msg b/kortex_driver/msg/generated/base/CartesianLimitationList.msg
new file mode 100644
index 0000000..d6ce6bb
--- /dev/null
+++ b/kortex_driver/msg/generated/base/CartesianLimitationList.msg
@@ -0,0 +1,2 @@
+
+CartesianLimitation[] limitations
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/CartesianSpeed.msg b/kortex_driver/msg/generated/base/CartesianSpeed.msg
new file mode 100644
index 0000000..f8794b7
--- /dev/null
+++ b/kortex_driver/msg/generated/base/CartesianSpeed.msg
@@ -0,0 +1,3 @@
+
+float32 translation
+float32 orientation
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/CartesianTrajectoryConstraint.msg b/kortex_driver/msg/generated/base/CartesianTrajectoryConstraint.msg
new file mode 100644
index 0000000..eb04b73
--- /dev/null
+++ b/kortex_driver/msg/generated/base/CartesianTrajectoryConstraint.msg
@@ -0,0 +1,2 @@
+
+CartesianTrajectoryConstraint_type oneof_type
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/CartesianTrajectoryConstraint_type.msg b/kortex_driver/msg/generated/base/CartesianTrajectoryConstraint_type.msg
new file mode 100644
index 0000000..10e7f9d
--- /dev/null
+++ b/kortex_driver/msg/generated/base/CartesianTrajectoryConstraint_type.msg
@@ -0,0 +1,3 @@
+
+CartesianSpeed[] speed
+uint32[] duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ChangeJointSpeeds.msg b/kortex_driver/msg/generated/base/ChangeJointSpeeds.msg
new file mode 100644
index 0000000..65dac63
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ChangeJointSpeeds.msg
@@ -0,0 +1,2 @@
+
+Base_JointSpeeds joint_speeds
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ChangeTwist.msg b/kortex_driver/msg/generated/base/ChangeTwist.msg
new file mode 100644
index 0000000..71d333a
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ChangeTwist.msg
@@ -0,0 +1,3 @@
+
+float32 linear
+float32 angular
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ChangeWrench.msg b/kortex_driver/msg/generated/base/ChangeWrench.msg
new file mode 100644
index 0000000..1d7a973
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ChangeWrench.msg
@@ -0,0 +1,3 @@
+
+float32 force
+float32 torque
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/CommunicationInterfaceConfiguration.msg b/kortex_driver/msg/generated/base/CommunicationInterfaceConfiguration.msg
new file mode 100644
index 0000000..c79d220
--- /dev/null
+++ b/kortex_driver/msg/generated/base/CommunicationInterfaceConfiguration.msg
@@ -0,0 +1,3 @@
+
+uint32 type
+bool enable
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ConfigurationChangeNotification.msg b/kortex_driver/msg/generated/base/ConfigurationChangeNotification.msg
new file mode 100644
index 0000000..fa8893b
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ConfigurationChangeNotification.msg
@@ -0,0 +1,6 @@
+
+uint32 event
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
+ConfigurationChangeNotification_configuration_change oneof_configuration_change
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ConfigurationChangeNotificationList.msg b/kortex_driver/msg/generated/base/ConfigurationChangeNotificationList.msg
new file mode 100644
index 0000000..a1952ba
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ConfigurationChangeNotificationList.msg
@@ -0,0 +1,2 @@
+
+ConfigurationChangeNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ConfigurationChangeNotification_configuration_change.msg b/kortex_driver/msg/generated/base/ConfigurationChangeNotification_configuration_change.msg
new file mode 100644
index 0000000..fb45e2d
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ConfigurationChangeNotification_configuration_change.msg
@@ -0,0 +1,12 @@
+
+SequenceHandle[] sequence_handle
+ActionHandle[] action_handle
+MappingHandle[] mapping_handle
+MapGroupHandle[] map_group_handle
+MapHandle[] map_handle
+UserProfileHandle[] user_profile_handle
+ProtectionZoneHandle[] protection_zone_handle
+SafetyHandle[] safety_handle
+NetworkHandle[] network_handle
+Ssid[] ssid
+ControllerHandle[] controller_handle
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ConfigurationNotificationEvent.msg b/kortex_driver/msg/generated/base/ConfigurationNotificationEvent.msg
new file mode 100644
index 0000000..dc9dcb1
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ConfigurationNotificationEvent.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_CONFIGURATION_EVENT = 0
+
+uint32 CONFIGURATION_UPDATED = 1
+
+uint32 CONFIGURATION_DELETED = 2
+
+uint32 CONFIGURATION_DELETED_ALL = 3
+
+uint32 CONFIGURATION_CREATED = 4
diff --git a/kortex_driver/msg/generated/base/ConstrainedJointAngle.msg b/kortex_driver/msg/generated/base/ConstrainedJointAngle.msg
new file mode 100644
index 0000000..d93fe84
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ConstrainedJointAngle.msg
@@ -0,0 +1,4 @@
+
+uint32 joint_identifier
+float32 value
+JointTrajectoryConstraint constraint
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ConstrainedJointAngles.msg b/kortex_driver/msg/generated/base/ConstrainedJointAngles.msg
new file mode 100644
index 0000000..944fc89
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ConstrainedJointAngles.msg
@@ -0,0 +1,3 @@
+
+JointAngles joint_angles
+JointTrajectoryConstraint constraint
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ConstrainedOrientation.msg b/kortex_driver/msg/generated/base/ConstrainedOrientation.msg
new file mode 100644
index 0000000..51ad615
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ConstrainedOrientation.msg
@@ -0,0 +1,3 @@
+
+Orientation target_orientation
+CartesianTrajectoryConstraint constraint
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ConstrainedPose.msg b/kortex_driver/msg/generated/base/ConstrainedPose.msg
new file mode 100644
index 0000000..63b595e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ConstrainedPose.msg
@@ -0,0 +1,3 @@
+
+Pose target_pose
+CartesianTrajectoryConstraint constraint
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ConstrainedPosition.msg b/kortex_driver/msg/generated/base/ConstrainedPosition.msg
new file mode 100644
index 0000000..3601acc
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ConstrainedPosition.msg
@@ -0,0 +1,3 @@
+
+Base_Position target_position
+CartesianTrajectoryConstraint constraint
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControlModeNotification.msg b/kortex_driver/msg/generated/base/ControlModeNotification.msg
new file mode 100644
index 0000000..802d67a
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControlModeNotification.msg
@@ -0,0 +1,5 @@
+
+uint32 control_mode
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControlModeNotificationList.msg b/kortex_driver/msg/generated/base/ControlModeNotificationList.msg
new file mode 100644
index 0000000..ac035c8
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControlModeNotificationList.msg
@@ -0,0 +1,2 @@
+
+ControlModeNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerBehavior.msg b/kortex_driver/msg/generated/base/ControllerBehavior.msg
new file mode 100644
index 0000000..cebfc84
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerBehavior.msg
@@ -0,0 +1,12 @@
+
+uint32 UNSPECIFIED_CONTROLLER_BEHAVIOR = 0
+
+uint32 CONTROLLER_BUTTON_DOWN = 1
+
+uint32 CONTROLLER_BUTTON_UP = 2
+
+uint32 CONTROLLER_AXIS_POSITIVE = 3
+
+uint32 CONTROLLER_AXIS_NEGATIVE = 4
+
+uint32 CONTROLLER_BUTTON_CLICK = 5
diff --git a/kortex_driver/msg/generated/base/ControllerConfiguration.msg b/kortex_driver/msg/generated/base/ControllerConfiguration.msg
new file mode 100644
index 0000000..1a99b01
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerConfiguration.msg
@@ -0,0 +1,6 @@
+
+ControllerHandle handle
+string name
+MappingHandle active_mapping_handle
+string analog_input_identifier_enum
+string digital_input_identifier_enum
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerConfigurationList.msg b/kortex_driver/msg/generated/base/ControllerConfigurationList.msg
new file mode 100644
index 0000000..9e00af6
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerConfigurationList.msg
@@ -0,0 +1,2 @@
+
+ControllerConfiguration[] controller_configurations
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerConfigurationMode.msg b/kortex_driver/msg/generated/base/ControllerConfigurationMode.msg
new file mode 100644
index 0000000..5304e28
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerConfigurationMode.msg
@@ -0,0 +1,2 @@
+
+bool enable
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerElementEventType.msg b/kortex_driver/msg/generated/base/ControllerElementEventType.msg
new file mode 100644
index 0000000..b8b60f0
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerElementEventType.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_CONTROLLER_ELEMENT_EVENT = 0
+
+uint32 AXIS_MOVED = 1
+
+uint32 BUTTON_DOWN = 2
+
+uint32 BUTTON_UP = 3
+
+uint32 BUTTON_CLICK = 4
diff --git a/kortex_driver/msg/generated/base/ControllerElementHandle.msg b/kortex_driver/msg/generated/base/ControllerElementHandle.msg
new file mode 100644
index 0000000..c9be3fb
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerElementHandle.msg
@@ -0,0 +1,3 @@
+
+ControllerHandle controller_handle
+ControllerElementHandle_identifier oneof_identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerElementHandle_identifier.msg b/kortex_driver/msg/generated/base/ControllerElementHandle_identifier.msg
new file mode 100644
index 0000000..142ae97
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerElementHandle_identifier.msg
@@ -0,0 +1,3 @@
+
+uint32[] button
+uint32[] axis
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerElementState.msg b/kortex_driver/msg/generated/base/ControllerElementState.msg
new file mode 100644
index 0000000..ada62b6
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerElementState.msg
@@ -0,0 +1,4 @@
+
+ControllerElementHandle handle
+uint32 event_type
+float32 axis_value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerEvent.msg b/kortex_driver/msg/generated/base/ControllerEvent.msg
new file mode 100644
index 0000000..6dae898
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerEvent.msg
@@ -0,0 +1,4 @@
+
+uint32 input_type
+uint32 behavior
+uint32 input_identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerEventType.msg b/kortex_driver/msg/generated/base/ControllerEventType.msg
new file mode 100644
index 0000000..e72f156
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerEventType.msg
@@ -0,0 +1,6 @@
+
+uint32 UNSPECIFIED_CONTROLLER_EVENT = 0
+
+uint32 CONTROLLER_DISCONNECTED = 1
+
+uint32 CONTROLLER_CONNECTED = 2
diff --git a/kortex_driver/msg/generated/base/ControllerHandle.msg b/kortex_driver/msg/generated/base/ControllerHandle.msg
new file mode 100644
index 0000000..e77bf89
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerHandle.msg
@@ -0,0 +1,3 @@
+
+uint32 type
+uint32 controller_identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerInputType.msg b/kortex_driver/msg/generated/base/ControllerInputType.msg
new file mode 100644
index 0000000..7a448d5
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerInputType.msg
@@ -0,0 +1,6 @@
+
+uint32 UNSPECIFIED_CONTROLLER_INPUT_TYPE = 0
+
+uint32 ANALOG = 1
+
+uint32 DIGITAL = 2
diff --git a/kortex_driver/msg/generated/base/ControllerList.msg b/kortex_driver/msg/generated/base/ControllerList.msg
new file mode 100644
index 0000000..d92dc3c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerList.msg
@@ -0,0 +1,2 @@
+
+ControllerHandle[] handles
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerNotification.msg b/kortex_driver/msg/generated/base/ControllerNotification.msg
new file mode 100644
index 0000000..92f0479
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerNotification.msg
@@ -0,0 +1,5 @@
+
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
+ControllerNotification_state oneof_state
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerNotificationList.msg b/kortex_driver/msg/generated/base/ControllerNotificationList.msg
new file mode 100644
index 0000000..dd78563
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerNotificationList.msg
@@ -0,0 +1,2 @@
+
+ControllerNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerNotification_state.msg b/kortex_driver/msg/generated/base/ControllerNotification_state.msg
new file mode 100644
index 0000000..6ea1711
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerNotification_state.msg
@@ -0,0 +1,3 @@
+
+ControllerState[] controller_state
+ControllerElementState[] controller_element
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerState.msg b/kortex_driver/msg/generated/base/ControllerState.msg
new file mode 100644
index 0000000..416d9ec
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerState.msg
@@ -0,0 +1,3 @@
+
+ControllerHandle handle
+uint32 event_type
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ControllerType.msg b/kortex_driver/msg/generated/base/ControllerType.msg
new file mode 100644
index 0000000..538a75f
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ControllerType.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_CONTROLLER_TYPE = 0
+
+uint32 XBOX_CONTROLLER = 1
+
+uint32 WRIST_CONTROLLER = 2
+
+uint32 BASIC_JOYSTICK_CONTROLLER = 3
+
+uint32 BASE_GPIO_CONTROLLER = 4
diff --git a/kortex_driver/msg/generated/base/Delay.msg b/kortex_driver/msg/generated/base/Delay.msg
new file mode 100644
index 0000000..7e50d0f
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Delay.msg
@@ -0,0 +1,2 @@
+
+uint32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/EmergencyStop.msg b/kortex_driver/msg/generated/base/EmergencyStop.msg
new file mode 100644
index 0000000..e69de29
diff --git a/kortex_driver/msg/generated/base/EventIdSequenceInfoNotification.msg b/kortex_driver/msg/generated/base/EventIdSequenceInfoNotification.msg
new file mode 100644
index 0000000..3ed7c6e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/EventIdSequenceInfoNotification.msg
@@ -0,0 +1,14 @@
+
+uint32 UNSPECIFIED_SEQUENCE_EVENT = 0
+
+uint32 SEQUENCE_COMPLETED = 1
+
+uint32 SEQUENCE_ABORTED = 2
+
+uint32 SEQUENCE_PAUSED = 3
+
+uint32 SEQUENCE_TASK_STARTED = 4
+
+uint32 SEQUENCE_TASK_COMPLETED = 5
+
+uint32 SEQUENCE_STARTED = 6
diff --git a/kortex_driver/msg/generated/base/FactoryEvent.msg b/kortex_driver/msg/generated/base/FactoryEvent.msg
new file mode 100644
index 0000000..ec57bf7
--- /dev/null
+++ b/kortex_driver/msg/generated/base/FactoryEvent.msg
@@ -0,0 +1,6 @@
+
+uint32 UNSPECIFIED_FACTORY_EVENT = 0
+
+uint32 FACTORY_DEFAULT_RESTORED = 1
+
+uint32 NETWORK_FACTORY_DEFAULT_RESTORED = 2
diff --git a/kortex_driver/msg/generated/base/FactoryNotification.msg b/kortex_driver/msg/generated/base/FactoryNotification.msg
new file mode 100644
index 0000000..3863572
--- /dev/null
+++ b/kortex_driver/msg/generated/base/FactoryNotification.msg
@@ -0,0 +1,5 @@
+
+uint32 event
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Faults.msg b/kortex_driver/msg/generated/base/Faults.msg
new file mode 100644
index 0000000..e69de29
diff --git a/kortex_driver/msg/generated/base/Finger.msg b/kortex_driver/msg/generated/base/Finger.msg
new file mode 100644
index 0000000..e641006
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Finger.msg
@@ -0,0 +1,3 @@
+
+uint32 finger_identifier
+float32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/FirmwareBundleVersions.msg b/kortex_driver/msg/generated/base/FirmwareBundleVersions.msg
new file mode 100644
index 0000000..b4605a5
--- /dev/null
+++ b/kortex_driver/msg/generated/base/FirmwareBundleVersions.msg
@@ -0,0 +1,3 @@
+
+string main_bundle_version
+FirmwareComponentVersion[] components_versions
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/FirmwareComponentVersion.msg b/kortex_driver/msg/generated/base/FirmwareComponentVersion.msg
new file mode 100644
index 0000000..b7da303
--- /dev/null
+++ b/kortex_driver/msg/generated/base/FirmwareComponentVersion.msg
@@ -0,0 +1,4 @@
+
+string name
+string version
+uint32 device_id
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/FullIPv4Configuration.msg b/kortex_driver/msg/generated/base/FullIPv4Configuration.msg
new file mode 100644
index 0000000..e742d68
--- /dev/null
+++ b/kortex_driver/msg/generated/base/FullIPv4Configuration.msg
@@ -0,0 +1,3 @@
+
+NetworkHandle handle
+IPv4Configuration ipv4_configuration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/FullUserProfile.msg b/kortex_driver/msg/generated/base/FullUserProfile.msg
new file mode 100644
index 0000000..62dab01
--- /dev/null
+++ b/kortex_driver/msg/generated/base/FullUserProfile.msg
@@ -0,0 +1,3 @@
+
+UserProfile user_profile
+string password
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Gen3GpioPinId.msg b/kortex_driver/msg/generated/base/Gen3GpioPinId.msg
new file mode 100644
index 0000000..c5dea1d
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Gen3GpioPinId.msg
@@ -0,0 +1,26 @@
+
+uint32 UNSPECIFIED_PIN = 0
+
+uint32 GPIO_PIN_B = 1
+
+uint32 GPIO_PIN_C = 2
+
+uint32 GPIO_PIN_D = 3
+
+uint32 GPIO_PIN_E = 4
+
+uint32 GPIO_PIN_G = 5
+
+uint32 GPIO_PIN_H = 6
+
+uint32 GPIO_PIN_I = 7
+
+uint32 GPIO_PIN_K = 8
+
+uint32 GPIO_PIN_N = 9
+
+uint32 GPIO_PIN_O = 10
+
+uint32 GPIO_PIN_S = 11
+
+uint32 GPIO_PIN_T = 12
diff --git a/kortex_driver/msg/generated/base/GpioBehavior.msg b/kortex_driver/msg/generated/base/GpioBehavior.msg
new file mode 100644
index 0000000..08a5d62
--- /dev/null
+++ b/kortex_driver/msg/generated/base/GpioBehavior.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_GPIO_BEHAVIOR = 0
+
+uint32 GPIO_FALLING = 1
+
+uint32 GPIO_RISING = 2
+
+uint32 GPIO_PULSE_LOW = 3
+
+uint32 GPIO_PULSE_HIGH = 4
diff --git a/kortex_driver/msg/generated/base/GpioEvent.msg b/kortex_driver/msg/generated/base/GpioEvent.msg
new file mode 100644
index 0000000..6dae898
--- /dev/null
+++ b/kortex_driver/msg/generated/base/GpioEvent.msg
@@ -0,0 +1,4 @@
+
+uint32 input_type
+uint32 behavior
+uint32 input_identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Gripper.msg b/kortex_driver/msg/generated/base/Gripper.msg
new file mode 100644
index 0000000..71f808f
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Gripper.msg
@@ -0,0 +1,2 @@
+
+Finger[] finger
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/GripperCommand.msg b/kortex_driver/msg/generated/base/GripperCommand.msg
new file mode 100644
index 0000000..b105fb7
--- /dev/null
+++ b/kortex_driver/msg/generated/base/GripperCommand.msg
@@ -0,0 +1,4 @@
+
+uint32 mode
+Gripper gripper
+uint32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/GripperMode.msg b/kortex_driver/msg/generated/base/GripperMode.msg
new file mode 100644
index 0000000..db6b728
--- /dev/null
+++ b/kortex_driver/msg/generated/base/GripperMode.msg
@@ -0,0 +1,8 @@
+
+uint32 UNSPECIFIED_GRIPPER_MODE = 0
+
+uint32 GRIPPER_FORCE = 1
+
+uint32 GRIPPER_SPEED = 2
+
+uint32 GRIPPER_POSITION = 3
diff --git a/kortex_driver/msg/generated/base/GripperRequest.msg b/kortex_driver/msg/generated/base/GripperRequest.msg
new file mode 100644
index 0000000..6342d92
--- /dev/null
+++ b/kortex_driver/msg/generated/base/GripperRequest.msg
@@ -0,0 +1,2 @@
+
+uint32 mode
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/IPv4Configuration.msg b/kortex_driver/msg/generated/base/IPv4Configuration.msg
new file mode 100644
index 0000000..c8785c9
--- /dev/null
+++ b/kortex_driver/msg/generated/base/IPv4Configuration.msg
@@ -0,0 +1,5 @@
+
+uint32 ip_address
+uint32 subnet_mask
+uint32 default_gateway
+bool dhcp_enabled
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/IPv4Information.msg b/kortex_driver/msg/generated/base/IPv4Information.msg
new file mode 100644
index 0000000..30fe098
--- /dev/null
+++ b/kortex_driver/msg/generated/base/IPv4Information.msg
@@ -0,0 +1,4 @@
+
+uint32 ip_address
+uint32 subnet_mask
+uint32 default_gateway
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/JointAngle.msg b/kortex_driver/msg/generated/base/JointAngle.msg
new file mode 100644
index 0000000..3222a0b
--- /dev/null
+++ b/kortex_driver/msg/generated/base/JointAngle.msg
@@ -0,0 +1,3 @@
+
+uint32 joint_identifier
+float32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/JointAngles.msg b/kortex_driver/msg/generated/base/JointAngles.msg
new file mode 100644
index 0000000..cbb0ec1
--- /dev/null
+++ b/kortex_driver/msg/generated/base/JointAngles.msg
@@ -0,0 +1,2 @@
+
+JointAngle[] joint_angles
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/JointLimitation.msg b/kortex_driver/msg/generated/base/JointLimitation.msg
new file mode 100644
index 0000000..635aaa5
--- /dev/null
+++ b/kortex_driver/msg/generated/base/JointLimitation.msg
@@ -0,0 +1,4 @@
+
+uint32 joint_identifier
+uint32 type
+float32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/JointNavigationDirection.msg b/kortex_driver/msg/generated/base/JointNavigationDirection.msg
new file mode 100644
index 0000000..274085f
--- /dev/null
+++ b/kortex_driver/msg/generated/base/JointNavigationDirection.msg
@@ -0,0 +1,6 @@
+
+uint32 UNSPECIFIED_JOINT_NAVIGATION_DIRECTION = 0
+
+uint32 JOINT_NEXT = 1
+
+uint32 JOINT_PREVIOUS = 2
diff --git a/kortex_driver/msg/generated/base/JointSpeed.msg b/kortex_driver/msg/generated/base/JointSpeed.msg
new file mode 100644
index 0000000..44d3651
--- /dev/null
+++ b/kortex_driver/msg/generated/base/JointSpeed.msg
@@ -0,0 +1,4 @@
+
+uint32 joint_identifier
+float32 value
+uint32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/JointTorque.msg b/kortex_driver/msg/generated/base/JointTorque.msg
new file mode 100644
index 0000000..44d3651
--- /dev/null
+++ b/kortex_driver/msg/generated/base/JointTorque.msg
@@ -0,0 +1,4 @@
+
+uint32 joint_identifier
+float32 value
+uint32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/JointTorques.msg b/kortex_driver/msg/generated/base/JointTorques.msg
new file mode 100644
index 0000000..7294fa5
--- /dev/null
+++ b/kortex_driver/msg/generated/base/JointTorques.msg
@@ -0,0 +1,3 @@
+
+JointTorque[] joint_torques
+uint32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/JointTrajectoryConstraint.msg b/kortex_driver/msg/generated/base/JointTrajectoryConstraint.msg
new file mode 100644
index 0000000..5ec8ddf
--- /dev/null
+++ b/kortex_driver/msg/generated/base/JointTrajectoryConstraint.msg
@@ -0,0 +1,3 @@
+
+uint32 type
+float32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/JointTrajectoryConstraintType.msg b/kortex_driver/msg/generated/base/JointTrajectoryConstraintType.msg
new file mode 100644
index 0000000..22b3399
--- /dev/null
+++ b/kortex_driver/msg/generated/base/JointTrajectoryConstraintType.msg
@@ -0,0 +1,6 @@
+
+uint32 UNSPECIFIED_JOINT_CONSTRAINT = 0
+
+uint32 JOINT_CONSTRAINT_DURATION = 1
+
+uint32 JOINT_CONSTRAINT_SPEED = 2
diff --git a/kortex_driver/msg/generated/base/JointsLimitationsList.msg b/kortex_driver/msg/generated/base/JointsLimitationsList.msg
new file mode 100644
index 0000000..26d8264
--- /dev/null
+++ b/kortex_driver/msg/generated/base/JointsLimitationsList.msg
@@ -0,0 +1,2 @@
+
+JointLimitation[] joints_limitations
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/LedState.msg b/kortex_driver/msg/generated/base/LedState.msg
new file mode 100644
index 0000000..93fc79a
--- /dev/null
+++ b/kortex_driver/msg/generated/base/LedState.msg
@@ -0,0 +1,8 @@
+
+uint32 UNSPECIFIED_LED_STATE = 0
+
+uint32 LED_OFF = 1
+
+uint32 LED_PULSE = 2
+
+uint32 LED_ON = 3
diff --git a/kortex_driver/msg/generated/base/LimitationType.msg b/kortex_driver/msg/generated/base/LimitationType.msg
new file mode 100644
index 0000000..c6ddcb2
--- /dev/null
+++ b/kortex_driver/msg/generated/base/LimitationType.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_LIMITATION = 0
+
+uint32 FORCE_LIMITATION = 1
+
+uint32 ACCELERATION_LIMITATION = 2
+
+uint32 VELOCITY_LIMITATION = 3
+
+uint32 TORQUE_LIMITATION = 4
diff --git a/kortex_driver/msg/generated/base/Map.msg b/kortex_driver/msg/generated/base/Map.msg
new file mode 100644
index 0000000..d463147
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Map.msg
@@ -0,0 +1,4 @@
+
+MapHandle handle
+string name
+MapElement[] elements
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MapElement.msg b/kortex_driver/msg/generated/base/MapElement.msg
new file mode 100644
index 0000000..4cf42f5
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MapElement.msg
@@ -0,0 +1,4 @@
+
+MapEvent event
+Action action
+string name
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MapEvent.msg b/kortex_driver/msg/generated/base/MapEvent.msg
new file mode 100644
index 0000000..b1e135d
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MapEvent.msg
@@ -0,0 +1,3 @@
+
+string name
+MapEvent_events oneof_events
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MapEvent_events.msg b/kortex_driver/msg/generated/base/MapEvent_events.msg
new file mode 100644
index 0000000..07b41be
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MapEvent_events.msg
@@ -0,0 +1,4 @@
+
+SafetyEvent[] safety_event
+GpioEvent[] gpio_event
+ControllerEvent[] controller_event
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MapGroup.msg b/kortex_driver/msg/generated/base/MapGroup.msg
new file mode 100644
index 0000000..f9f22cf
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MapGroup.msg
@@ -0,0 +1,8 @@
+
+MapGroupHandle group_handle
+string name
+MappingHandle related_mapping_handle
+MapGroupHandle parent_group_handle
+MapGroupHandle[] children_map_group_handles
+MapHandle[] map_handles
+string application_data
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MapGroupHandle.msg b/kortex_driver/msg/generated/base/MapGroupHandle.msg
new file mode 100644
index 0000000..4d2b97e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MapGroupHandle.msg
@@ -0,0 +1,3 @@
+
+uint32 identifier
+uint32 permission
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MapGroupList.msg b/kortex_driver/msg/generated/base/MapGroupList.msg
new file mode 100644
index 0000000..faa782a
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MapGroupList.msg
@@ -0,0 +1,2 @@
+
+MapGroup[] map_groups
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MapHandle.msg b/kortex_driver/msg/generated/base/MapHandle.msg
new file mode 100644
index 0000000..4d2b97e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MapHandle.msg
@@ -0,0 +1,3 @@
+
+uint32 identifier
+uint32 permission
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MapList.msg b/kortex_driver/msg/generated/base/MapList.msg
new file mode 100644
index 0000000..2a28605
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MapList.msg
@@ -0,0 +1,2 @@
+
+Map[] map_list
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Mapping.msg b/kortex_driver/msg/generated/base/Mapping.msg
new file mode 100644
index 0000000..ca26029
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Mapping.msg
@@ -0,0 +1,9 @@
+
+MappingHandle handle
+string name
+uint32 controller_identifier
+MapGroupHandle active_map_group_handle
+MapGroupHandle[] map_group_handles
+MapHandle active_map_handle
+MapHandle[] map_handles
+string application_data
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MappingHandle.msg b/kortex_driver/msg/generated/base/MappingHandle.msg
new file mode 100644
index 0000000..4d2b97e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MappingHandle.msg
@@ -0,0 +1,3 @@
+
+uint32 identifier
+uint32 permission
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MappingInfoNotification.msg b/kortex_driver/msg/generated/base/MappingInfoNotification.msg
new file mode 100644
index 0000000..164791e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MappingInfoNotification.msg
@@ -0,0 +1,7 @@
+
+uint32 controller_identifier
+MapHandle active_map_handle
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
+MappingHandle mapping_handle
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MappingInfoNotificationList.msg b/kortex_driver/msg/generated/base/MappingInfoNotificationList.msg
new file mode 100644
index 0000000..fd0e5c9
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MappingInfoNotificationList.msg
@@ -0,0 +1,2 @@
+
+MappingInfoNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/MappingList.msg b/kortex_driver/msg/generated/base/MappingList.msg
new file mode 100644
index 0000000..8240022
--- /dev/null
+++ b/kortex_driver/msg/generated/base/MappingList.msg
@@ -0,0 +1,2 @@
+
+Mapping[] mappings
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/NavigationDirection.msg b/kortex_driver/msg/generated/base/NavigationDirection.msg
new file mode 100644
index 0000000..93f1c4c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/NavigationDirection.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_NAVIGATION_DIRECTION = 0
+
+uint32 NEXT = 1
+
+uint32 UP = 2
+
+uint32 DOWN = 3
+
+uint32 PREVIOUS = 4
diff --git a/kortex_driver/msg/generated/base/NetworkEvent.msg b/kortex_driver/msg/generated/base/NetworkEvent.msg
new file mode 100644
index 0000000..217903d
--- /dev/null
+++ b/kortex_driver/msg/generated/base/NetworkEvent.msg
@@ -0,0 +1,22 @@
+
+uint32 UNSPECIFIED_NETWORK_EVENT = 0
+
+uint32 WIFI_CONNECTED = 1
+
+uint32 WIFI_DISCONNECTED = 2
+
+uint32 WIFI_SCAN_STARTED = 3
+
+uint32 WIFI_SCAN_RESULTS = 4
+
+uint32 WIFI_SCAN_FAILED = 5
+
+uint32 WIFI_NOT_FOUND = 6
+
+uint32 WIFI_ASSOC_REJECTED = 7
+
+uint32 WIFI_AUTH_WRONG_KEY = 8
+
+uint32 WIFI_AUTH_CONN_FAILED = 9
+
+uint32 WIFI_AUTH_FAILED = 10
diff --git a/kortex_driver/msg/generated/base/NetworkHandle.msg b/kortex_driver/msg/generated/base/NetworkHandle.msg
new file mode 100644
index 0000000..5fc901c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/NetworkHandle.msg
@@ -0,0 +1,2 @@
+
+uint32 type
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/NetworkNotification.msg b/kortex_driver/msg/generated/base/NetworkNotification.msg
new file mode 100644
index 0000000..3863572
--- /dev/null
+++ b/kortex_driver/msg/generated/base/NetworkNotification.msg
@@ -0,0 +1,5 @@
+
+uint32 event
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/NetworkNotificationList.msg b/kortex_driver/msg/generated/base/NetworkNotificationList.msg
new file mode 100644
index 0000000..82ef350
--- /dev/null
+++ b/kortex_driver/msg/generated/base/NetworkNotificationList.msg
@@ -0,0 +1,2 @@
+
+NetworkNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/NetworkType.msg b/kortex_driver/msg/generated/base/NetworkType.msg
new file mode 100644
index 0000000..3421f3a
--- /dev/null
+++ b/kortex_driver/msg/generated/base/NetworkType.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_NETWORK_TYPE = 0
+
+uint32 WIFI = 1
+
+uint32 WIRED_ETHERNET = 2
+
+uint32 WIRED_MICROUSB = 3
+
+uint32 WIRED_USB = 4
diff --git a/kortex_driver/msg/generated/base/OperatingMode.msg b/kortex_driver/msg/generated/base/OperatingMode.msg
new file mode 100644
index 0000000..c2fc2bd
--- /dev/null
+++ b/kortex_driver/msg/generated/base/OperatingMode.msg
@@ -0,0 +1,16 @@
+
+uint32 UNSPECIFIED_OPERATING_MODE = 0
+
+uint32 MAINTENANCE_MODE = 1
+
+uint32 UPDATE_MODE = 2
+
+uint32 UPDATE_COMPLETED_MODE = 3
+
+uint32 UPDATE_FAILED_MODE = 4
+
+uint32 SHUTTING_DOWN_MODE = 5
+
+uint32 RUN_MODE = 6
+
+uint32 UPDATING_DEVICE_MODE = 7
diff --git a/kortex_driver/msg/generated/base/OperatingModeInformation.msg b/kortex_driver/msg/generated/base/OperatingModeInformation.msg
new file mode 100644
index 0000000..e2f2da1
--- /dev/null
+++ b/kortex_driver/msg/generated/base/OperatingModeInformation.msg
@@ -0,0 +1,3 @@
+
+uint32 operating_mode
+DeviceHandle device_handle
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/OperatingModeNotification.msg b/kortex_driver/msg/generated/base/OperatingModeNotification.msg
new file mode 100644
index 0000000..379b5bb
--- /dev/null
+++ b/kortex_driver/msg/generated/base/OperatingModeNotification.msg
@@ -0,0 +1,6 @@
+
+uint32 operating_mode
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
+DeviceHandle device_handle
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/OperatingModeNotificationList.msg b/kortex_driver/msg/generated/base/OperatingModeNotificationList.msg
new file mode 100644
index 0000000..9be52f5
--- /dev/null
+++ b/kortex_driver/msg/generated/base/OperatingModeNotificationList.msg
@@ -0,0 +1,2 @@
+
+OperatingModeNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Orientation.msg b/kortex_driver/msg/generated/base/Orientation.msg
new file mode 100644
index 0000000..eb1df97
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Orientation.msg
@@ -0,0 +1,4 @@
+
+float32 theta_x
+float32 theta_y
+float32 theta_z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/PasswordChange.msg b/kortex_driver/msg/generated/base/PasswordChange.msg
new file mode 100644
index 0000000..5aee985
--- /dev/null
+++ b/kortex_driver/msg/generated/base/PasswordChange.msg
@@ -0,0 +1,4 @@
+
+UserProfileHandle handle
+string old_password
+string new_password
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Point.msg b/kortex_driver/msg/generated/base/Point.msg
new file mode 100644
index 0000000..678ce63
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Point.msg
@@ -0,0 +1,4 @@
+
+float32 x
+float32 y
+float32 z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Pose.msg b/kortex_driver/msg/generated/base/Pose.msg
new file mode 100644
index 0000000..b1f7d64
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Pose.msg
@@ -0,0 +1,7 @@
+
+float32 x
+float32 y
+float32 z
+float32 theta_x
+float32 theta_y
+float32 theta_z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/PreComputedJointTrajectory.msg b/kortex_driver/msg/generated/base/PreComputedJointTrajectory.msg
new file mode 100644
index 0000000..7e41abd
--- /dev/null
+++ b/kortex_driver/msg/generated/base/PreComputedJointTrajectory.msg
@@ -0,0 +1,3 @@
+
+uint32 mode
+PreComputedJointTrajectoryElement[] trajectory_elements
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/PreComputedJointTrajectoryElement.msg b/kortex_driver/msg/generated/base/PreComputedJointTrajectoryElement.msg
new file mode 100644
index 0000000..5c6d51b
--- /dev/null
+++ b/kortex_driver/msg/generated/base/PreComputedJointTrajectoryElement.msg
@@ -0,0 +1,5 @@
+
+float32[] joint_angles
+float32[] joint_speeds
+float32[] joint_accelerations
+float32 time_from_start
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ProtectionZone.msg b/kortex_driver/msg/generated/base/ProtectionZone.msg
new file mode 100644
index 0000000..a274e44
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ProtectionZone.msg
@@ -0,0 +1,8 @@
+
+ProtectionZoneHandle handle
+string name
+string application_data
+bool is_enabled
+ZoneShape shape
+CartesianLimitation[] limitations
+CartesianLimitation[] envelope_limitations
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ProtectionZoneEvent.msg b/kortex_driver/msg/generated/base/ProtectionZoneEvent.msg
new file mode 100644
index 0000000..382e487
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ProtectionZoneEvent.msg
@@ -0,0 +1,8 @@
+
+uint32 UNSPECIFIED_PROTECTION_ZONE_EVENT = 0
+
+uint32 REACHED = 1
+
+uint32 ENTERED = 2
+
+uint32 EXITED = 3
diff --git a/kortex_driver/msg/generated/base/ProtectionZoneHandle.msg b/kortex_driver/msg/generated/base/ProtectionZoneHandle.msg
new file mode 100644
index 0000000..4d2b97e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ProtectionZoneHandle.msg
@@ -0,0 +1,3 @@
+
+uint32 identifier
+uint32 permission
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ProtectionZoneInformation.msg b/kortex_driver/msg/generated/base/ProtectionZoneInformation.msg
new file mode 100644
index 0000000..bff9f62
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ProtectionZoneInformation.msg
@@ -0,0 +1,2 @@
+
+uint32 event
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ProtectionZoneList.msg b/kortex_driver/msg/generated/base/ProtectionZoneList.msg
new file mode 100644
index 0000000..65b2f36
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ProtectionZoneList.msg
@@ -0,0 +1,2 @@
+
+ProtectionZone[] protection_zones
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ProtectionZoneNotification.msg b/kortex_driver/msg/generated/base/ProtectionZoneNotification.msg
new file mode 100644
index 0000000..3b1a88f
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ProtectionZoneNotification.msg
@@ -0,0 +1,6 @@
+
+uint32 event
+ProtectionZoneHandle handle
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ProtectionZoneNotificationList.msg b/kortex_driver/msg/generated/base/ProtectionZoneNotificationList.msg
new file mode 100644
index 0000000..516c2ca
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ProtectionZoneNotificationList.msg
@@ -0,0 +1,2 @@
+
+ProtectionZoneNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Query.msg b/kortex_driver/msg/generated/base/Query.msg
new file mode 100644
index 0000000..9854c41
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Query.msg
@@ -0,0 +1,4 @@
+
+Timestamp start_timestamp
+Timestamp end_timestamp
+string username
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/RequestedActionType.msg b/kortex_driver/msg/generated/base/RequestedActionType.msg
new file mode 100644
index 0000000..4378483
--- /dev/null
+++ b/kortex_driver/msg/generated/base/RequestedActionType.msg
@@ -0,0 +1,2 @@
+
+uint32 action_type
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/RobotEvent.msg b/kortex_driver/msg/generated/base/RobotEvent.msg
new file mode 100644
index 0000000..2174cd2
--- /dev/null
+++ b/kortex_driver/msg/generated/base/RobotEvent.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_ROBOT_EVENT = 0
+
+uint32 ARM_CONNECTED = 1
+
+uint32 ARM_DISCONNECTED = 2
+
+uint32 TOOL_CONNECTED = 5
+
+uint32 TOOL_DISCONNECTED = 6
diff --git a/kortex_driver/msg/generated/base/RobotEventNotification.msg b/kortex_driver/msg/generated/base/RobotEventNotification.msg
new file mode 100644
index 0000000..6cefe76
--- /dev/null
+++ b/kortex_driver/msg/generated/base/RobotEventNotification.msg
@@ -0,0 +1,6 @@
+
+uint32 event
+DeviceHandle handle
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/RobotEventNotificationList.msg b/kortex_driver/msg/generated/base/RobotEventNotificationList.msg
new file mode 100644
index 0000000..66e53d9
--- /dev/null
+++ b/kortex_driver/msg/generated/base/RobotEventNotificationList.msg
@@ -0,0 +1,2 @@
+
+RobotEventNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SafetyEvent.msg b/kortex_driver/msg/generated/base/SafetyEvent.msg
new file mode 100644
index 0000000..cad1284
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SafetyEvent.msg
@@ -0,0 +1,2 @@
+
+SafetyHandle safety_handle
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SafetyNotificationList.msg b/kortex_driver/msg/generated/base/SafetyNotificationList.msg
new file mode 100644
index 0000000..ad9ce4c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SafetyNotificationList.msg
@@ -0,0 +1,2 @@
+
+SafetyNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Sequence.msg b/kortex_driver/msg/generated/base/Sequence.msg
new file mode 100644
index 0000000..c247747
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Sequence.msg
@@ -0,0 +1,5 @@
+
+SequenceHandle handle
+string name
+string application_data
+SequenceTask[] tasks
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceHandle.msg b/kortex_driver/msg/generated/base/SequenceHandle.msg
new file mode 100644
index 0000000..4d2b97e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceHandle.msg
@@ -0,0 +1,3 @@
+
+uint32 identifier
+uint32 permission
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceInfoNotification.msg b/kortex_driver/msg/generated/base/SequenceInfoNotification.msg
new file mode 100644
index 0000000..a20a140
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceInfoNotification.msg
@@ -0,0 +1,9 @@
+
+uint32 event_identifier
+SequenceHandle sequence_handle
+uint32 task_index
+uint32 group_identifier
+Timestamp timestamp
+UserProfileHandle user_handle
+uint32 abort_details
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceInfoNotificationList.msg b/kortex_driver/msg/generated/base/SequenceInfoNotificationList.msg
new file mode 100644
index 0000000..6c951de
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceInfoNotificationList.msg
@@ -0,0 +1,2 @@
+
+SequenceInfoNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceInformation.msg b/kortex_driver/msg/generated/base/SequenceInformation.msg
new file mode 100644
index 0000000..12495fd
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceInformation.msg
@@ -0,0 +1,4 @@
+
+uint32 event_identifier
+uint32 task_index
+uint32 task_identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceList.msg b/kortex_driver/msg/generated/base/SequenceList.msg
new file mode 100644
index 0000000..02d7bb3
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceList.msg
@@ -0,0 +1,2 @@
+
+Sequence[] sequence_list
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceTask.msg b/kortex_driver/msg/generated/base/SequenceTask.msg
new file mode 100644
index 0000000..56aab39
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceTask.msg
@@ -0,0 +1,4 @@
+
+uint32 group_identifier
+Action action
+string application_data
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceTaskConfiguration.msg b/kortex_driver/msg/generated/base/SequenceTaskConfiguration.msg
new file mode 100644
index 0000000..09131f4
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceTaskConfiguration.msg
@@ -0,0 +1,3 @@
+
+SequenceTaskHandle sequence_task_handle
+SequenceTask sequence_task
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceTaskHandle.msg b/kortex_driver/msg/generated/base/SequenceTaskHandle.msg
new file mode 100644
index 0000000..e79b56b
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceTaskHandle.msg
@@ -0,0 +1,3 @@
+
+SequenceHandle sequence_handle
+uint32 task_index
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceTasks.msg b/kortex_driver/msg/generated/base/SequenceTasks.msg
new file mode 100644
index 0000000..a0ac8d6
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceTasks.msg
@@ -0,0 +1,2 @@
+
+SequenceTask[] sequence_tasks
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceTasksConfiguration.msg b/kortex_driver/msg/generated/base/SequenceTasksConfiguration.msg
new file mode 100644
index 0000000..2365a72
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceTasksConfiguration.msg
@@ -0,0 +1,3 @@
+
+SequenceTaskHandle sequence_task_handle
+SequenceTask[] sequence_tasks
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceTasksPair.msg b/kortex_driver/msg/generated/base/SequenceTasksPair.msg
new file mode 100644
index 0000000..0c73572
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceTasksPair.msg
@@ -0,0 +1,4 @@
+
+SequenceHandle sequence_handle
+uint32 first_task_index
+uint32 second_task_index
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SequenceTasksRange.msg b/kortex_driver/msg/generated/base/SequenceTasksRange.msg
new file mode 100644
index 0000000..953b07b
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SequenceTasksRange.msg
@@ -0,0 +1,3 @@
+
+uint32 first_task_index
+uint32 second_task_index
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ServoingMode.msg b/kortex_driver/msg/generated/base/ServoingMode.msg
new file mode 100644
index 0000000..2dc89b8
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ServoingMode.msg
@@ -0,0 +1,8 @@
+
+uint32 UNSPECIFIED_SERVOING_MODE = 0
+
+uint32 SINGLE_LEVEL_SERVOING = 2
+
+uint32 LOW_LEVEL_SERVOING = 3
+
+uint32 BYPASS_SERVOING = 4
diff --git a/kortex_driver/msg/generated/base/ServoingModeInformation.msg b/kortex_driver/msg/generated/base/ServoingModeInformation.msg
new file mode 100644
index 0000000..8aa2b42
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ServoingModeInformation.msg
@@ -0,0 +1,2 @@
+
+uint32 servoing_mode
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ServoingModeNotification.msg b/kortex_driver/msg/generated/base/ServoingModeNotification.msg
new file mode 100644
index 0000000..d671533
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ServoingModeNotification.msg
@@ -0,0 +1,5 @@
+
+uint32 servoing_mode
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ServoingModeNotificationList.msg b/kortex_driver/msg/generated/base/ServoingModeNotificationList.msg
new file mode 100644
index 0000000..4050557
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ServoingModeNotificationList.msg
@@ -0,0 +1,2 @@
+
+ServoingModeNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/ShapeType.msg b/kortex_driver/msg/generated/base/ShapeType.msg
new file mode 100644
index 0000000..cc4902f
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ShapeType.msg
@@ -0,0 +1,8 @@
+
+uint32 UNSPECIFIED_SHAPE = 0
+
+uint32 CYLINDER = 1
+
+uint32 SPHERE = 2
+
+uint32 RECTANGULAR_PRISM = 3
diff --git a/kortex_driver/msg/generated/base/SignalQuality.msg b/kortex_driver/msg/generated/base/SignalQuality.msg
new file mode 100644
index 0000000..fc5ddf1
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SignalQuality.msg
@@ -0,0 +1,12 @@
+
+uint32 UNSPECIFIED_SIGNAL_QUALITY = 0
+
+uint32 POOR = 1
+
+uint32 FAIR = 2
+
+uint32 GOOD = 3
+
+uint32 EXCELLENT = 4
+
+uint32 NONE = 5
diff --git a/kortex_driver/msg/generated/base/Snapshot.msg b/kortex_driver/msg/generated/base/Snapshot.msg
new file mode 100644
index 0000000..f9c62d4
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Snapshot.msg
@@ -0,0 +1,2 @@
+
+uint32 snapshot_type
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SnapshotType.msg b/kortex_driver/msg/generated/base/SnapshotType.msg
new file mode 100644
index 0000000..6f8978e
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SnapshotType.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_SNAPSHOT = 0
+
+uint32 CARTESIAN_POSITION_SNAPSHOT = 1
+
+uint32 JOINT_POSITION_SNAPSHOT = 2
+
+uint32 GRIPPER_SNAPSHOT = 3
+
+uint32 COMBINED_SNAPSHOT = 4
diff --git a/kortex_driver/msg/generated/base/SoundType.msg b/kortex_driver/msg/generated/base/SoundType.msg
new file mode 100644
index 0000000..cb95ecb
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SoundType.msg
@@ -0,0 +1,6 @@
+
+uint32 UNSPECIFIED_SOUND_TYPE = 0
+
+uint32 BIP_SERIES = 1
+
+uint32 SINGLE_BIP = 2
diff --git a/kortex_driver/msg/generated/base/Ssid.msg b/kortex_driver/msg/generated/base/Ssid.msg
new file mode 100644
index 0000000..8734c7c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Ssid.msg
@@ -0,0 +1,2 @@
+
+string identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SwitchControlMapping.msg b/kortex_driver/msg/generated/base/SwitchControlMapping.msg
new file mode 100644
index 0000000..0fc02e1
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SwitchControlMapping.msg
@@ -0,0 +1,4 @@
+
+uint32 controller_identifier
+MapGroupHandle map_group_handle
+MapHandle map_handle
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/SystemTime.msg b/kortex_driver/msg/generated/base/SystemTime.msg
new file mode 100644
index 0000000..2c97341
--- /dev/null
+++ b/kortex_driver/msg/generated/base/SystemTime.msg
@@ -0,0 +1,7 @@
+
+uint32 sec
+uint32 min
+uint32 hour
+uint32 mday
+uint32 mon
+uint32 year
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Timeout.msg b/kortex_driver/msg/generated/base/Timeout.msg
new file mode 100644
index 0000000..129c5a3
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Timeout.msg
@@ -0,0 +1,2 @@
+
+uint32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/TrajectoryContinuityMode.msg b/kortex_driver/msg/generated/base/TrajectoryContinuityMode.msg
new file mode 100644
index 0000000..84a1bb8
--- /dev/null
+++ b/kortex_driver/msg/generated/base/TrajectoryContinuityMode.msg
@@ -0,0 +1,8 @@
+
+uint32 TRAJECTORY_CONTINUITY_MODE_UNSPECIFIED = 0
+
+uint32 TRAJECTORY_CONTINUITY_MODE_POSITION = 1
+
+uint32 TRAJECTORY_CONTINUITY_MODE_SPEED = 2
+
+uint32 TRAJECTORY_CONTINUITY_MODE_ACCELERATION = 3
diff --git a/kortex_driver/msg/generated/base/TrajectoryErrorElement.msg b/kortex_driver/msg/generated/base/TrajectoryErrorElement.msg
new file mode 100644
index 0000000..3898803
--- /dev/null
+++ b/kortex_driver/msg/generated/base/TrajectoryErrorElement.msg
@@ -0,0 +1,8 @@
+
+uint32 error_type
+uint32 error_identifier
+float32 error_value
+float32 min_value
+float32 max_value
+uint32 index
+string message
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/TrajectoryErrorIdentifier.msg b/kortex_driver/msg/generated/base/TrajectoryErrorIdentifier.msg
new file mode 100644
index 0000000..bd684f6
--- /dev/null
+++ b/kortex_driver/msg/generated/base/TrajectoryErrorIdentifier.msg
@@ -0,0 +1,12 @@
+
+uint32 TRAJECTORY_ERROR_IDENTIFIER_UNSPECIFIED = 0
+
+uint32 TRAJECTORY_ERROR_IDENTIFIER_UNAPPLICABLE = 1
+
+uint32 TRAJECTORY_ERROR_IDENTIFIER_TIME = 2
+
+uint32 TRAJECTORY_ERROR_IDENTIFIER_POSITION = 3
+
+uint32 TRAJECTORY_ERROR_IDENTIFIER_VELOCITY = 4
+
+uint32 TRAJECTORY_ERROR_IDENTIFIER_ACCELERATION = 5
diff --git a/kortex_driver/msg/generated/base/TrajectoryErrorReport.msg b/kortex_driver/msg/generated/base/TrajectoryErrorReport.msg
new file mode 100644
index 0000000..fc262c7
--- /dev/null
+++ b/kortex_driver/msg/generated/base/TrajectoryErrorReport.msg
@@ -0,0 +1,2 @@
+
+TrajectoryErrorElement[] trajectory_error_elements
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/TrajectoryErrorType.msg b/kortex_driver/msg/generated/base/TrajectoryErrorType.msg
new file mode 100644
index 0000000..612e3b1
--- /dev/null
+++ b/kortex_driver/msg/generated/base/TrajectoryErrorType.msg
@@ -0,0 +1,40 @@
+
+uint32 TRAJECTORY_ERROR_TYPE_UNSPECIFIED = 0
+
+uint32 TRAJECTORY_ERROR_TYPE_OUTSIDE_WORKSPACE = 1
+
+uint32 TRAJECTORY_ERROR_TYPE_ACTUATOR_COUNT_MISMATCH = 2
+
+uint32 TRAJECTORY_ERROR_TYPE_INVALID_DURATION = 3
+
+uint32 TRAJECTORY_ERROR_TYPE_ZERO_DISTANCE = 4
+
+uint32 TRAJECTORY_ERROR_TYPE_INVALID_SPEED = 5
+
+uint32 TRAJECTORY_ERROR_TYPE_LARGE_SPEED = 6
+
+uint32 TRAJECTORY_ERROR_TYPE_INVALID_ACCELERATION = 7
+
+uint32 TRAJECTORY_ERROR_TYPE_INVALID_TIME_STEP = 8
+
+uint32 TRAJECTORY_ERROR_TYPE_LARGE_SIZE = 9
+
+uint32 TRAJECTORY_ERROR_TYPE_WRONG_MODE = 10
+
+uint32 TRAJECTORY_ERROR_TYPE_JOINT_POSITION_LIMIT = 11
+
+uint32 TRAJECTORY_ERROR_TYPE_FILE_ERROR = 12
+
+uint32 TRAJECTORY_ERROR_TYPE_NO_FILE_IN_MEMORY = 13
+
+uint32 TRAJECTORY_ERROR_TYPE_INDEX_OUT_OF_TRAJ = 14
+
+uint32 TRAJECTORY_ERROR_TYPE_ALREADY_RUNNING = 15
+
+uint32 TRAJECTORY_ERROR_TYPE_WRONG_STARTING_POINT = 16
+
+uint32 TRAJECTORY_ERROR_TYPE_CARTESIAN_CANNOT_START = 17
+
+uint32 TRAJECTORY_ERROR_TYPE_WRONG_STARTING_SPEED = 18
+
+uint32 TRAJECTORY_ERROR_TYPE_INVALID_POSITION = 19
diff --git a/kortex_driver/msg/generated/base/TransformationMatrix.msg b/kortex_driver/msg/generated/base/TransformationMatrix.msg
new file mode 100644
index 0000000..e2d42e3
--- /dev/null
+++ b/kortex_driver/msg/generated/base/TransformationMatrix.msg
@@ -0,0 +1,5 @@
+
+TransformationRow r0
+TransformationRow r1
+TransformationRow r2
+TransformationRow r3
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/TransformationRow.msg b/kortex_driver/msg/generated/base/TransformationRow.msg
new file mode 100644
index 0000000..57d1a53
--- /dev/null
+++ b/kortex_driver/msg/generated/base/TransformationRow.msg
@@ -0,0 +1,5 @@
+
+float32 c0
+float32 c1
+float32 c2
+float32 c3
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/Twist.msg b/kortex_driver/msg/generated/base/Twist.msg
new file mode 100644
index 0000000..482f7a6
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Twist.msg
@@ -0,0 +1,7 @@
+
+float32 linear_x
+float32 linear_y
+float32 linear_z
+float32 angular_x
+float32 angular_y
+float32 angular_z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/TwistCommand.msg b/kortex_driver/msg/generated/base/TwistCommand.msg
new file mode 100644
index 0000000..325d3c7
--- /dev/null
+++ b/kortex_driver/msg/generated/base/TwistCommand.msg
@@ -0,0 +1,4 @@
+
+uint32 reference_frame
+Twist twist
+uint32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/TwistLimitation.msg b/kortex_driver/msg/generated/base/TwistLimitation.msg
new file mode 100644
index 0000000..71d333a
--- /dev/null
+++ b/kortex_driver/msg/generated/base/TwistLimitation.msg
@@ -0,0 +1,3 @@
+
+float32 linear
+float32 angular
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/UserEvent.msg b/kortex_driver/msg/generated/base/UserEvent.msg
new file mode 100644
index 0000000..84356e0
--- /dev/null
+++ b/kortex_driver/msg/generated/base/UserEvent.msg
@@ -0,0 +1,6 @@
+
+uint32 UNSPECIFIED_USER_EVENT = 0
+
+uint32 LOGGED_OUT = 1
+
+uint32 LOGGED_IN = 2
diff --git a/kortex_driver/msg/generated/base/UserList.msg b/kortex_driver/msg/generated/base/UserList.msg
new file mode 100644
index 0000000..2675d7a
--- /dev/null
+++ b/kortex_driver/msg/generated/base/UserList.msg
@@ -0,0 +1,2 @@
+
+UserProfileHandle[] user_handles
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/UserNotification.msg b/kortex_driver/msg/generated/base/UserNotification.msg
new file mode 100644
index 0000000..81cda4f
--- /dev/null
+++ b/kortex_driver/msg/generated/base/UserNotification.msg
@@ -0,0 +1,6 @@
+
+uint32 user_event
+UserProfileHandle modified_user
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/UserNotificationList.msg b/kortex_driver/msg/generated/base/UserNotificationList.msg
new file mode 100644
index 0000000..38a029c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/UserNotificationList.msg
@@ -0,0 +1,2 @@
+
+UserNotification[] notifications
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/UserProfile.msg b/kortex_driver/msg/generated/base/UserProfile.msg
new file mode 100644
index 0000000..f210d01
--- /dev/null
+++ b/kortex_driver/msg/generated/base/UserProfile.msg
@@ -0,0 +1,6 @@
+
+UserProfileHandle handle
+string username
+string firstname
+string lastname
+string application_data
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/UserProfileList.msg b/kortex_driver/msg/generated/base/UserProfileList.msg
new file mode 100644
index 0000000..121c0ee
--- /dev/null
+++ b/kortex_driver/msg/generated/base/UserProfileList.msg
@@ -0,0 +1,2 @@
+
+UserProfile[] user_profiles
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/WifiConfiguration.msg b/kortex_driver/msg/generated/base/WifiConfiguration.msg
new file mode 100644
index 0000000..a32e964
--- /dev/null
+++ b/kortex_driver/msg/generated/base/WifiConfiguration.msg
@@ -0,0 +1,4 @@
+
+Ssid ssid
+string security_key
+bool connect_automatically
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/WifiConfigurationList.msg b/kortex_driver/msg/generated/base/WifiConfigurationList.msg
new file mode 100644
index 0000000..724433a
--- /dev/null
+++ b/kortex_driver/msg/generated/base/WifiConfigurationList.msg
@@ -0,0 +1,2 @@
+
+WifiConfiguration[] wifi_configuration_list
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/WifiEncryptionType.msg b/kortex_driver/msg/generated/base/WifiEncryptionType.msg
new file mode 100644
index 0000000..29abf12
--- /dev/null
+++ b/kortex_driver/msg/generated/base/WifiEncryptionType.msg
@@ -0,0 +1,8 @@
+
+uint32 UNSPECIFIED_ENCRYPTION = 0
+
+uint32 AES_ENCRYPTION = 1
+
+uint32 TKIP_ENCRYPTION = 2
+
+uint32 WEP_ENCRYPTION = 4
diff --git a/kortex_driver/msg/generated/base/WifiInformation.msg b/kortex_driver/msg/generated/base/WifiInformation.msg
new file mode 100644
index 0000000..a96899a
--- /dev/null
+++ b/kortex_driver/msg/generated/base/WifiInformation.msg
@@ -0,0 +1,8 @@
+
+Ssid ssid
+uint32 security_type
+uint32 encryption_type
+uint32 signal_quality
+int32 signal_strength
+uint32 frequency
+uint32 channel
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/WifiInformationList.msg b/kortex_driver/msg/generated/base/WifiInformationList.msg
new file mode 100644
index 0000000..c6091c3
--- /dev/null
+++ b/kortex_driver/msg/generated/base/WifiInformationList.msg
@@ -0,0 +1,2 @@
+
+WifiInformation[] wifi_information_list
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/WifiSecurityType.msg b/kortex_driver/msg/generated/base/WifiSecurityType.msg
new file mode 100644
index 0000000..9f118bc
--- /dev/null
+++ b/kortex_driver/msg/generated/base/WifiSecurityType.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_AUTHENTICATION = 0
+
+uint32 WEP = 1
+
+uint32 WPA2_PERSONAL = 2
+
+uint32 WPA_PERSONAL = 4
+
+uint32 NO_AUTHENTICATION = 8
diff --git a/kortex_driver/msg/generated/base/Wrench.msg b/kortex_driver/msg/generated/base/Wrench.msg
new file mode 100644
index 0000000..24b6e5c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Wrench.msg
@@ -0,0 +1,7 @@
+
+float32 force_x
+float32 force_y
+float32 force_z
+float32 torque_x
+float32 torque_y
+float32 torque_z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/WrenchCommand.msg b/kortex_driver/msg/generated/base/WrenchCommand.msg
new file mode 100644
index 0000000..90dd313
--- /dev/null
+++ b/kortex_driver/msg/generated/base/WrenchCommand.msg
@@ -0,0 +1,5 @@
+
+uint32 reference_frame
+uint32 mode
+Wrench wrench
+uint32 duration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/WrenchLimitation.msg b/kortex_driver/msg/generated/base/WrenchLimitation.msg
new file mode 100644
index 0000000..1d7a973
--- /dev/null
+++ b/kortex_driver/msg/generated/base/WrenchLimitation.msg
@@ -0,0 +1,3 @@
+
+float32 force
+float32 torque
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base/WrenchMode.msg b/kortex_driver/msg/generated/base/WrenchMode.msg
new file mode 100644
index 0000000..c60a59f
--- /dev/null
+++ b/kortex_driver/msg/generated/base/WrenchMode.msg
@@ -0,0 +1,6 @@
+
+uint32 UNSPECIFIED_WRENCH_MODE = 0
+
+uint32 WRENCH_RESTRICTED = 1
+
+uint32 WRENCH_NORMAL = 2
diff --git a/kortex_driver/msg/generated/base/WristDigitalInputIdentifier.msg b/kortex_driver/msg/generated/base/WristDigitalInputIdentifier.msg
new file mode 100644
index 0000000..9e8440c
--- /dev/null
+++ b/kortex_driver/msg/generated/base/WristDigitalInputIdentifier.msg
@@ -0,0 +1,8 @@
+
+uint32 UNSPECIFIED_WRIST_DIGITAL = 0
+
+uint32 WRIST_BUTTON_1 = 1
+
+uint32 WRIST_BUTTON_2 = 2
+
+uint32 WRIST_BUTTON_BOTH = 3
diff --git a/kortex_driver/msg/generated/base/Xbox360AnalogInputIdentifier.msg b/kortex_driver/msg/generated/base/Xbox360AnalogInputIdentifier.msg
new file mode 100644
index 0000000..6946dc3
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Xbox360AnalogInputIdentifier.msg
@@ -0,0 +1,14 @@
+
+uint32 UNSPECIFIED_XBOX360_ANALOG = 0
+
+uint32 XBOX360_THUMB_LEFT_X = 1
+
+uint32 XBOX360_THUMB_LEFT_Y = 2
+
+uint32 XBOX360_THUMB_RIGHT_X = 3
+
+uint32 XBOX360_THUMB_RIGHT_Y = 4
+
+uint32 XBOX360_TRIGGER_LEFT = 5
+
+uint32 XBOX360_TRIGGER_RIGHT = 6
diff --git a/kortex_driver/msg/generated/base/Xbox360DigitalInputIdentifier.msg b/kortex_driver/msg/generated/base/Xbox360DigitalInputIdentifier.msg
new file mode 100644
index 0000000..39e7720
--- /dev/null
+++ b/kortex_driver/msg/generated/base/Xbox360DigitalInputIdentifier.msg
@@ -0,0 +1,30 @@
+
+uint32 UNSPECIFIED_XBOX360_DIGITAL = 0
+
+uint32 XBOX360_PAD_UP = 1
+
+uint32 XBOX360_PAD_DOWN = 2
+
+uint32 XBOX360_PAD_LEFT = 3
+
+uint32 XBOX360_PAD_RIGHT = 4
+
+uint32 XBOX360_FILE_BUTTON_START = 5
+
+uint32 XBOX360_DOCUMENT_BUTTON_BACK = 6
+
+uint32 XBOX360_LEFT_THUMB_BUTTON = 7
+
+uint32 XBOX360_RIGHT_THUMB_BUTTON = 8
+
+uint32 XBOX360_LEFT_SHOULDER = 9
+
+uint32 XBOX360_RIGHT_SHOULDER = 10
+
+uint32 XBOX360_BUTTON_A = 13
+
+uint32 XBOX360_BUTTON_B = 14
+
+uint32 XBOX360_BUTTON_X = 15
+
+uint32 XBOX360_BUTTON_Y = 16
diff --git a/kortex_driver/msg/generated/base/ZoneShape.msg b/kortex_driver/msg/generated/base/ZoneShape.msg
new file mode 100644
index 0000000..48e3cdc
--- /dev/null
+++ b/kortex_driver/msg/generated/base/ZoneShape.msg
@@ -0,0 +1,6 @@
+
+uint32 shape_type
+Point origin
+Base_RotationMatrix orientation
+float32[] dimensions
+float32 envelope_thickness
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base_cyclic/ActuatorCommand.msg b/kortex_driver/msg/generated/base_cyclic/ActuatorCommand.msg
new file mode 100644
index 0000000..82cf0a0
--- /dev/null
+++ b/kortex_driver/msg/generated/base_cyclic/ActuatorCommand.msg
@@ -0,0 +1,7 @@
+
+uint32 command_id
+uint32 flags
+float32 position
+float32 velocity
+float32 torque_joint
+float32 current_motor
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base_cyclic/ActuatorCustomData.msg b/kortex_driver/msg/generated/base_cyclic/ActuatorCustomData.msg
new file mode 100644
index 0000000..9016e82
--- /dev/null
+++ b/kortex_driver/msg/generated/base_cyclic/ActuatorCustomData.msg
@@ -0,0 +1,18 @@
+
+uint32 command_id
+uint32 custom_data_0
+uint32 custom_data_1
+uint32 custom_data_2
+uint32 custom_data_3
+uint32 custom_data_4
+uint32 custom_data_5
+uint32 custom_data_6
+uint32 custom_data_7
+uint32 custom_data_8
+uint32 custom_data_9
+uint32 custom_data_10
+uint32 custom_data_11
+uint32 custom_data_12
+uint32 custom_data_13
+uint32 custom_data_14
+uint32 custom_data_15
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base_cyclic/ActuatorFeedback.msg b/kortex_driver/msg/generated/base_cyclic/ActuatorFeedback.msg
new file mode 100644
index 0000000..3f1c60e
--- /dev/null
+++ b/kortex_driver/msg/generated/base_cyclic/ActuatorFeedback.msg
@@ -0,0 +1,15 @@
+
+uint32 command_id
+uint32 status_flags
+uint32 jitter_comm
+float32 position
+float32 velocity
+float32 torque
+float32 current_motor
+float32 voltage
+float32 temperature_motor
+float32 temperature_core
+uint32 fault_bank_a
+uint32 fault_bank_b
+uint32 warning_bank_a
+uint32 warning_bank_b
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base_cyclic/BaseCyclic_Command.msg b/kortex_driver/msg/generated/base_cyclic/BaseCyclic_Command.msg
new file mode 100644
index 0000000..78c3873
--- /dev/null
+++ b/kortex_driver/msg/generated/base_cyclic/BaseCyclic_Command.msg
@@ -0,0 +1,4 @@
+
+uint32 frame_id
+ActuatorCommand[] actuators
+InterconnectCyclic_Command interconnect
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base_cyclic/BaseCyclic_CustomData.msg b/kortex_driver/msg/generated/base_cyclic/BaseCyclic_CustomData.msg
new file mode 100644
index 0000000..5ea4937
--- /dev/null
+++ b/kortex_driver/msg/generated/base_cyclic/BaseCyclic_CustomData.msg
@@ -0,0 +1,12 @@
+
+uint32 frame_id
+uint32 custom_data_0
+uint32 custom_data_1
+uint32 custom_data_2
+uint32 custom_data_3
+uint32 custom_data_4
+uint32 custom_data_5
+uint32 custom_data_6
+uint32 custom_data_7
+ActuatorCustomData[] actuators_custom_data
+InterconnectCyclic_CustomData interconnect_custom_data
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base_cyclic/BaseCyclic_Feedback.msg b/kortex_driver/msg/generated/base_cyclic/BaseCyclic_Feedback.msg
new file mode 100644
index 0000000..be3a3f9
--- /dev/null
+++ b/kortex_driver/msg/generated/base_cyclic/BaseCyclic_Feedback.msg
@@ -0,0 +1,5 @@
+
+uint32 frame_id
+BaseFeedback base
+ActuatorFeedback[] actuators
+InterconnectCyclic_Feedback interconnect
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/base_cyclic/BaseCyclic_ServiceVersion.msg b/kortex_driver/msg/generated/base_cyclic/BaseCyclic_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/base_cyclic/BaseCyclic_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/base_cyclic/BaseFeedback.msg b/kortex_driver/msg/generated/base_cyclic/BaseFeedback.msg
new file mode 100644
index 0000000..9df3559
--- /dev/null
+++ b/kortex_driver/msg/generated/base_cyclic/BaseFeedback.msg
@@ -0,0 +1,41 @@
+
+uint32 active_state_connection_identifier
+uint32 active_state
+float32 arm_voltage
+float32 arm_current
+float32 temperature_cpu
+float32 temperature_ambient
+float32 imu_acceleration_x
+float32 imu_acceleration_y
+float32 imu_acceleration_z
+float32 imu_angular_velocity_x
+float32 imu_angular_velocity_y
+float32 imu_angular_velocity_z
+float32 tool_pose_x
+float32 tool_pose_y
+float32 tool_pose_z
+float32 tool_pose_theta_x
+float32 tool_pose_theta_y
+float32 tool_pose_theta_z
+float32 tool_twist_linear_x
+float32 tool_twist_linear_y
+float32 tool_twist_linear_z
+float32 tool_twist_angular_x
+float32 tool_twist_angular_y
+float32 tool_twist_angular_z
+float32 tool_external_wrench_force_x
+float32 tool_external_wrench_force_y
+float32 tool_external_wrench_force_z
+float32 tool_external_wrench_torque_x
+float32 tool_external_wrench_torque_y
+float32 tool_external_wrench_torque_z
+uint32 fault_bank_a
+uint32 fault_bank_b
+uint32 warning_bank_a
+uint32 warning_bank_b
+float32 commanded_tool_pose_x
+float32 commanded_tool_pose_y
+float32 commanded_tool_pose_z
+float32 commanded_tool_pose_theta_x
+float32 commanded_tool_pose_theta_y
+float32 commanded_tool_pose_theta_z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/ArmState.msg b/kortex_driver/msg/generated/common/ArmState.msg
new file mode 100644
index 0000000..9d9db12
--- /dev/null
+++ b/kortex_driver/msg/generated/common/ArmState.msg
@@ -0,0 +1,22 @@
+
+uint32 ARMSTATE_UNSPECIFIED = 0
+
+uint32 ARMSTATE_BASE_INITIALIZATION = 1
+
+uint32 ARMSTATE_IDLE = 2
+
+uint32 ARMSTATE_INITIALIZATION = 3
+
+uint32 ARMSTATE_IN_FAULT = 4
+
+uint32 ARMSTATE_MAINTENANCE = 5
+
+uint32 ARMSTATE_SERVOING_LOW_LEVEL = 6
+
+uint32 ARMSTATE_SERVOING_READY = 7
+
+uint32 ARMSTATE_SERVOING_PLAYING_SEQUENCE = 8
+
+uint32 ARMSTATE_SERVOING_MANUALLY_CONTROLLED = 9
+
+uint32 ARMSTATE_RESERVED = 255
diff --git a/kortex_driver/msg/generated/common/CartesianReferenceFrame.msg b/kortex_driver/msg/generated/common/CartesianReferenceFrame.msg
new file mode 100644
index 0000000..c519008
--- /dev/null
+++ b/kortex_driver/msg/generated/common/CartesianReferenceFrame.msg
@@ -0,0 +1,8 @@
+
+uint32 CARTESIAN_REFERENCE_FRAME_UNSPECIFIED = 0
+
+uint32 CARTESIAN_REFERENCE_FRAME_MIXED = 1
+
+uint32 CARTESIAN_REFERENCE_FRAME_TOOL = 2
+
+uint32 CARTESIAN_REFERENCE_FRAME_BASE = 3
diff --git a/kortex_driver/msg/generated/common/Connection.msg b/kortex_driver/msg/generated/common/Connection.msg
new file mode 100644
index 0000000..6f7f7ab
--- /dev/null
+++ b/kortex_driver/msg/generated/common/Connection.msg
@@ -0,0 +1,4 @@
+
+UserProfileHandle user_handle
+string connection_information
+uint32 connection_identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/CountryCode.msg b/kortex_driver/msg/generated/common/CountryCode.msg
new file mode 100644
index 0000000..9d1731b
--- /dev/null
+++ b/kortex_driver/msg/generated/common/CountryCode.msg
@@ -0,0 +1,2 @@
+
+uint32 identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/CountryCodeIdentifier.msg b/kortex_driver/msg/generated/common/CountryCodeIdentifier.msg
new file mode 100644
index 0000000..65273b2
--- /dev/null
+++ b/kortex_driver/msg/generated/common/CountryCodeIdentifier.msg
@@ -0,0 +1,226 @@
+
+uint32 UNSPECIFIED_COUNTRY_CODE = 0
+
+uint32 UNITED_ARAB_EMIRATES_AE = 1
+
+uint32 ANTIGUA_AND_BARBUDA_AG = 2
+
+uint32 ANGUILLA_AI = 3
+
+uint32 ALBANIA_AL = 4
+
+uint32 AMERICAN_SAMOA_AS = 5
+
+uint32 AUSTRIA_AT = 6
+
+uint32 AUSTRALIA_AU = 7
+
+uint32 ARUBA_AW = 8
+
+uint32 AZERBAIJAN_AZ = 9
+
+uint32 BOSNIA_AND_HERZEGOVINA_BA = 10
+
+uint32 BANGLADESH_BD = 11
+
+uint32 BELGIUM_BE = 12
+
+uint32 BULGARIA_BG = 13
+
+uint32 BAHRAIN_BH = 14
+
+uint32 BERMUDA_BM = 15
+
+uint32 BRUNEI_DARUSSALAM_BN = 16
+
+uint32 BRAZIL_BR = 17
+
+uint32 BAHAMAS_BS = 18
+
+uint32 BELARUS_BY = 19
+
+uint32 SWITZERLAND_CH = 20
+
+uint32 CANADA_CA = 21
+
+uint32 CHINA_CN = 22
+
+uint32 COLOMBIA_CO = 23
+
+uint32 COSTA_RICA_CR = 24
+
+uint32 CYPRUS_CY = 25
+
+uint32 CZECH_REPUBLIC_CZ = 26
+
+uint32 GERMANY_DE = 27
+
+uint32 DENMARK_DK = 28
+
+uint32 ECUADOR_EC = 29
+
+uint32 ESTONIA_EE = 30
+
+uint32 EGYPT_EG = 31
+
+uint32 SPAIN_ES = 32
+
+uint32 ETHIOPIA_ET = 33
+
+uint32 FINLAND_FI = 34
+
+uint32 FRANCE_FR = 35
+
+uint32 UNITED_KINGDOM_GB = 36
+
+uint32 GRENADA_GD = 37
+
+uint32 FRENCH_GUIANA_GF = 38
+
+uint32 GUADELOUPE_GP = 39
+
+uint32 GREECE_GR = 40
+
+uint32 GUATEMALA_GT = 41
+
+uint32 GUAM_GU = 42
+
+uint32 HONG_KONG_HK = 43
+
+uint32 CROATIA_HR = 44
+
+uint32 HUNGARY_HU = 45
+
+uint32 INDIA_IN = 46
+
+uint32 INDONESIA_ID = 47
+
+uint32 IRELAND_IE = 48
+
+uint32 ISRAEL_IL = 49
+
+uint32 ICELAND_IS = 50
+
+uint32 ITALY_IT = 51
+
+uint32 JORDAN_JO = 52
+
+uint32 JAPAN_JP = 53
+
+uint32 CAMBODIA_KH = 54
+
+uint32 REPUBLIC_OF_KOREA_KR = 55
+
+uint32 KUWAIT_KW = 56
+
+uint32 CAYMAN_ISLANDS_KY = 57
+
+uint32 LAO_PDR_LA = 58
+
+uint32 LEBANON_LB = 59
+
+uint32 LIECHTENSTEIN_LI = 60
+
+uint32 SRI_LANKA_LK = 61
+
+uint32 LESOTHO_LS = 62
+
+uint32 LITHUANIA_LT = 63
+
+uint32 LUXEMBOURG_LU = 64
+
+uint32 LATVIA_LV = 65
+
+uint32 MOROCCO_MA = 66
+
+uint32 MONACO_MC = 67
+
+uint32 MOLDOVA_MD = 68
+
+uint32 MONTENEGRO_ME = 69
+
+uint32 REPUBLIC_OF_MACEDONIA_MK = 70
+
+uint32 MONGOLIA_MN = 71
+
+uint32 MARTINIQUE_MQ = 72
+
+uint32 MAURITANIA_MR = 73
+
+uint32 MALTA_MT = 74
+
+uint32 MAURITIUS_MU = 75
+
+uint32 MALDIVES_MV = 76
+
+uint32 MALAWI_MW = 77
+
+uint32 MEXICO_MX = 78
+
+uint32 MALAYSIA_MY = 79
+
+uint32 NICARAGUA_NI = 80
+
+uint32 NETHERLANDS_NL = 81
+
+uint32 NORWAY_NO = 82
+
+uint32 NEW_ZEALAND_NZ = 83
+
+uint32 OMAN_OM = 84
+
+uint32 PANAMA_PA = 85
+
+uint32 PERU_PE = 86
+
+uint32 PHILIPPINES_PH = 87
+
+uint32 POLAND_PL = 88
+
+uint32 PUERTO_RICO_PR = 89
+
+uint32 PORTUGAL_PT = 90
+
+uint32 PARAGUAY_PY = 91
+
+uint32 REUNION_RE = 92
+
+uint32 ROMANIA_RO = 93
+
+uint32 SERBIA_RS = 94
+
+uint32 RUSSIAN_FEDERATION_RU = 95
+
+uint32 SWEDEN_SE = 96
+
+uint32 SINGAPORE_SI = 97
+
+uint32 SLOVAKIA_SK = 98
+
+uint32 EL_SALVADOR_SV = 99
+
+uint32 THAILAND_TH = 100
+
+uint32 TUNISIA_TN = 101
+
+uint32 TURKEY_TR = 102
+
+uint32 TRINIDAD_AND_TOBAGO_TT = 103
+
+uint32 TAIWAN_PROVINCE_OF_CHINA_TW = 104
+
+uint32 UKRAINE_UA = 105
+
+uint32 UNITED_STATES_US = 106
+
+uint32 HOLY_SEE_VATICAN_CITY_STATE_VA = 107
+
+uint32 BOLIVARIAN_REPUBLIC_OF_VENEZUELA_VE = 108
+
+uint32 BRITISH_VIRGIN_ISLANDS_VG = 109
+
+uint32 VIETNAM_VN = 110
+
+uint32 MAYOTTE_YT = 111
+
+uint32 SOUTH_AFRICA_ZA = 112
diff --git a/kortex_driver/msg/generated/common/DeviceHandle.msg b/kortex_driver/msg/generated/common/DeviceHandle.msg
new file mode 100644
index 0000000..a1e1083
--- /dev/null
+++ b/kortex_driver/msg/generated/common/DeviceHandle.msg
@@ -0,0 +1,4 @@
+
+uint32 device_type
+uint32 device_identifier
+uint32 order
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/DeviceTypes.msg b/kortex_driver/msg/generated/common/DeviceTypes.msg
new file mode 100644
index 0000000..d2fdf25
--- /dev/null
+++ b/kortex_driver/msg/generated/common/DeviceTypes.msg
@@ -0,0 +1,18 @@
+
+uint32 UNSPECIFIED_DEVICE_TYPE = 0
+
+uint32 BASE = 1
+
+uint32 VISION = 2
+
+uint32 BIG_ACTUATOR = 3
+
+uint32 SMALL_ACTUATOR = 4
+
+uint32 INTERCONNECT = 5
+
+uint32 GRIPPER = 6
+
+uint32 MEDIUM_ACTUATOR = 7
+
+uint32 XBIG_ACTUATOR = 8
diff --git a/kortex_driver/msg/generated/common/Empty.msg b/kortex_driver/msg/generated/common/Empty.msg
new file mode 100644
index 0000000..e69de29
diff --git a/kortex_driver/msg/generated/common/NotificationHandle.msg b/kortex_driver/msg/generated/common/NotificationHandle.msg
new file mode 100644
index 0000000..9d1731b
--- /dev/null
+++ b/kortex_driver/msg/generated/common/NotificationHandle.msg
@@ -0,0 +1,2 @@
+
+uint32 identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/NotificationOptions.msg b/kortex_driver/msg/generated/common/NotificationOptions.msg
new file mode 100644
index 0000000..48cb13e
--- /dev/null
+++ b/kortex_driver/msg/generated/common/NotificationOptions.msg
@@ -0,0 +1,4 @@
+
+uint32 type
+uint32 rate_m_sec
+float32 threshold_value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/NotificationType.msg b/kortex_driver/msg/generated/common/NotificationType.msg
new file mode 100644
index 0000000..881cd9a
--- /dev/null
+++ b/kortex_driver/msg/generated/common/NotificationType.msg
@@ -0,0 +1,8 @@
+
+uint32 NOTIFICATION_TYPE_UNSPECIFIED = 0
+
+uint32 NOTIFICATION_TYPE_THRESHOLD = 1
+
+uint32 NOTIFICATION_TYPE_FIX_RATE = 2
+
+uint32 NOTIFICATION_TYPE_EVENT = 3
diff --git a/kortex_driver/msg/generated/common/Permission.msg b/kortex_driver/msg/generated/common/Permission.msg
new file mode 100644
index 0000000..c5399e9
--- /dev/null
+++ b/kortex_driver/msg/generated/common/Permission.msg
@@ -0,0 +1,8 @@
+
+uint32 NO_PERMISSION = 0
+
+uint32 READ_PERMISSION = 1
+
+uint32 UPDATE_PERMISSION = 2
+
+uint32 DELETE_PERMISSION = 4
diff --git a/kortex_driver/msg/generated/common/SafetyHandle.msg b/kortex_driver/msg/generated/common/SafetyHandle.msg
new file mode 100644
index 0000000..9d1731b
--- /dev/null
+++ b/kortex_driver/msg/generated/common/SafetyHandle.msg
@@ -0,0 +1,2 @@
+
+uint32 identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/SafetyNotification.msg b/kortex_driver/msg/generated/common/SafetyNotification.msg
new file mode 100644
index 0000000..f68ba0c
--- /dev/null
+++ b/kortex_driver/msg/generated/common/SafetyNotification.msg
@@ -0,0 +1,6 @@
+
+SafetyHandle safety_handle
+uint32 value
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/SafetyStatusValue.msg b/kortex_driver/msg/generated/common/SafetyStatusValue.msg
new file mode 100644
index 0000000..74ffcfc
--- /dev/null
+++ b/kortex_driver/msg/generated/common/SafetyStatusValue.msg
@@ -0,0 +1,8 @@
+
+uint32 SAFETY_STATUS_UNSPECIFIED = 0
+
+uint32 SAFETY_STATUS_WARNING = 1
+
+uint32 SAFETY_STATUS_ERROR = 2
+
+uint32 SAFETY_STATUS_NORMAL = 3
diff --git a/kortex_driver/msg/generated/common/Timestamp.msg b/kortex_driver/msg/generated/common/Timestamp.msg
new file mode 100644
index 0000000..8f08067
--- /dev/null
+++ b/kortex_driver/msg/generated/common/Timestamp.msg
@@ -0,0 +1,3 @@
+
+uint32 sec
+uint32 usec
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/UARTConfiguration.msg b/kortex_driver/msg/generated/common/UARTConfiguration.msg
new file mode 100644
index 0000000..82ae0c8
--- /dev/null
+++ b/kortex_driver/msg/generated/common/UARTConfiguration.msg
@@ -0,0 +1,7 @@
+
+uint32 port_id
+bool enabled
+uint32 speed
+uint32 word_length
+uint32 stop_bits
+uint32 parity
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/UARTDeviceIdentification.msg b/kortex_driver/msg/generated/common/UARTDeviceIdentification.msg
new file mode 100644
index 0000000..b0f9559
--- /dev/null
+++ b/kortex_driver/msg/generated/common/UARTDeviceIdentification.msg
@@ -0,0 +1,2 @@
+
+uint32 port_id
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/common/UARTParity.msg b/kortex_driver/msg/generated/common/UARTParity.msg
new file mode 100644
index 0000000..97e58a8
--- /dev/null
+++ b/kortex_driver/msg/generated/common/UARTParity.msg
@@ -0,0 +1,8 @@
+
+uint32 UART_PARITY_UNSPECIFIED = 0
+
+uint32 UART_PARITY_NONE = 1
+
+uint32 UART_PARITY_ODD = 2
+
+uint32 UART_PARITY_EVEN = 3
diff --git a/kortex_driver/msg/generated/common/UARTSpeed.msg b/kortex_driver/msg/generated/common/UARTSpeed.msg
new file mode 100644
index 0000000..50f2b87
--- /dev/null
+++ b/kortex_driver/msg/generated/common/UARTSpeed.msg
@@ -0,0 +1,32 @@
+
+uint32 UART_SPEED_UNSPECIFIED = 0
+
+uint32 UART_SPEED_4800 = 1
+
+uint32 UART_SPEED_9600 = 2
+
+uint32 UART_SPEED_19200 = 3
+
+uint32 UART_SPEED_38400 = 4
+
+uint32 UART_SPEED_57600 = 5
+
+uint32 UART_SPEED_115200 = 6
+
+uint32 UART_SPEED_230400 = 7
+
+uint32 UART_SPEED_460800 = 8
+
+uint32 UART_SPEED_921600 = 9
+
+uint32 UART_SPEED_1382400 = 10
+
+uint32 UART_SPEED_1612800 = 11
+
+uint32 UART_SPEED_1843200 = 12
+
+uint32 UART_SPEED_2073600 = 13
+
+uint32 UART_SPEED_2188800 = 14
+
+uint32 UART_SPEED_2246400 = 15
diff --git a/kortex_driver/msg/generated/common/UARTStopBits.msg b/kortex_driver/msg/generated/common/UARTStopBits.msg
new file mode 100644
index 0000000..0de6f12
--- /dev/null
+++ b/kortex_driver/msg/generated/common/UARTStopBits.msg
@@ -0,0 +1,10 @@
+
+uint32 UART_STOP_BITS_UNSPECIFIED = 0
+
+uint32 UART_STOP_BITS_0_5 = 1
+
+uint32 UART_STOP_BITS_1 = 2
+
+uint32 UART_STOP_BITS_1_5 = 3
+
+uint32 UART_STOP_BITS_2 = 4
diff --git a/kortex_driver/msg/generated/common/UARTWordLength.msg b/kortex_driver/msg/generated/common/UARTWordLength.msg
new file mode 100644
index 0000000..e6b2f08
--- /dev/null
+++ b/kortex_driver/msg/generated/common/UARTWordLength.msg
@@ -0,0 +1,8 @@
+
+uint32 UART_WORD_LENGTH_UNSPECIFIED = 0
+
+uint32 UART_WORD_LENGTH_7 = 1
+
+uint32 UART_WORD_LENGTH_8 = 2
+
+uint32 UART_WORD_LENGTH_9 = 3
diff --git a/kortex_driver/msg/generated/common/Unit.msg b/kortex_driver/msg/generated/common/Unit.msg
new file mode 100644
index 0000000..c019aeb
--- /dev/null
+++ b/kortex_driver/msg/generated/common/Unit.msg
@@ -0,0 +1,28 @@
+
+uint32 UNSPECIFIED_UNIT = 0
+
+uint32 CELSIUS = 1
+
+uint32 AMPERE = 2
+
+uint32 VOLT = 3
+
+uint32 METER_PER_SECOND = 4
+
+uint32 DEGREE_PER_SECOND = 5
+
+uint32 METER_PER_SECOND_2 = 6
+
+uint32 DEGREE_PER_SECOND_2 = 7
+
+uint32 NEWTON = 8
+
+uint32 NEWTON_METER = 9
+
+uint32 KILOGRAM = 10
+
+uint32 DEGREE = 11
+
+uint32 TICK = 12
+
+uint32 DEGREE_PER_MILLISECOND = 13
diff --git a/kortex_driver/msg/generated/common/UserProfileHandle.msg b/kortex_driver/msg/generated/common/UserProfileHandle.msg
new file mode 100644
index 0000000..4d2b97e
--- /dev/null
+++ b/kortex_driver/msg/generated/common/UserProfileHandle.msg
@@ -0,0 +1,3 @@
+
+uint32 identifier
+uint32 permission
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/AngularTwist.msg b/kortex_driver/msg/generated/control_config/AngularTwist.msg
new file mode 100644
index 0000000..6ea2ee1
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/AngularTwist.msg
@@ -0,0 +1,2 @@
+
+float32 angular
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/CartesianReferenceFrameInfo.msg b/kortex_driver/msg/generated/control_config/CartesianReferenceFrameInfo.msg
new file mode 100644
index 0000000..7aafcc6
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/CartesianReferenceFrameInfo.msg
@@ -0,0 +1,2 @@
+
+uint32 reference_frame
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/CartesianTransform.msg b/kortex_driver/msg/generated/control_config/CartesianTransform.msg
new file mode 100644
index 0000000..b1f7d64
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/CartesianTransform.msg
@@ -0,0 +1,7 @@
+
+float32 x
+float32 y
+float32 z
+float32 theta_x
+float32 theta_y
+float32 theta_z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/ControlConfig_ControlMode.msg b/kortex_driver/msg/generated/control_config/ControlConfig_ControlMode.msg
new file mode 100644
index 0000000..0ded911
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/ControlConfig_ControlMode.msg
@@ -0,0 +1,22 @@
+
+uint32 UNSPECIFIED_CONTROL_MODE = 0
+
+uint32 ANGULAR_JOYSTICK = 1
+
+uint32 CARTESIAN_JOYSTICK = 2
+
+uint32 ANGULAR_TRAJECTORY = 4
+
+uint32 CARTESIAN_TRAJECTORY = 5
+
+uint32 CARTESIAN_ADMITTANCE = 6
+
+uint32 JOINT_ADMITTANCE = 7
+
+uint32 NULL_SPACE_ADMITTANCE = 8
+
+uint32 FORCE_CONTROL = 10
+
+uint32 FORCE_CONTROL_MOTION_RESTRICTED = 11
+
+uint32 IDLE = 13
diff --git a/kortex_driver/msg/generated/control_config/ControlConfig_ControlModeInformation.msg b/kortex_driver/msg/generated/control_config/ControlConfig_ControlModeInformation.msg
new file mode 100644
index 0000000..713ed37
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/ControlConfig_ControlModeInformation.msg
@@ -0,0 +1,2 @@
+
+uint32 control_mode
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/ControlConfig_JointSpeeds.msg b/kortex_driver/msg/generated/control_config/ControlConfig_JointSpeeds.msg
new file mode 100644
index 0000000..e85a31a
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/ControlConfig_JointSpeeds.msg
@@ -0,0 +1,2 @@
+
+float32[] joint_speed
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/ControlConfig_Position.msg b/kortex_driver/msg/generated/control_config/ControlConfig_Position.msg
new file mode 100644
index 0000000..678ce63
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/ControlConfig_Position.msg
@@ -0,0 +1,4 @@
+
+float32 x
+float32 y
+float32 z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/ControlConfig_ServiceVersion.msg b/kortex_driver/msg/generated/control_config/ControlConfig_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/ControlConfig_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/control_config/ControlConfigurationEvent.msg b/kortex_driver/msg/generated/control_config/ControlConfigurationEvent.msg
new file mode 100644
index 0000000..d677f33
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/ControlConfigurationEvent.msg
@@ -0,0 +1,42 @@
+
+uint32 UNSPECIFIED_CONTROL_CONFIGURATION_EVENT = 0
+
+uint32 ANGLE_UNIT_CHANGED = 1
+
+uint32 GRAVITY_VECTOR_CHANGED = 2
+
+uint32 JOINT_ADMITTANCE_CONFIGURATION_CHANGED = 4
+
+uint32 NULL_ADMITTANCE_CONFIGURATION_CHANGED = 5
+
+uint32 CARTESIAN_ADMITTANCE_CONFIGURATION_CHANGED = 6
+
+uint32 JOINT_TORQUE_HYBRID_CONFIGURATION_CHANGED = 7
+
+uint32 WRENCH_COMMAND_NORMAL_CONFIGURATION_CHANGED = 8
+
+uint32 WRENCH_COMMAND_RESTRICTED_CONFIGURATION_CHANGED = 9
+
+uint32 CONTROL_CONFIGURATION_FACTORY_RESTORED = 10
+
+uint32 TOOL_CONFIGURATION_CHANGED = 11
+
+uint32 PAYLOAD_CONFIGURATION_CHANGED = 12
+
+uint32 CARTESIAN_REFERENCE_CHANGED = 13
+
+uint32 CHANGE_CONTROL_MODE_FAILED = 14
+
+uint32 JOINT_SPEED_SOFT_LIMITS_CHANGED = 16
+
+uint32 TWIST_LINEAR_SOFT_LIMIT_CHANGED = 17
+
+uint32 TWIST_ANGULAR_SOFT_LIMIT_CHANGED = 18
+
+uint32 JOINT_ACCELERATION_SOFT_LIMITS_CHANGED = 19
+
+uint32 DESIRED_TWIST_LINEAR_SPEED_CHANGED = 20
+
+uint32 DESIRED_TWIST_ANGULAR_SPEED_CHANGED = 21
+
+uint32 DESIRED_JOINT_SPEED_CHANGED = 22
diff --git a/kortex_driver/msg/generated/control_config/ControlConfigurationNotification.msg b/kortex_driver/msg/generated/control_config/ControlConfigurationNotification.msg
new file mode 100644
index 0000000..3863572
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/ControlConfigurationNotification.msg
@@ -0,0 +1,5 @@
+
+uint32 event
+Timestamp timestamp
+UserProfileHandle user_handle
+Connection connection
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/DesiredSpeeds.msg b/kortex_driver/msg/generated/control_config/DesiredSpeeds.msg
new file mode 100644
index 0000000..be5aa13
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/DesiredSpeeds.msg
@@ -0,0 +1,4 @@
+
+float32 linear
+float32 angular
+float32[] joint_speed
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/GravityVector.msg b/kortex_driver/msg/generated/control_config/GravityVector.msg
new file mode 100644
index 0000000..678ce63
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/GravityVector.msg
@@ -0,0 +1,4 @@
+
+float32 x
+float32 y
+float32 z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/JointAccelerationSoftLimits.msg b/kortex_driver/msg/generated/control_config/JointAccelerationSoftLimits.msg
new file mode 100644
index 0000000..b1aad35
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/JointAccelerationSoftLimits.msg
@@ -0,0 +1,3 @@
+
+uint32 control_mode
+float32[] joint_acceleration_soft_limits
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/JointSpeedSoftLimits.msg b/kortex_driver/msg/generated/control_config/JointSpeedSoftLimits.msg
new file mode 100644
index 0000000..ce90f8d
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/JointSpeedSoftLimits.msg
@@ -0,0 +1,3 @@
+
+uint32 control_mode
+float32[] joint_speed_soft_limits
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/KinematicLimits.msg b/kortex_driver/msg/generated/control_config/KinematicLimits.msg
new file mode 100644
index 0000000..9be9fa1
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/KinematicLimits.msg
@@ -0,0 +1,6 @@
+
+uint32 control_mode
+float32 twist_linear
+float32 twist_angular
+float32[] joint_speed_limits
+float32[] joint_acceleration_limits
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/KinematicLimitsList.msg b/kortex_driver/msg/generated/control_config/KinematicLimitsList.msg
new file mode 100644
index 0000000..b407054
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/KinematicLimitsList.msg
@@ -0,0 +1,2 @@
+
+KinematicLimits[] kinematic_limits_list
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/LinearTwist.msg b/kortex_driver/msg/generated/control_config/LinearTwist.msg
new file mode 100644
index 0000000..9a7bee9
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/LinearTwist.msg
@@ -0,0 +1,2 @@
+
+float32 linear
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/PayloadInformation.msg b/kortex_driver/msg/generated/control_config/PayloadInformation.msg
new file mode 100644
index 0000000..f60166e
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/PayloadInformation.msg
@@ -0,0 +1,3 @@
+
+float32 payload_mass
+ControlConfig_Position payload_mass_center
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/ToolConfiguration.msg b/kortex_driver/msg/generated/control_config/ToolConfiguration.msg
new file mode 100644
index 0000000..3174f45
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/ToolConfiguration.msg
@@ -0,0 +1,4 @@
+
+CartesianTransform tool_transform
+float32 tool_mass
+ControlConfig_Position tool_mass_center
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/TwistAngularSoftLimit.msg b/kortex_driver/msg/generated/control_config/TwistAngularSoftLimit.msg
new file mode 100644
index 0000000..9882e9c
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/TwistAngularSoftLimit.msg
@@ -0,0 +1,3 @@
+
+uint32 control_mode
+float32 twist_angular_soft_limit
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/control_config/TwistLinearSoftLimit.msg b/kortex_driver/msg/generated/control_config/TwistLinearSoftLimit.msg
new file mode 100644
index 0000000..7182135
--- /dev/null
+++ b/kortex_driver/msg/generated/control_config/TwistLinearSoftLimit.msg
@@ -0,0 +1,3 @@
+
+uint32 control_mode
+float32 twist_linear_soft_limit
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/BootloaderVersion.msg b/kortex_driver/msg/generated/device_config/BootloaderVersion.msg
new file mode 100644
index 0000000..1224490
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/BootloaderVersion.msg
@@ -0,0 +1,2 @@
+
+uint32 bootloader_version
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/Calibration.msg b/kortex_driver/msg/generated/device_config/Calibration.msg
new file mode 100644
index 0000000..9d8eda4
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/Calibration.msg
@@ -0,0 +1,3 @@
+
+uint32 calibration_item
+CalibrationParameter[] calibration_parameter
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/CalibrationElement.msg b/kortex_driver/msg/generated/device_config/CalibrationElement.msg
new file mode 100644
index 0000000..017bd56
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/CalibrationElement.msg
@@ -0,0 +1,2 @@
+
+uint32 calibration_item
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/CalibrationItem.msg b/kortex_driver/msg/generated/device_config/CalibrationItem.msg
new file mode 100644
index 0000000..5afadf7
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/CalibrationItem.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_CALIBRATION_ITEM = 0
+
+uint32 COGGING = 1
+
+uint32 MAGNETIC = 2
+
+uint32 MOTOR = 3
+
+uint32 POSITION_RANGE = 4
diff --git a/kortex_driver/msg/generated/device_config/CalibrationParameter.msg b/kortex_driver/msg/generated/device_config/CalibrationParameter.msg
new file mode 100644
index 0000000..f19b5b5
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/CalibrationParameter.msg
@@ -0,0 +1,3 @@
+
+uint32 calibration_parameter_identifier
+CalibrationParameter_value oneof_value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/CalibrationParameter_value.msg b/kortex_driver/msg/generated/device_config/CalibrationParameter_value.msg
new file mode 100644
index 0000000..12cff86
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/CalibrationParameter_value.msg
@@ -0,0 +1,4 @@
+
+uint32[] signedIntValue
+uint32[] unsignedIntValue
+uint32[] floatValue
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/CalibrationResult.msg b/kortex_driver/msg/generated/device_config/CalibrationResult.msg
new file mode 100644
index 0000000..d5047be
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/CalibrationResult.msg
@@ -0,0 +1,3 @@
+
+uint32 calibration_status
+uint32 calibration_details
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/CalibrationStatus.msg b/kortex_driver/msg/generated/device_config/CalibrationStatus.msg
new file mode 100644
index 0000000..25b3392
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/CalibrationStatus.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_CALIBRATION_STATUS = 0
+
+uint32 NOT_CALIBRATED = 1
+
+uint32 IN_PROGRESS = 2
+
+uint32 CALIBRATED = 3
+
+uint32 IN_FAULT = 4
diff --git a/kortex_driver/msg/generated/device_config/CapSenseRegister.msg b/kortex_driver/msg/generated/device_config/CapSenseRegister.msg
new file mode 100644
index 0000000..e42eb76
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/CapSenseRegister.msg
@@ -0,0 +1,3 @@
+
+uint32 address
+uint32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/DeviceConfig_CapSenseConfig.msg b/kortex_driver/msg/generated/device_config/DeviceConfig_CapSenseConfig.msg
new file mode 100644
index 0000000..cde8aea
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/DeviceConfig_CapSenseConfig.msg
@@ -0,0 +1,4 @@
+
+uint32 mode
+float32 threshold_a
+float32 threshold_b
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/DeviceConfig_CapSenseMode.msg b/kortex_driver/msg/generated/device_config/DeviceConfig_CapSenseMode.msg
new file mode 100644
index 0000000..5a7abc4
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/DeviceConfig_CapSenseMode.msg
@@ -0,0 +1,12 @@
+
+uint32 RESERVED = 0
+
+uint32 INACTIVE = 1
+
+uint32 ACTIVE_AUTO_THRESHOLD = 2
+
+uint32 ACTIVE_NOISE_ATT = 4
+
+uint32 ACTIVE_NORMAL = 5
+
+uint32 CONFIGURATION = 6
diff --git a/kortex_driver/msg/generated/device_config/DeviceConfig_SafetyLimitType.msg b/kortex_driver/msg/generated/device_config/DeviceConfig_SafetyLimitType.msg
new file mode 100644
index 0000000..f0beacf
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/DeviceConfig_SafetyLimitType.msg
@@ -0,0 +1,8 @@
+
+uint32 UNSPECIFIED_SAFETY_LIMIT_TYPE = 0
+
+uint32 MINIMAL_LIMIT = 1
+
+uint32 MAXIMAL_LIMIT = 2
+
+uint32 EVENT_LIMIT = 3
diff --git a/kortex_driver/msg/generated/device_config/DeviceConfig_ServiceVersion.msg b/kortex_driver/msg/generated/device_config/DeviceConfig_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/DeviceConfig_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/device_config/DeviceType.msg b/kortex_driver/msg/generated/device_config/DeviceType.msg
new file mode 100644
index 0000000..8206d5f
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/DeviceType.msg
@@ -0,0 +1,2 @@
+
+uint32 device_type
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/FirmwareVersion.msg b/kortex_driver/msg/generated/device_config/FirmwareVersion.msg
new file mode 100644
index 0000000..717c4f0
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/FirmwareVersion.msg
@@ -0,0 +1,2 @@
+
+uint32 firmware_version
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/IPv4Settings.msg b/kortex_driver/msg/generated/device_config/IPv4Settings.msg
new file mode 100644
index 0000000..bf67c15
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/IPv4Settings.msg
@@ -0,0 +1,4 @@
+
+uint32 ipv4_address
+uint32 ipv4_subnet_mask
+uint32 ipv4_default_gateway
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/MACAddress.msg b/kortex_driver/msg/generated/device_config/MACAddress.msg
new file mode 100644
index 0000000..02257b1
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/MACAddress.msg
@@ -0,0 +1,2 @@
+
+uint8[] mac_address
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/ModelNumber.msg b/kortex_driver/msg/generated/device_config/ModelNumber.msg
new file mode 100644
index 0000000..c9f4bde
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/ModelNumber.msg
@@ -0,0 +1,2 @@
+
+string model_number
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/PartNumber.msg b/kortex_driver/msg/generated/device_config/PartNumber.msg
new file mode 100644
index 0000000..1a664a0
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/PartNumber.msg
@@ -0,0 +1,2 @@
+
+string part_number
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/PartNumberRevision.msg b/kortex_driver/msg/generated/device_config/PartNumberRevision.msg
new file mode 100644
index 0000000..542f7cc
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/PartNumberRevision.msg
@@ -0,0 +1,2 @@
+
+string part_number_revision
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/PowerOnSelfTestResult.msg b/kortex_driver/msg/generated/device_config/PowerOnSelfTestResult.msg
new file mode 100644
index 0000000..f7c1b8f
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/PowerOnSelfTestResult.msg
@@ -0,0 +1,2 @@
+
+uint32 power_on_self_test_result
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/RebootRqst.msg b/kortex_driver/msg/generated/device_config/RebootRqst.msg
new file mode 100644
index 0000000..c590050
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/RebootRqst.msg
@@ -0,0 +1,2 @@
+
+uint32 delay
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/RunMode.msg b/kortex_driver/msg/generated/device_config/RunMode.msg
new file mode 100644
index 0000000..6cb4249
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/RunMode.msg
@@ -0,0 +1,2 @@
+
+uint32 run_mode
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/RunModes.msg b/kortex_driver/msg/generated/device_config/RunModes.msg
new file mode 100644
index 0000000..15c2a7d
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/RunModes.msg
@@ -0,0 +1,10 @@
+
+uint32 RUN_MODE = 0
+
+uint32 CALIBRATION_MODE = 1
+
+uint32 CONFIGURATION_MODE = 2
+
+uint32 DEBUG_MODE = 3
+
+uint32 TUNING_MODE = 4
diff --git a/kortex_driver/msg/generated/device_config/SafetyConfiguration.msg b/kortex_driver/msg/generated/device_config/SafetyConfiguration.msg
new file mode 100644
index 0000000..55cc2d3
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/SafetyConfiguration.msg
@@ -0,0 +1,5 @@
+
+SafetyHandle handle
+float32 error_threshold
+float32 warning_threshold
+SafetyEnable enable
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/SafetyConfigurationList.msg b/kortex_driver/msg/generated/device_config/SafetyConfigurationList.msg
new file mode 100644
index 0000000..463c33d
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/SafetyConfigurationList.msg
@@ -0,0 +1,2 @@
+
+SafetyConfiguration[] configuration
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/SafetyEnable.msg b/kortex_driver/msg/generated/device_config/SafetyEnable.msg
new file mode 100644
index 0000000..eacdd94
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/SafetyEnable.msg
@@ -0,0 +1,3 @@
+
+SafetyHandle handle
+bool enable
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/SafetyInformation.msg b/kortex_driver/msg/generated/device_config/SafetyInformation.msg
new file mode 100644
index 0000000..985096b
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/SafetyInformation.msg
@@ -0,0 +1,12 @@
+
+SafetyHandle handle
+bool can_change_safety_state
+bool has_warning_threshold
+bool has_error_threshold
+uint32 limit_type
+float32 default_warning_threshold
+float32 default_error_threshold
+float32 upper_hard_limit
+float32 lower_hard_limit
+uint32 status
+uint32 unit
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/SafetyInformationList.msg b/kortex_driver/msg/generated/device_config/SafetyInformationList.msg
new file mode 100644
index 0000000..976e2b8
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/SafetyInformationList.msg
@@ -0,0 +1,2 @@
+
+SafetyInformation[] information
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/SafetyStatus.msg b/kortex_driver/msg/generated/device_config/SafetyStatus.msg
new file mode 100644
index 0000000..129c5a3
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/SafetyStatus.msg
@@ -0,0 +1,2 @@
+
+uint32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/SafetyThreshold.msg b/kortex_driver/msg/generated/device_config/SafetyThreshold.msg
new file mode 100644
index 0000000..ba839ee
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/SafetyThreshold.msg
@@ -0,0 +1,3 @@
+
+SafetyHandle handle
+float32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_config/SerialNumber.msg b/kortex_driver/msg/generated/device_config/SerialNumber.msg
new file mode 100644
index 0000000..ac55995
--- /dev/null
+++ b/kortex_driver/msg/generated/device_config/SerialNumber.msg
@@ -0,0 +1,2 @@
+
+string serial_number
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_manager/DeviceHandles.msg b/kortex_driver/msg/generated/device_manager/DeviceHandles.msg
new file mode 100644
index 0000000..7ce75ef
--- /dev/null
+++ b/kortex_driver/msg/generated/device_manager/DeviceHandles.msg
@@ -0,0 +1,2 @@
+
+DeviceHandle[] device_handle
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/device_manager/DeviceManager_ServiceVersion.msg b/kortex_driver/msg/generated/device_manager/DeviceManager_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/device_manager/DeviceManager_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/gripper_config/GripperConfig_SafetyIdentifier.msg b/kortex_driver/msg/generated/gripper_config/GripperConfig_SafetyIdentifier.msg
new file mode 100644
index 0000000..d16957a
--- /dev/null
+++ b/kortex_driver/msg/generated/gripper_config/GripperConfig_SafetyIdentifier.msg
@@ -0,0 +1,20 @@
+
+uint32 UNSPECIFIED_ACTUATOR_SAFETY_IDENTIFIER = 0
+
+uint32 MAXIMUM_MOTOR_CURRENT = 1
+
+uint32 MAXIMUM_VOLTAGE = 2
+
+uint32 MINIMUM_VOLTAGE = 4
+
+uint32 MAXIMUM_MOTOR_TEMPERATURE = 8
+
+uint32 MAXIMUM_CORE_TEMPERATURE = 16
+
+uint32 NON_VOLATILE_MEMORY_CORRUPTED = 32
+
+uint32 EMERGENCY_LINE_ASSERTED = 64
+
+uint32 COMMUNICATION_TICK_LOST = 128
+
+uint32 WATCHDOG_TRIGGERED = 256
diff --git a/kortex_driver/msg/generated/gripper_config/RobotiqGripperStatusFlags.msg b/kortex_driver/msg/generated/gripper_config/RobotiqGripperStatusFlags.msg
new file mode 100644
index 0000000..f4f1458
--- /dev/null
+++ b/kortex_driver/msg/generated/gripper_config/RobotiqGripperStatusFlags.msg
@@ -0,0 +1,10 @@
+
+uint32 UNSPECIFIED_ROBOTIQ_STATUS = 0
+
+uint32 ROBOTIQ_STAT_INITIALIZED = 1
+
+uint32 ROBOTIQ_STAT_OBJECT_DETECTED = 2
+
+uint32 ROBOTIQ_STAT_POS_REACHED = 4
+
+uint32 ROBOTIQ_STAT_STOPPED = 8
diff --git a/kortex_driver/msg/generated/gripper_cyclic/CustomDataUnit.msg b/kortex_driver/msg/generated/gripper_cyclic/CustomDataUnit.msg
new file mode 100644
index 0000000..7cfb944
--- /dev/null
+++ b/kortex_driver/msg/generated/gripper_cyclic/CustomDataUnit.msg
@@ -0,0 +1,17 @@
+
+uint32 custom_data_0
+uint32 custom_data_1
+uint32 custom_data_2
+uint32 custom_data_3
+uint32 custom_data_4
+uint32 custom_data_5
+uint32 custom_data_6
+uint32 custom_data_7
+uint32 custom_data_8
+uint32 custom_data_9
+uint32 custom_data_10
+uint32 custom_data_11
+uint32 custom_data_12
+uint32 custom_data_13
+uint32 custom_data_14
+uint32 custom_data_15
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_Command.msg b/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_Command.msg
new file mode 100644
index 0000000..ff2311a
--- /dev/null
+++ b/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_Command.msg
@@ -0,0 +1,4 @@
+
+GripperCyclic_MessageId command_id
+uint32 flags
+MotorCommand[] motor_cmd
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_CustomData.msg b/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_CustomData.msg
new file mode 100644
index 0000000..0574768
--- /dev/null
+++ b/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_CustomData.msg
@@ -0,0 +1,4 @@
+
+GripperCyclic_MessageId custom_data_id
+CustomDataUnit gripper_custom_data
+CustomDataUnit[] motor_custom_data
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_Feedback.msg b/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_Feedback.msg
new file mode 100644
index 0000000..4089f06
--- /dev/null
+++ b/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_Feedback.msg
@@ -0,0 +1,8 @@
+
+GripperCyclic_MessageId feedback_id
+uint32 status_flags
+uint32 fault_bank_a
+uint32 fault_bank_b
+uint32 warning_bank_a
+uint32 warning_bank_b
+MotorFeedback[] motor
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_MessageId.msg b/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_MessageId.msg
new file mode 100644
index 0000000..9d1731b
--- /dev/null
+++ b/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_MessageId.msg
@@ -0,0 +1,2 @@
+
+uint32 identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_ServiceVersion.msg b/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/gripper_cyclic/GripperCyclic_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/gripper_cyclic/MotorCommand.msg b/kortex_driver/msg/generated/gripper_cyclic/MotorCommand.msg
new file mode 100644
index 0000000..977af07
--- /dev/null
+++ b/kortex_driver/msg/generated/gripper_cyclic/MotorCommand.msg
@@ -0,0 +1,5 @@
+
+uint32 motor_id
+float32 position
+float32 velocity
+float32 force
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/gripper_cyclic/MotorFeedback.msg b/kortex_driver/msg/generated/gripper_cyclic/MotorFeedback.msg
new file mode 100644
index 0000000..e83cf2e
--- /dev/null
+++ b/kortex_driver/msg/generated/gripper_cyclic/MotorFeedback.msg
@@ -0,0 +1,7 @@
+
+uint32 motor_id
+float32 position
+float32 velocity
+float32 current_motor
+float32 voltage
+float32 temperature_motor
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/EthernetConfiguration.msg b/kortex_driver/msg/generated/interconnect_config/EthernetConfiguration.msg
new file mode 100644
index 0000000..9051405
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/EthernetConfiguration.msg
@@ -0,0 +1,5 @@
+
+uint32 device
+bool enabled
+uint32 speed
+uint32 duplex
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/EthernetDevice.msg b/kortex_driver/msg/generated/interconnect_config/EthernetDevice.msg
new file mode 100644
index 0000000..9c9173f
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/EthernetDevice.msg
@@ -0,0 +1,4 @@
+
+uint32 ETHERNET_DEVICE_UNSPECIFIED = 0
+
+uint32 ETHERNET_DEVICE_EXPANSION = 1
diff --git a/kortex_driver/msg/generated/interconnect_config/EthernetDeviceIdentification.msg b/kortex_driver/msg/generated/interconnect_config/EthernetDeviceIdentification.msg
new file mode 100644
index 0000000..bf7c80e
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/EthernetDeviceIdentification.msg
@@ -0,0 +1,2 @@
+
+uint32 device
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/EthernetDuplex.msg b/kortex_driver/msg/generated/interconnect_config/EthernetDuplex.msg
new file mode 100644
index 0000000..a3de1c5
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/EthernetDuplex.msg
@@ -0,0 +1,6 @@
+
+uint32 ETHERNET_DUPLEX_UNSPECIFIED = 0
+
+uint32 ETHERNET_DUPLEX_HALF = 1
+
+uint32 ETHERNET_DUPLEX_FULL = 2
diff --git a/kortex_driver/msg/generated/interconnect_config/EthernetSpeed.msg b/kortex_driver/msg/generated/interconnect_config/EthernetSpeed.msg
new file mode 100644
index 0000000..fe5e4d7
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/EthernetSpeed.msg
@@ -0,0 +1,6 @@
+
+uint32 ETHERNET_SPEED_UNSPECIFIED = 0
+
+uint32 ETHERNET_SPEED_10M = 1
+
+uint32 ETHERNET_SPEED_100M = 2
diff --git a/kortex_driver/msg/generated/interconnect_config/GPIOConfiguration.msg b/kortex_driver/msg/generated/interconnect_config/GPIOConfiguration.msg
new file mode 100644
index 0000000..578cc66
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/GPIOConfiguration.msg
@@ -0,0 +1,5 @@
+
+uint32 identifier
+uint32 mode
+uint32 pull
+uint32 default_value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/GPIOIdentification.msg b/kortex_driver/msg/generated/interconnect_config/GPIOIdentification.msg
new file mode 100644
index 0000000..9d1731b
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/GPIOIdentification.msg
@@ -0,0 +1,2 @@
+
+uint32 identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/GPIOIdentifier.msg b/kortex_driver/msg/generated/interconnect_config/GPIOIdentifier.msg
new file mode 100644
index 0000000..017720c
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/GPIOIdentifier.msg
@@ -0,0 +1,10 @@
+
+uint32 GPIO_IDENTIFIER_UNSPECIFIED = 0
+
+uint32 GPIO_IDENTIFIER_1 = 1
+
+uint32 GPIO_IDENTIFIER_2 = 2
+
+uint32 GPIO_IDENTIFIER_3 = 3
+
+uint32 GPIO_IDENTIFIER_4 = 4
diff --git a/kortex_driver/msg/generated/interconnect_config/GPIOMode.msg b/kortex_driver/msg/generated/interconnect_config/GPIOMode.msg
new file mode 100644
index 0000000..42b05ff
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/GPIOMode.msg
@@ -0,0 +1,8 @@
+
+uint32 GPIO_MODE_UNSPECIFIED = 0
+
+uint32 GPIO_MODE_INPUT_FLOATING = 1
+
+uint32 GPIO_MODE_OUTPUT_PUSH_PULL = 2
+
+uint32 GPIO_MODE_OUTPUT_OPEN_DRAIN = 3
diff --git a/kortex_driver/msg/generated/interconnect_config/GPIOPull.msg b/kortex_driver/msg/generated/interconnect_config/GPIOPull.msg
new file mode 100644
index 0000000..138ce14
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/GPIOPull.msg
@@ -0,0 +1,8 @@
+
+uint32 GPIO_PULL_UNSPECIFIED = 0
+
+uint32 GPIO_PULL_NONE = 1
+
+uint32 GPIO_PULL_UP = 2
+
+uint32 GPIO_PULL_DOWN = 3
diff --git a/kortex_driver/msg/generated/interconnect_config/GPIOState.msg b/kortex_driver/msg/generated/interconnect_config/GPIOState.msg
new file mode 100644
index 0000000..ca65637
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/GPIOState.msg
@@ -0,0 +1,3 @@
+
+uint32 identifier
+uint32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/GPIOValue.msg b/kortex_driver/msg/generated/interconnect_config/GPIOValue.msg
new file mode 100644
index 0000000..ac352ad
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/GPIOValue.msg
@@ -0,0 +1,6 @@
+
+uint32 GPIO_VALUE_UNSPECIFIED = 0
+
+uint32 GPIO_VALUE_LOW = 1
+
+uint32 GPIO_VALUE_HIGH = 2
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CConfiguration.msg b/kortex_driver/msg/generated/interconnect_config/I2CConfiguration.msg
new file mode 100644
index 0000000..c751857
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CConfiguration.msg
@@ -0,0 +1,5 @@
+
+uint32 device
+bool enabled
+uint32 mode
+uint32 addressing
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CData.msg b/kortex_driver/msg/generated/interconnect_config/I2CData.msg
new file mode 100644
index 0000000..60dc377
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CData.msg
@@ -0,0 +1,3 @@
+
+uint8[] data
+uint32 size
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CDevice.msg b/kortex_driver/msg/generated/interconnect_config/I2CDevice.msg
new file mode 100644
index 0000000..031e6cd
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CDevice.msg
@@ -0,0 +1,4 @@
+
+uint32 I2C_DEVICE_UNSPECIFIED = 0
+
+uint32 I2C_DEVICE_EXPANSION = 1
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CDeviceAddressing.msg b/kortex_driver/msg/generated/interconnect_config/I2CDeviceAddressing.msg
new file mode 100644
index 0000000..7a509d0
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CDeviceAddressing.msg
@@ -0,0 +1,6 @@
+
+uint32 I2C_DEVICE_ADDRESSING_UNSPECIFIED = 0
+
+uint32 I2C_DEVICE_ADDRESSING_7_BITS = 1
+
+uint32 I2C_DEVICE_ADDRESSING_10_BITS = 2
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CDeviceIdentification.msg b/kortex_driver/msg/generated/interconnect_config/I2CDeviceIdentification.msg
new file mode 100644
index 0000000..bf7c80e
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CDeviceIdentification.msg
@@ -0,0 +1,2 @@
+
+uint32 device
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CMode.msg b/kortex_driver/msg/generated/interconnect_config/I2CMode.msg
new file mode 100644
index 0000000..a846ebe
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CMode.msg
@@ -0,0 +1,8 @@
+
+uint32 I2C_MODE_UNSPECIFIED = 0
+
+uint32 I2C_MODE_STANDARD = 1
+
+uint32 I2C_MODE_FAST = 2
+
+uint32 I2C_MODE_FAST_PLUS = 3
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CReadParameter.msg b/kortex_driver/msg/generated/interconnect_config/I2CReadParameter.msg
new file mode 100644
index 0000000..f8c3bce
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CReadParameter.msg
@@ -0,0 +1,5 @@
+
+uint32 device
+uint32 device_address
+uint32 size
+uint32 timeout
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CReadRegisterParameter.msg b/kortex_driver/msg/generated/interconnect_config/I2CReadRegisterParameter.msg
new file mode 100644
index 0000000..81f8519
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CReadRegisterParameter.msg
@@ -0,0 +1,7 @@
+
+uint32 device
+uint32 device_address
+uint32 register_address
+uint32 register_address_size
+uint32 size
+uint32 timeout
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CRegisterAddressSize.msg b/kortex_driver/msg/generated/interconnect_config/I2CRegisterAddressSize.msg
new file mode 100644
index 0000000..6a1d0f3
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CRegisterAddressSize.msg
@@ -0,0 +1,6 @@
+
+uint32 I2C_REGISTER_ADDRESS_SIZE_UNSPECIFIED = 0
+
+uint32 I2C_REGISTER_ADDRESS_SIZE_8_BITS = 1
+
+uint32 I2C_REGISTER_ADDRESS_SIZE_16_BITS = 2
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CWriteParameter.msg b/kortex_driver/msg/generated/interconnect_config/I2CWriteParameter.msg
new file mode 100644
index 0000000..65147e4
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CWriteParameter.msg
@@ -0,0 +1,5 @@
+
+uint32 device
+uint32 device_address
+uint32 timeout
+I2CData data
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/I2CWriteRegisterParameter.msg b/kortex_driver/msg/generated/interconnect_config/I2CWriteRegisterParameter.msg
new file mode 100644
index 0000000..26abaed
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/I2CWriteRegisterParameter.msg
@@ -0,0 +1,7 @@
+
+uint32 device
+uint32 device_address
+uint32 register_address
+uint32 register_address_size
+uint32 timeout
+I2CData data
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_config/InterconnectConfig_SafetyIdentifier.msg b/kortex_driver/msg/generated/interconnect_config/InterconnectConfig_SafetyIdentifier.msg
new file mode 100644
index 0000000..9dd7f85
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/InterconnectConfig_SafetyIdentifier.msg
@@ -0,0 +1,20 @@
+
+uint32 UNSPECIFIED_INTERCONNECT_SAFETY_IDENTIFIER = 0
+
+uint32 MAXIMUM_MOTOR_CURRENT = 1
+
+uint32 MAXIMUM_VOLTAGE = 2
+
+uint32 MINIMUM_VOLTAGE = 4
+
+uint32 MAXIMUM_MOTOR_TEMPERATURE = 8
+
+uint32 MAXIMUM_CORE_TEMPERATURE = 16
+
+uint32 NON_VOLATILE_MEMORY_CORRUPTED = 32
+
+uint32 EMERGENCY_LINE_ASSERTED = 64
+
+uint32 COMMUNICATION_TICK_LOST = 128
+
+uint32 WATCHDOG_TRIGGERED = 256
diff --git a/kortex_driver/msg/generated/interconnect_config/InterconnectConfig_ServiceVersion.msg b/kortex_driver/msg/generated/interconnect_config/InterconnectConfig_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/InterconnectConfig_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/interconnect_config/UARTPortId.msg b/kortex_driver/msg/generated/interconnect_config/UARTPortId.msg
new file mode 100644
index 0000000..b9b3071
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_config/UARTPortId.msg
@@ -0,0 +1,4 @@
+
+uint32 UART_PORT_UNSPECIFIED = 0
+
+uint32 UART_PORT_EXPANSION = 1
diff --git a/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Command.msg b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Command.msg
new file mode 100644
index 0000000..3b6ebb5
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Command.msg
@@ -0,0 +1,4 @@
+
+InterconnectCyclic_MessageId command_id
+uint32 flags
+InterconnectCyclic_Command_tool_command oneof_tool_command
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Command_tool_command.msg b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Command_tool_command.msg
new file mode 100644
index 0000000..e02acb6
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Command_tool_command.msg
@@ -0,0 +1,2 @@
+
+GripperCyclic_Command[] gripper_command
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_CustomData.msg b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_CustomData.msg
new file mode 100644
index 0000000..f400bbb
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_CustomData.msg
@@ -0,0 +1,19 @@
+
+InterconnectCyclic_MessageId custom_data_id
+uint32 custom_data_0
+uint32 custom_data_1
+uint32 custom_data_2
+uint32 custom_data_3
+uint32 custom_data_4
+uint32 custom_data_5
+uint32 custom_data_6
+uint32 custom_data_7
+uint32 custom_data_8
+uint32 custom_data_9
+uint32 custom_data_10
+uint32 custom_data_11
+uint32 custom_data_12
+uint32 custom_data_13
+uint32 custom_data_14
+uint32 custom_data_15
+InterconnectCyclic_CustomData_tool_customData oneof_tool_customData
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_CustomData_tool_customData.msg b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_CustomData_tool_customData.msg
new file mode 100644
index 0000000..4ed91af
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_CustomData_tool_customData.msg
@@ -0,0 +1,2 @@
+
+GripperCyclic_CustomData[] gripper_custom_data
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Feedback.msg b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Feedback.msg
new file mode 100644
index 0000000..f272bc4
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Feedback.msg
@@ -0,0 +1,17 @@
+
+InterconnectCyclic_MessageId feedback_id
+uint32 status_flags
+uint32 jitter_comm
+float32 imu_acceleration_x
+float32 imu_acceleration_y
+float32 imu_acceleration_z
+float32 imu_angular_velocity_x
+float32 imu_angular_velocity_y
+float32 imu_angular_velocity_z
+float32 voltage
+float32 temperature_core
+uint32 fault_bank_a
+uint32 fault_bank_b
+uint32 warning_bank_a
+uint32 warning_bank_b
+InterconnectCyclic_Feedback_tool_feedback oneof_tool_feedback
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Feedback_tool_feedback.msg b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Feedback_tool_feedback.msg
new file mode 100644
index 0000000..956ed28
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_Feedback_tool_feedback.msg
@@ -0,0 +1,2 @@
+
+GripperCyclic_Feedback[] gripper_feedback
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_MessageId.msg b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_MessageId.msg
new file mode 100644
index 0000000..9d1731b
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_MessageId.msg
@@ -0,0 +1,2 @@
+
+uint32 identifier
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_ServiceVersion.msg b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/interconnect_cyclic/InterconnectCyclic_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/product_configuration/ArmLaterality.msg b/kortex_driver/msg/generated/product_configuration/ArmLaterality.msg
new file mode 100644
index 0000000..b4d05a6
--- /dev/null
+++ b/kortex_driver/msg/generated/product_configuration/ArmLaterality.msg
@@ -0,0 +1,8 @@
+
+uint32 ARM_LATERALITY_UNSPECIFIED = 0
+
+uint32 ARM_LATERALITY_NOT_APPLICABLE = 1
+
+uint32 ARM_LATERALITY_LEFT = 2
+
+uint32 ARM_LATERALITY_RIGHT = 3
diff --git a/kortex_driver/msg/generated/product_configuration/BaseType.msg b/kortex_driver/msg/generated/product_configuration/BaseType.msg
new file mode 100644
index 0000000..6bbf9d0
--- /dev/null
+++ b/kortex_driver/msg/generated/product_configuration/BaseType.msg
@@ -0,0 +1,10 @@
+
+uint32 BASE_TYPE_UNSPECIFIED = 0
+
+uint32 BASE_TYPE_L53_QUICK_CONNECT = 1
+
+uint32 BASE_TYPE_L53_FIXED = 2
+
+uint32 BASE_TYPE_L31_FIXED = 3
+
+uint32 BASE_TYPE_HDK_FIXED = 4
diff --git a/kortex_driver/msg/generated/product_configuration/CompleteProductConfiguration.msg b/kortex_driver/msg/generated/product_configuration/CompleteProductConfiguration.msg
new file mode 100644
index 0000000..9a1db22
--- /dev/null
+++ b/kortex_driver/msg/generated/product_configuration/CompleteProductConfiguration.msg
@@ -0,0 +1,13 @@
+
+string kin
+uint32 model
+CountryCode country_code
+string assembly_plant
+string model_year
+uint32 degree_of_freedom
+uint32 base_type
+uint32 end_effector_type
+uint32 vision_module_type
+uint32 interface_module_type
+uint32 arm_laterality
+uint32 wrist_type
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/product_configuration/EndEffectorType.msg b/kortex_driver/msg/generated/product_configuration/EndEffectorType.msg
new file mode 100644
index 0000000..5cba4e9
--- /dev/null
+++ b/kortex_driver/msg/generated/product_configuration/EndEffectorType.msg
@@ -0,0 +1,10 @@
+
+uint32 END_EFFECTOR_TYPE_UNSPECIFIED = 0
+
+uint32 END_EFFECTOR_TYPE_NOT_INSTALLED = 1
+
+uint32 END_EFFECTOR_TYPE_L31_GRIPPER_2F = 2
+
+uint32 END_EFFECTOR_TYPE_ROBOTIQ_2F_85 = 3
+
+uint32 END_EFFECTOR_TYPE_ROBOTIQ_2F_140 = 4
diff --git a/kortex_driver/msg/generated/product_configuration/InterfaceModuleType.msg b/kortex_driver/msg/generated/product_configuration/InterfaceModuleType.msg
new file mode 100644
index 0000000..b998368
--- /dev/null
+++ b/kortex_driver/msg/generated/product_configuration/InterfaceModuleType.msg
@@ -0,0 +1,8 @@
+
+uint32 INTERFACE_MODULE_TYPE_UNSPECIFIED = 0
+
+uint32 INTERFACE_MODULE_TYPE_NOT_INSTALLED = 1
+
+uint32 INTERFACE_MODULE_TYPE_L53 = 2
+
+uint32 INTERFACE_MODULE_TYPE_L31 = 3
diff --git a/kortex_driver/msg/generated/product_configuration/ModelId.msg b/kortex_driver/msg/generated/product_configuration/ModelId.msg
new file mode 100644
index 0000000..568a4da
--- /dev/null
+++ b/kortex_driver/msg/generated/product_configuration/ModelId.msg
@@ -0,0 +1,8 @@
+
+uint32 MODEL_ID_UNSPECIFIED = 0
+
+uint32 MODEL_ID_L53 = 1
+
+uint32 MODEL_ID_L31 = 2
+
+uint32 MODEL_ID_HDK = 3
diff --git a/kortex_driver/msg/generated/product_configuration/ProductConfigurationEndEffectorType.msg b/kortex_driver/msg/generated/product_configuration/ProductConfigurationEndEffectorType.msg
new file mode 100644
index 0000000..fc2a2b9
--- /dev/null
+++ b/kortex_driver/msg/generated/product_configuration/ProductConfigurationEndEffectorType.msg
@@ -0,0 +1,2 @@
+
+uint32 end_effector_type
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/product_configuration/VisionModuleType.msg b/kortex_driver/msg/generated/product_configuration/VisionModuleType.msg
new file mode 100644
index 0000000..0bf5598
--- /dev/null
+++ b/kortex_driver/msg/generated/product_configuration/VisionModuleType.msg
@@ -0,0 +1,10 @@
+
+uint32 VISION_MODULE_TYPE_UNSPECIFIED = 0
+
+uint32 VISION_MODULE_TYPE_NOT_INSTALLED = 1
+
+uint32 VISION_MODULE_TYPE_L53_2D3D = 2
+
+uint32 VISION_MODULE_TYPE_L53_2D = 3
+
+uint32 VISION_MODULE_TYPE_EOD = 4
diff --git a/kortex_driver/msg/generated/product_configuration/WristType.msg b/kortex_driver/msg/generated/product_configuration/WristType.msg
new file mode 100644
index 0000000..27b86e0
--- /dev/null
+++ b/kortex_driver/msg/generated/product_configuration/WristType.msg
@@ -0,0 +1,8 @@
+
+uint32 WRIST_TYPE_UNSPECIFIED = 0
+
+uint32 WRIST_TYPE_NOT_APPLICABLE = 1
+
+uint32 WRIST_TYPE_SPHERICAL = 2
+
+uint32 WRIST_TYPE_CURVED = 3
diff --git a/kortex_driver/msg/generated/vision_config/BitRate.msg b/kortex_driver/msg/generated/vision_config/BitRate.msg
new file mode 100644
index 0000000..4959606
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/BitRate.msg
@@ -0,0 +1,10 @@
+
+uint32 BITRATE_UNSPECIFIED = 0
+
+uint32 BITRATE_10_MBPS = 1
+
+uint32 BITRATE_15_MBPS = 2
+
+uint32 BITRATE_20_MBPS = 3
+
+uint32 BITRATE_25_MBPS = 4
diff --git a/kortex_driver/msg/generated/vision_config/DistortionCoefficients.msg b/kortex_driver/msg/generated/vision_config/DistortionCoefficients.msg
new file mode 100644
index 0000000..2cc41e6
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/DistortionCoefficients.msg
@@ -0,0 +1,6 @@
+
+float32 k1
+float32 k2
+float32 k3
+float32 p1
+float32 p2
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/ExtrinsicParameters.msg b/kortex_driver/msg/generated/vision_config/ExtrinsicParameters.msg
new file mode 100644
index 0000000..5d82663
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/ExtrinsicParameters.msg
@@ -0,0 +1,3 @@
+
+VisionConfig_RotationMatrix rotation
+TranslationVector translation
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/FocusAction.msg b/kortex_driver/msg/generated/vision_config/FocusAction.msg
new file mode 100644
index 0000000..f7d1b34
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/FocusAction.msg
@@ -0,0 +1,14 @@
+
+uint32 FOCUSACTION_UNSPECIFIED = 0
+
+uint32 FOCUSACTION_START_CONTINUOUS_FOCUS = 1
+
+uint32 FOCUSACTION_PAUSE_CONTINUOUS_FOCUS = 2
+
+uint32 FOCUSACTION_FOCUS_NOW = 3
+
+uint32 FOCUSACTION_DISABLE_FOCUS = 4
+
+uint32 FOCUSACTION_SET_FOCUS_POINT = 5
+
+uint32 FOCUSACTION_SET_MANUAL_FOCUS = 6
diff --git a/kortex_driver/msg/generated/vision_config/FocusPoint.msg b/kortex_driver/msg/generated/vision_config/FocusPoint.msg
new file mode 100644
index 0000000..1c99030
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/FocusPoint.msg
@@ -0,0 +1,3 @@
+
+uint32 x
+uint32 y
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/FrameRate.msg b/kortex_driver/msg/generated/vision_config/FrameRate.msg
new file mode 100644
index 0000000..1f3368d
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/FrameRate.msg
@@ -0,0 +1,8 @@
+
+uint32 FRAMERATE_UNSPECIFIED = 0
+
+uint32 FRAMERATE_6_FPS = 1
+
+uint32 FRAMERATE_15_FPS = 2
+
+uint32 FRAMERATE_30_FPS = 3
diff --git a/kortex_driver/msg/generated/vision_config/IntrinsicParameters.msg b/kortex_driver/msg/generated/vision_config/IntrinsicParameters.msg
new file mode 100644
index 0000000..d7ab6f9
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/IntrinsicParameters.msg
@@ -0,0 +1,8 @@
+
+uint32 sensor
+uint32 resolution
+float32 principal_point_x
+float32 principal_point_y
+float32 focal_length_x
+float32 focal_length_y
+DistortionCoefficients distortion_coeffs
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/IntrinsicProfileIdentifier.msg b/kortex_driver/msg/generated/vision_config/IntrinsicProfileIdentifier.msg
new file mode 100644
index 0000000..7655bab
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/IntrinsicProfileIdentifier.msg
@@ -0,0 +1,3 @@
+
+uint32 sensor
+uint32 resolution
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/ManualFocus.msg b/kortex_driver/msg/generated/vision_config/ManualFocus.msg
new file mode 100644
index 0000000..129c5a3
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/ManualFocus.msg
@@ -0,0 +1,2 @@
+
+uint32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/Option.msg b/kortex_driver/msg/generated/vision_config/Option.msg
new file mode 100644
index 0000000..aa509db
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/Option.msg
@@ -0,0 +1,86 @@
+
+uint32 OPTION_UNSPECIFIED = 0
+
+uint32 OPTION_BACKLIGHT_COMPENSATION = 1
+
+uint32 OPTION_BRIGHTNESS = 2
+
+uint32 OPTION_CONTRAST = 3
+
+uint32 OPTION_EXPOSURE = 4
+
+uint32 OPTION_GAIN = 5
+
+uint32 OPTION_GAMMA = 6
+
+uint32 OPTION_HUE = 7
+
+uint32 OPTION_SATURATION = 8
+
+uint32 OPTION_SHARPNESS = 9
+
+uint32 OPTION_WHITE_BALANCE = 10
+
+uint32 OPTION_ENABLE_AUTO_EXPOSURE = 11
+
+uint32 OPTION_ENABLE_AUTO_WHITE_BALANCE = 12
+
+uint32 OPTION_VISUAL_PRESET = 13
+
+uint32 OPTION_LASER_POWER = 14
+
+uint32 OPTION_ACCURACY = 15
+
+uint32 OPTION_MOTION_RANGE = 16
+
+uint32 OPTION_FILTER_OPTION = 17
+
+uint32 OPTION_CONFIDENCE_THRESHOLD = 18
+
+uint32 OPTION_EMITTER_ENABLED = 19
+
+uint32 OPTION_FRAMES_QUEUE_SIZE = 20
+
+uint32 OPTION_TOTAL_FRAME_DROPS = 21
+
+uint32 OPTION_AUTO_EXPOSURE_MODE = 22
+
+uint32 OPTION_POWER_LINE_FREQUENCY = 23
+
+uint32 OPTION_ASIC_TEMPERATURE = 24
+
+uint32 OPTION_ERROR_POLLING_ENABLED = 25
+
+uint32 OPTION_PROJECTOR_TEMPERATURE = 26
+
+uint32 OPTION_OUTPUT_TRIGGER_ENABLED = 27
+
+uint32 OPTION_MOTION_MODULE_TEMPERATURE = 28
+
+uint32 OPTION_DEPTH_UNITS = 29
+
+uint32 OPTION_ENABLE_MOTION_CORRECTION = 30
+
+uint32 OPTION_AUTO_EXPOSURE_PRIORITY = 31
+
+uint32 OPTION_COLOR_SCHEME = 32
+
+uint32 OPTION_HISTOGRAM_EQUALIZATION_ENABLED = 33
+
+uint32 OPTION_MIN_DISTANCE = 34
+
+uint32 OPTION_MAX_DISTANCE = 35
+
+uint32 OPTION_TEXTURE_SOURCE = 36
+
+uint32 OPTION_FILTER_MAGNITUDE = 37
+
+uint32 OPTION_FILTER_SMOOTH_ALPHA = 38
+
+uint32 OPTION_FILTER_SMOOTH_DELTA = 39
+
+uint32 OPTION_HOLES_FILL = 40
+
+uint32 OPTION_STEREO_BASELINE = 41
+
+uint32 OPTION_AUTO_EXPOSURE_CONVERGE_STEP = 42
diff --git a/kortex_driver/msg/generated/vision_config/OptionIdentifier.msg b/kortex_driver/msg/generated/vision_config/OptionIdentifier.msg
new file mode 100644
index 0000000..4d75db5
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/OptionIdentifier.msg
@@ -0,0 +1,3 @@
+
+uint32 sensor
+uint32 option
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/OptionInformation.msg b/kortex_driver/msg/generated/vision_config/OptionInformation.msg
new file mode 100644
index 0000000..c70843e
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/OptionInformation.msg
@@ -0,0 +1,9 @@
+
+uint32 sensor
+uint32 option
+bool supported
+bool read_only
+float32 minimum
+float32 maximum
+float32 step
+float32 default_value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/OptionValue.msg b/kortex_driver/msg/generated/vision_config/OptionValue.msg
new file mode 100644
index 0000000..dd64fe7
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/OptionValue.msg
@@ -0,0 +1,4 @@
+
+uint32 sensor
+uint32 option
+float32 value
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/Resolution.msg b/kortex_driver/msg/generated/vision_config/Resolution.msg
new file mode 100644
index 0000000..d0901c9
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/Resolution.msg
@@ -0,0 +1,14 @@
+
+uint32 RESOLUTION_UNSPECIFIED = 0
+
+uint32 RESOLUTION_320x240 = 1
+
+uint32 RESOLUTION_424x240 = 2
+
+uint32 RESOLUTION_480x270 = 3
+
+uint32 RESOLUTION_640x480 = 4
+
+uint32 RESOLUTION_1280x720 = 5
+
+uint32 RESOLUTION_1920x1080 = 6
diff --git a/kortex_driver/msg/generated/vision_config/Sensor.msg b/kortex_driver/msg/generated/vision_config/Sensor.msg
new file mode 100644
index 0000000..193ad1f
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/Sensor.msg
@@ -0,0 +1,6 @@
+
+uint32 SENSOR_UNSPECIFIED = 0
+
+uint32 SENSOR_COLOR = 1
+
+uint32 SENSOR_DEPTH = 2
diff --git a/kortex_driver/msg/generated/vision_config/SensorFocusAction.msg b/kortex_driver/msg/generated/vision_config/SensorFocusAction.msg
new file mode 100644
index 0000000..61ce96a
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/SensorFocusAction.msg
@@ -0,0 +1,4 @@
+
+uint32 sensor
+uint32 focus_action
+SensorFocusAction_action_parameters oneof_action_parameters
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/SensorFocusAction_action_parameters.msg b/kortex_driver/msg/generated/vision_config/SensorFocusAction_action_parameters.msg
new file mode 100644
index 0000000..d05778b
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/SensorFocusAction_action_parameters.msg
@@ -0,0 +1,3 @@
+
+FocusPoint[] focus_point
+ManualFocus[] manual_focus
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/SensorIdentifier.msg b/kortex_driver/msg/generated/vision_config/SensorIdentifier.msg
new file mode 100644
index 0000000..b2bb9d9
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/SensorIdentifier.msg
@@ -0,0 +1,2 @@
+
+uint32 sensor
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/SensorSettings.msg b/kortex_driver/msg/generated/vision_config/SensorSettings.msg
new file mode 100644
index 0000000..e1d8c8a
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/SensorSettings.msg
@@ -0,0 +1,5 @@
+
+uint32 sensor
+uint32 resolution
+uint32 frame_rate
+uint32 bit_rate
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/TranslationVector.msg b/kortex_driver/msg/generated/vision_config/TranslationVector.msg
new file mode 100644
index 0000000..9d359dc
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/TranslationVector.msg
@@ -0,0 +1,4 @@
+
+float32 t_x
+float32 t_y
+float32 t_z
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/VisionConfig_RotationMatrix.msg b/kortex_driver/msg/generated/vision_config/VisionConfig_RotationMatrix.msg
new file mode 100644
index 0000000..58c1b4e
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/VisionConfig_RotationMatrix.msg
@@ -0,0 +1,4 @@
+
+VisionConfig_RotationMatrixRow row1
+VisionConfig_RotationMatrixRow row2
+VisionConfig_RotationMatrixRow row3
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/VisionConfig_RotationMatrixRow.msg b/kortex_driver/msg/generated/vision_config/VisionConfig_RotationMatrixRow.msg
new file mode 100644
index 0000000..a389a4e
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/VisionConfig_RotationMatrixRow.msg
@@ -0,0 +1,4 @@
+
+float32 column1
+float32 column2
+float32 column3
\ No newline at end of file
diff --git a/kortex_driver/msg/generated/vision_config/VisionConfig_ServiceVersion.msg b/kortex_driver/msg/generated/vision_config/VisionConfig_ServiceVersion.msg
new file mode 100644
index 0000000..9665d1c
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/VisionConfig_ServiceVersion.msg
@@ -0,0 +1,4 @@
+
+uint32 RESERVED_0 = 0
+
+uint32 CURRENT_VERSION = 1
diff --git a/kortex_driver/msg/generated/vision_config/VisionEvent.msg b/kortex_driver/msg/generated/vision_config/VisionEvent.msg
new file mode 100644
index 0000000..65d7bd4
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/VisionEvent.msg
@@ -0,0 +1,6 @@
+
+uint32 UNSPECIFIED_VISION_EVENT = 0
+
+uint32 SENSOR_SETTINGS_CHANGED = 1
+
+uint32 OPTION_VALUE_CHANGED = 2
diff --git a/kortex_driver/msg/generated/vision_config/VisionNotification.msg b/kortex_driver/msg/generated/vision_config/VisionNotification.msg
new file mode 100644
index 0000000..4b5085f
--- /dev/null
+++ b/kortex_driver/msg/generated/vision_config/VisionNotification.msg
@@ -0,0 +1,4 @@
+
+uint32 event
+uint32 sensor
+uint32 option
\ No newline at end of file
diff --git a/kortex_driver/msg/non_generated/ApiOptions.msg b/kortex_driver/msg/non_generated/ApiOptions.msg
new file mode 100644
index 0000000..471fddd
--- /dev/null
+++ b/kortex_driver/msg/non_generated/ApiOptions.msg
@@ -0,0 +1 @@
+uint32 timeout_ms
\ No newline at end of file
diff --git a/kortex_driver/msg/non_generated/KortexError.msg b/kortex_driver/msg/non_generated/KortexError.msg
new file mode 100644
index 0000000..4539261
--- /dev/null
+++ b/kortex_driver/msg/non_generated/KortexError.msg
@@ -0,0 +1,3 @@
+string description
+uint32 code
+uint32 subCode
\ No newline at end of file
diff --git a/kortex_driver/package.xml b/kortex_driver/package.xml
new file mode 100644
index 0000000..757f440
--- /dev/null
+++ b/kortex_driver/package.xml
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>kortex_driver</name>
+  <version>2.2.2</version>
+  <description>The package that acts as a robot's driver. Supports simulated and real Kortex robots.</description>
+
+  <author email="hlamontagne@kinova.ca">Hugo Lamontagne</author>
+  <author email="avannobel@kinova.ca">Alexandre Vannobel</author>
+  <maintainer email="avannobel@kinova.ca" />
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>control_msgs</build_depend>
+  <build_depend>controller_manager_msgs</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>moveit_ros_planning_interface</build_depend>
+  <build_depend>kdl_parser</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/kortex_driver/protos/ActuatorConfig.proto b/kortex_driver/protos/ActuatorConfig.proto
new file mode 100644
index 0000000..4072cc2
--- /dev/null
+++ b/kortex_driver/protos/ActuatorConfig.proto
@@ -0,0 +1,438 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3"; 
+ 
+import public "Common.proto";
+
+package Kinova.Api.ActuatorConfig;
+
+// Service to configure actuators
+service ActuatorConfig {//@PROXY_ID=10 @ERROR=Kinova.Api.Error
+
+    // Retrieves axis offsets for absolute and relative encoder
+    rpc GetAxisOffsets                          (Kinova.Api.Common.Empty)           returns (AxisOffsets);                          //@RPC_ID=1
+
+    // Sets offsets for absolute and relative encoder
+    // Invoking this method shall invalidate arm calibration if one exists. This method is for kinova usage only.
+    rpc SetAxisOffsets                          (AxisPosition)                      returns (Kinova.Api.Common.Empty);              //@RPC_ID=2
+    
+    // Reads torque calibration parameters (internal use only)
+    rpc ReadTorqueCalibration                   (Kinova.Api.Common.Empty)           returns (TorqueCalibration);                    //@RPC_ID=3
+   
+    // Writes torque calibration parameters (internal use only)
+    rpc WriteTorqueCalibration                  (TorqueCalibration)                 returns (Kinova.Api.Common.Empty);              //@RPC_ID=4
+    
+    // Sets zero torque calibration
+    rpc SetTorqueOffset                         (TorqueOffset)                      returns (Kinova.Api.Common.Empty);              //@RPC_ID=5
+    
+    // Retrieves actuator control mode
+    rpc GetControlMode                          (Kinova.Api.Common.Empty)           returns (ControlModeInformation);               //@RPC_ID=6
+    
+    // Sets actuator control mode
+    rpc SetControlMode                          (ControlModeInformation)            returns (Kinova.Api.Common.Empty);              //@RPC_ID=7
+    
+    // Retrieves activated control loop(s)
+    rpc GetActivatedControlLoop                 (Kinova.Api.Common.Empty)           returns (ControlLoop);                          //@RPC_ID=8
+    
+    // Sets activated control loop(s)
+    rpc SetActivatedControlLoop                 (ControlLoop)                       returns (Kinova.Api.Common.Empty);              //@RPC_ID=9
+    
+    // Retrieves motor drive FOC parameters (internal use only)
+    rpc GetVectorDriveParameters                (Kinova.Api.Common.Empty)           returns (VectorDriveParameters);                //@RPC_ID=10
+    
+    // Sets motor drive FOC parameters (internal use only)
+    rpc SetVectorDriveParameters                (VectorDriveParameters)             returns (Kinova.Api.Common.Empty);              //@RPC_ID=11
+    
+    // Retrieves encoder derivative parameters (internal use only)
+    rpc GetEncoderDerivativeParameters          (Kinova.Api.Common.Empty)           returns (EncoderDerivativeParameters);          //@RPC_ID=12
+
+    // Sets encoder derivative parameters (internal use only)
+    rpc SetEncoderDerivativeParameters          (EncoderDerivativeParameters)       returns (Kinova.Api.Common.Empty);              //@RPC_ID=13
+    
+    // Retrieves control loop parameters
+    rpc GetControlLoopParameters                (LoopSelection)                     returns (ControlLoopParameters);                //@RPC_ID=14
+
+    // Sets control loop parameters
+    rpc SetControlLoopParameters                (ControlLoopParameters)             returns (Kinova.Api.Common.Empty);              //@RPC_ID=15
+
+    // Starts frequency response test (internal use only)
+    rpc StartFrequencyResponse                  (FrequencyResponse)                 returns (Kinova.Api.Common.Empty);              //@RPC_ID=16
+    
+    // Stops frequency response test (internal use only)
+    rpc StopFrequencyResponse                   (Kinova.Api.Common.Empty)           returns (Kinova.Api.Common.Empty);              //@RPC_ID=17
+    
+    // Starts step response test (internal use only)
+    rpc StartStepResponse                       (StepResponse)                      returns (Kinova.Api.Common.Empty);              //@RPC_ID=18
+    
+    // Stops step response test (internal use only)
+    rpc StopStepResponse                        (Kinova.Api.Common.Empty)           returns (Kinova.Api.Common.Empty);              //@RPC_ID=19
+    
+    // Starts ramp response test (internal use only)
+    rpc StartRampResponse                       (RampResponse)                      returns (Kinova.Api.Common.Empty);              //@RPC_ID=20
+    
+    // Stops ramp response test (internal use only)
+    rpc StopRampResponse                        (Kinova.Api.Common.Empty)           returns (Kinova.Api.Common.Empty);              //@RPC_ID=21
+    
+    // Selects custom data
+    rpc SelectCustomData                        (CustomDataSelection)               returns (Kinova.Api.Common.Empty);              //@RPC_ID=22
+    
+    // Retrieves selected custom data
+    rpc GetSelectedCustomData                   (Kinova.Api.Common.Empty)           returns (CustomDataSelection);                  //@RPC_ID=23
+    
+    // Sets command mode (config versus cyclic)
+    rpc SetCommandMode                          (CommandModeInformation)            returns (Kinova.Api.Common.Empty);              //@RPC_ID=24
+    
+    // Clears all error(s) and warning(s) (bank A and B)
+    rpc ClearFaults                             (Kinova.Api.Common.Empty)           returns (Kinova.Api.Common.Empty);              //@RPC_ID=25
+    
+    // Enables or disables servoing
+    rpc SetServoing                             (Servoing)                          returns (Kinova.Api.Common.Empty);              //@RPC_ID=26
+    
+    // Moves the actuator to the desired position
+    rpc MoveToPosition                          (PositionCommand)                   returns (Kinova.Api.Common.Empty);              //@RPC_ID=27
+    
+    // Retrieves command mode (config versus cyclic)
+    rpc GetCommandMode                          (Kinova.Api.Common.Empty)           returns (CommandModeInformation);               //@RPC_ID=28
+    
+    // Retrieves servoing state
+    rpc GetServoing                             (Kinova.Api.Common.Empty)           returns (Servoing);                             //@RPC_ID=29
+    
+    // Retrieves torque offset calibration
+    rpc GetTorqueOffset                         (Kinova.Api.Common.Empty)           returns (TorqueOffset);                         //@RPC_ID=30
+
+    // Sets cogging feedforward mode
+    rpc SetCoggingFeedforwardMode               (CoggingFeedforwardModeInformation) returns (Kinova.Api.Common.Empty);              //@RPC_ID=31
+
+    // Retrieves cogging feedforward mode
+    rpc GetCoggingFeedforwardMode               (Kinova.Api.Common.Empty)           returns (CoggingFeedforwardModeInformation);    //@RPC_ID=32
+}
+
+// Identifies ActuatorConfig service current version
+enum ServiceVersion
+{
+    RESERVED_0 = 0;                   // Reserved
+    CURRENT_VERSION = 1;              // Current version
+}
+
+// Admissible limit types 
+enum SafetyLimitType
+{
+   MAXIMAL_LIMIT = 0;                 // Maximal limit
+   MINIMAL_LIMIT = 1;                 // Minimal limit
+}
+
+// Admissible control modes 
+enum ControlMode
+{
+    NONE     = 0;                     // None
+    POSITION = 1;                     // Position mode
+    VELOCITY = 2;                     // Velocity mode
+    TORQUE   = 3;                     // Torque mode
+    CURRENT  = 4;                     // Current mode
+    CUSTOM   = 5;                     // Custom mode
+}
+
+// Admissible command modes 
+enum CommandMode
+{
+    CYCLIC                                = 0; // Cyclic data only
+    ASYNC_CYCLIC_FLAGS                    = 1; // Not supported
+    ASYNC                                 = 2; // Config messages only
+    CYCLIC_JITTERCOMPENSATED_POSITION     = 3; // Smoothing using only position inputs 
+    CYCLIC_JITTERCOMPENSATED_VELOCITY     = 4; // Smoothing using position and velocity inputs
+    CYCLIC_JITTERCOMPENSATED_ACCELERATION = 5; // Smoothing using position, velocity and acceleration inputs (not supported)
+}
+
+// Admissible control loop selections
+enum ControlLoopSelection
+{
+    RESERVED            = 0;    // 0x0 - Reserved (internal use only)
+    JOINT_POSITION      = 1;    // 0x1 - Joint position control (if available)
+    MOTOR_POSITION      = 2;    // 0x2 - Motor position control
+    JOINT_VELOCITY      = 4;    // 0x4 - Joint velocity control (if available)
+    MOTOR_VELOCITY      = 8;    // 0x8 - Motor velocity control
+    JOINT_TORQUE        = 16;   // 0x10 - Joint torque control
+    MOTOR_CURRENT       = 32;   // 0x20 - Motor current control
+}
+
+// Admissable cogging feedforward modes
+enum CoggingFeedforwardMode
+{
+    FEEDFORWARD_OFF         = 0;    // No cogging compensation
+    FEEDFORWARD_ADAPTIVE    = 1;    // Cogging compensation with adaptive parameters
+    FEEDFORWARD_CALIBRATED  = 2;    // Cogging compensation with calibrated parameters
+}
+
+// Axis position
+message AxisPosition
+{
+    float position = 1;                // Axis position (meters)
+}
+
+// Axis offsets
+message AxisOffsets
+{
+    float absolute_offset = 1;         // Absolute offset value (meters)
+    float relative_offset = 2;         // Relative offset value (meters)
+}
+
+// Torque calibration settings
+message TorqueCalibration
+{
+    float    global_gain   = 1;        // Global gain value
+    float    global_offset = 2;        // Global offset value
+    repeated float gain    = 3;        // Gain (index 0 to 3)
+    repeated float offset  = 4;        // Offset (index 0 to 3)
+}
+
+// Defines torque offset 
+message TorqueOffset
+{
+    float torque_offset = 1;           // Torque offset value
+}
+
+// Control mode information
+message ControlModeInformation
+{
+    ControlMode control_mode = 1;    // Control mode
+}
+
+// Control loop 
+message ControlLoop
+{
+    fixed32 control_loop = 1;         // Use ControlLoopSelection enum values to form bitmask
+}
+
+// Defines the loop selection
+message LoopSelection
+{
+    ControlLoopSelection loop_selection = 1; // ControlLoopSelection enum
+}
+
+// Field-oriented control PI controller gain values
+message VectorDriveParameters
+{
+    float kpq = 1;                   // Quadrature axis current proportional gain
+    float kiq = 2;                   // Quadrature axis current integral gain
+    float kpd = 3;                   // Direct axis current proportional gain
+    float kid = 4;                   // Direct axis current integral gain
+}
+
+// Variable window derivative parameters
+message EncoderDerivativeParameters
+{
+    uint32 max_window_width = 1;  // Maximum window width
+    float  min_angle        = 2;  // Minimum angle for derivative (degrees)
+}
+
+// Control loop parameters (discrete transfer function)
+message ControlLoopParameters
+{
+    ControlLoopSelection  loop_selection    = 1;   // ControlLoopSelection enum
+    float                 error_saturation  = 2;   // Error saturation value
+    float                 output_saturation = 3;   // Output saturation value
+    repeated              float kAz         = 4;   // KAz (index 0 to 4): denominator gains A1 to A5
+    repeated              float kBz         = 5;   // KBz (index 0 to 5): numerator gains B0 to B5
+    float                 error_dead_band   = 6;   // Error dead band value
+}
+
+// Frequency response
+message FrequencyResponse
+{
+    ControlLoopSelection loop_selection = 1;       // ControlLoopSelection enum
+    float                min_frequency  = 2;       // Minimum frequency value
+    float                max_frequency  = 3;       // Maximum frequency value
+    float                amplitude      = 4;       // Amplitude value
+    float                duration       = 5;       // Duration (in seconds)
+}
+
+// Step response
+message StepResponse
+{
+    ControlLoopSelection loop_selection = 1;       // ControlLoopSelection enum
+    float                amplitude      = 2;       // Amplitude value
+    float                step_delay     = 3;       // Step delay value
+    float                duration       = 4;       // Duration (in seconds)
+}
+
+// Ramp response
+message RampResponse
+{
+    ControlLoopSelection loop_selection = 1;       // ControlLoopSelection enum
+    float                slope          = 2;       // Slope value
+    float                ramp_delay     = 3;       // Ramp delay value
+    float                duration       = 4;       // Duration (in seconds)
+}
+
+// Selected custom data channels content
+message CustomDataSelection
+{
+    repeated CustomDataIndex channel = 1;     // 16 channels maximum
+}
+
+// Command mode
+message CommandModeInformation
+{
+    CommandMode command_mode = 1;    // Command mode
+}
+
+// Enables/disables servoing
+message Servoing
+{
+    bool enabled = 1;                // Servoing enabled
+}
+
+// Angular position command for an actuator
+message PositionCommand
+{
+    float position     = 1;          // Position value (degrees)
+    float velocity     = 2;          // Velocity value (degrees per second)
+    float acceleration = 3;          // Acceleration value (degrees per second^squared)
+}
+
+// Cogging feedforward mode
+message CoggingFeedforwardModeInformation
+{
+    CoggingFeedforwardMode cogging_feedforward_mode = 1;    // Cogging feedforward mode
+}
+
+// Admissible bank A actuator safeties
+enum SafetyIdentifierBankA {
+    UNSPECIFIED_ACTUATOR_SAFETY_IDENTIFIER_BANK_A  = 0;             // 0x0 - Unspecified actuator safety
+    FOLLOWING_ERROR                                = 1;             // 0x1 - Following error
+    MAXIMUM_VELOCITY                               = 2;             // 0x2 - Maximum velocity
+    JOINT_LIMIT_HIGH                               = 4;             // 0x4 - Joint position limit high
+    JOINT_LIMIT_LOW                                = 8;             // 0x8 - Joint position limit low
+    STRAIN_GAUGE_MISMATCH                          = 16;            // 0x10 - Strain gauge mismatch
+    MAXIMUM_TORQUE                                 = 32;            // 0x20 - Maximum torque
+    UNRELIABLE_ABSOLUTE_POSITION                   = 64;            // 0x40 - Unreliable absolute position
+    MAGNETIC_POSITION                              = 128;           // 0x80 - Magnetic position
+    HALL_POSITION                                  = 256;           // 0x100 - Hall position
+    HALL_SEQUENCE                                  = 512;           // 0x200 - Hall sequence
+    INPUT_ENCODER_HALL_MISMATCH                    = 1024;          // 0x400 - Input encoder Hall mismatch
+    INPUT_ENCODER_INDEX_MISMATCH                   = 2048;          // 0x800 - Input encoder index mismatch
+    INPUT_ENCODER_MAGNETIC_MISMATCH                = 4096;          // 0x1000 - Input encoder magnetic mismatch
+    MAXIMUM_MOTOR_CURRENT                          = 8192;          // 0x2000 - Maximum motor current
+    MOTOR_CURRENT_MISMATCH                         = 16384;         // 0x4000 - Motor current mismatch
+    MAXIMUM_VOLTAGE                                = 32768;         // 0x8000 - Maximum voltage
+    MINIMUM_VOLTAGE                                = 65536;         // 0x10000 - Minimum voltage
+    MAXIMUM_MOTOR_TEMPERATURE                      = 131072;        // 0x20000 - Maximum motor temperature
+    MAXIMUM_CORE_TEMPERATURE                       = 262144;        // 0x40000 - Maximum core temperature
+    NON_VOLATILE_MEMORY_CORRUPTED                  = 524288;        // 0x80000 - Non-volatile memory corrupted
+    MOTOR_DRIVER_FAULT                             = 1048576;       // 0x100000 - Motor driver fault
+    EMERGENCY_LINE_ASSERTED                        = 2097152;       // 0x200000 - Emergency line asserted
+    COMMUNICATION_TICK_LOST                        = 4194304;       // 0x400000 - Communication tick lost
+    WATCHDOG_TRIGGERED                             = 8388608;       // 0x800000 - Watchdog triggered
+    UNRELIABLE_CAPACITIVE_SENSOR                   = 16777216;      // 0x1000000 - Capacitive sensor is unreliable
+    UNEXPECTED_GEAR_RATIO                          = 33554432;      // 0x2000000 - Incorrect gear ratio for detected configuration
+    HALL_MAGNETIC_MISMATCH                         = 67108864;      // 0x4000000 - Position mismatch between hall and magnetic sensors
+}
+
+// Custom data options
+enum CustomDataIndex {
+    NO_CUSTOM_DATA_SELECTED = 0; // No custom data selected
+    UINT32_TEST_RAMP = 1; // Incremental value used for test and validation
+    UINT32_MOTOR_ENCODER_RAW = 2; // Rotor optical encoder incremental value (raw)
+    UINT32_JOINT_ENCODER_RAW = 3; // Joint optical encoder incremental value (raw)
+    FLOAT_TEMPERATURE_PHASE_0 = 4; // Motor phase 0 temperature (degrees Celsius)
+    FLOAT_TEMPERATURE_PHASE_1 = 5; // Motor phase 1 temperature (degrees Celsius)
+    FLOAT_TEMPERATURE_PHASE_2 = 6; // Motor phase 2 temperature (degrees Celsius)
+    INT32_TORQUE_SENSOR_RAW_0 = 7; // Individual torque sensor strain gauge 0 ADC value (raw)
+    INT32_TORQUE_SENSOR_RAW_1 = 8; // Individual torque sensor strain gauge 1 ADC value (raw)
+    INT32_TORQUE_SENSOR_RAW_2 = 9; // Individual torque sensor strain gauge 2 ADC value (raw)
+    INT32_TORQUE_SENSOR_RAW_3 = 10; // Individual torque sensor strain gauge 3 ADC value (raw)
+    FLOAT_TORQUE_SENSOR_0 = 11; // Individual torque sensor strain gauge 0 converted value (Newton-meters)
+    FLOAT_TORQUE_SENSOR_1 = 12; // Individual torque sensor strain gauge 1 converted value (Newton-meters)
+    FLOAT_TORQUE_SENSOR_2 = 13; // Individual torque sensor strain gauge 2 converted value (Newton-meters)
+    FLOAT_TORQUE_SENSOR_3 = 14; // Individual torque sensor strain gauge 3 converted value (Newton-meters)
+    UINT32_MOTOR_ENCODER_RAW_LATCH_ON_INDEX_RISING = 15; // Rotor optical encoder incremental value at last index signal rising edge (raw)
+    UINT32_JOINT_ENCODER_RAW_LATCH_ON_INDEX_RISING = 16; // Joint optical encoder incremental value at last index signal rising edge (raw)
+    UINT32_ABSOLUTE_POSITION_SENSOR_RAW = 17; // Absolute position sensor integer value (raw)
+    FLOAT_ABSOLUTE_POSITION_SENSOR = 18; // Absolute position sensor converted value (degrees)
+    FLOAT_CONTROL_POSITION_JOINT_REQUESTED = 19; // Last axis position command received via Ethernet
+    UINT32_JIG_FLAGS = 20; // Jig status flags (internal use)
+    UINT32_TICK_MOTOR_CONTROL = 21; // Rotor optical encoder incremental value corrected for counter overflow (raw)
+    UINT32_TICK_JOINT_CONTROL = 22; // Joint optical encoder incremental value corrected for counter overflow (raw)
+    UINT32_INDEX_TICK_MOTOR_CONTROL = 23; // Rotor optical encoder incremental value corrected for counter overflow at last index signal rising edge (raw)
+    UINT32_INDEX_TICK_JOINT_CONTROL = 24; // Joint optical encoder incremental value corrected for counter overflow at last index signal rising edge (raw)
+    FLOAT_ACCELERATION_X = 25; // x-axis acceleration (meters per second squared)
+    FLOAT_ACCELERATION_Y = 26; // y-axis acceleration (meters per second squared)
+    FLOAT_ACCELERATION_Z = 27; // z-axis acceleration (meters per second squared)
+    FLOAT_ANGULAR_RATE_X = 28; // x-axis angular velocity (degrees per second)
+    FLOAT_ANGULAR_RATE_Y = 29; // y-axis angular velocity (degrees per second)
+    FLOAT_ANGULAR_RATE_Z = 30; // z-axis angular velocity (degrees per second)
+    FLOAT_POSITION_MOTOR_CMD = 31; // Axis position command sent to motor position control loop (degrees)
+    FLOAT_VELOCITY_MOTOR_CMD = 32; // Axis velocity command sent to motor velocity control loop (degrees per second)
+    FLOAT_POSITION_MOTOR = 33; // Actuator position measured by rotor optical encoder (degrees)
+    FLOAT_VELOCITY_MOTOR = 34; // Actuator angular velocity measured by rotor optical encoder (degrees per second)
+    UINT32_COMMUNICATIONS_JITTER = 35; // Jitter from the communication (microseconds)
+    FLOAT_TORQUE_AVERAGE = 36; // Actuator torque (Newton-meters)
+    FLOAT_CURRENT_MOTOR = 37; // Motor current (Amperes)
+    FLOAT_VOLTAGE_DIGITAL = 38; // Main board voltage (Volts)
+    FLOAT_TEMPERATURE_MOTOR_CELSIUS = 39; // Motor temperature (maximum of the three (3) phase temperatures) (degrees Celsius)
+    FLOAT_TEMPERATURE_CORE_CELSIUS = 40; // Microcontroller temperature (degrees Celsius)
+    UINT32_FAULT_A = 41; // Bank A faults (see ActuatorConfig.SafetyIdentifier)
+    UINT32_FAULT_B = 42; // Bank B faults (see ActuatorConfig.SafetyIdentifier)
+    UINT32_WARNING_A = 43; // Bank A warnings (see ActuatorConfig.SafetyIdentifier)
+    UINT32_WARNING_B = 44; // Bank B warnings (see ActuatorConfig.SafetyIdentifier)
+    FLOAT_POSITION_FROM_HALLS = 45; // Actuator position measured by motor hall sensors (degrees)
+    FLOAT_PHASE_CURRENT_0 = 46; // Motor phase 0 current (Amperes)
+    FLOAT_PHASE_CURRENT_1 = 47; // Motor phase 1 current (Amperes)
+    FLOAT_PHASE_CURRENT_2 = 48; // Motor phase 2 current (Amperes)
+    FLOAT_PHASE_PWM_0 = 49; // Pulse width modulation duty cycle applied to motor phase 0 (percentage)
+    FLOAT_PHASE_PWM_1 = 50; // Pulse width modulation duty cycle applied to motor phase 1 (percentage)
+    FLOAT_PHASE_PWM_2 = 51; // Pulse width modulation duty cycle applied to motor phase 2 (percentage)
+    FLOAT_MOTOR_ELECTRICAL_ANGLE = 52; // Motor electrical angle (degrees)
+    FLOAT_CURRENT_MOTOR_CMD = 53; // Motor current command sent to motor drive (Amperes)
+    FLOAT_TORQUE_JOINT_CMD = 54; // Axis torque command sent to joint torque control loop (Newton-meters)
+    FLOAT_POSITION_UNWRAPPED = 55; // Actuator position unwrapped (degrees)
+    UINT32_HALL_SENSOR_0 = 56; // Hall sensor 0 value (raw)
+    UINT32_HALL_SENSOR_1 = 57; // Hall sensor 1 value (raw)
+    UINT32_HALL_SENSOR_2 = 58; // Hall sensor 2 value (raw)
+    INT32_HALL_SENSOR_SCALED_0 = 59; // Hall sensor 0 scaled value (raw)
+    INT32_HALL_SENSOR_SCALED_1 = 60; // Hall sensor 1 scaled value (raw)
+    INT32_HALL_SENSOR_SCALED_2 = 61; // Hall sensor 2 scaled value (raw)
+    FLOAT_COGGING_COEFFICIENT_A_0 = 62; // Cogging torque cancellation coefficient A0 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_1 = 63; // Cogging torque cancellation coefficient A1 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_2 = 64; // Cogging torque cancellation coefficient A2 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_3 = 65; // Cogging torque cancellation coefficient A3 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_4 = 66; // Cogging torque cancellation coefficient A4 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_5 = 67; // Cogging torque cancellation coefficient A5 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_6 = 68; // Cogging torque cancellation coefficient A6 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_7 = 69; // Cogging torque cancellation coefficient A7 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_8 = 70; // Cogging torque cancellation coefficient A8 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_9 = 71; // Cogging torque cancellation coefficient A9 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_10 = 72; // Cogging torque cancellation coefficient A10 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_11 = 73; // Cogging torque cancellation coefficient A11 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_12 = 74; // Cogging torque cancellation coefficient A12 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_13 = 75; // Cogging torque cancellation coefficient A13 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_14 = 76; // Cogging torque cancellation coefficient A14 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_A_15 = 77; // Cogging torque cancellation coefficient A15 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_0 = 78; // Cogging torque cancellation coefficient B0 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_1 = 79; // Cogging torque cancellation coefficient B1 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_2 = 80; // Cogging torque cancellation coefficient B2 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_3 = 81; // Cogging torque cancellation coefficient B3 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_4 = 82; // Cogging torque cancellation coefficient B4 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_5 = 83; // Cogging torque cancellation coefficient B5 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_6 = 84; // Cogging torque cancellation coefficient B6 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_7 = 85; // Cogging torque cancellation coefficient B7 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_8 = 86; // Cogging torque cancellation coefficient B8 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_9 = 87; // Cogging torque cancellation coefficient B9 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_10 = 88; // Cogging torque cancellation coefficient B10 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_11 = 89; // Cogging torque cancellation coefficient B11 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_12 = 90; // Cogging torque cancellation coefficient B12 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_13 = 91; // Cogging torque cancellation coefficient B13 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_14 = 92; // Cogging torque cancellation coefficient B14 (Amperes)
+    FLOAT_COGGING_COEFFICIENT_B_15 = 93; // Cogging torque cancellation coefficient B15 (Amperes)
+    FLOAT_CURRENT_COGGING_FEEDFORWARD = 94; // Commanded cogging cancellation feedforward current sent to motor drive (Amperes)
+}
diff --git a/kortex_driver/protos/ActuatorCyclic.proto b/kortex_driver/protos/ActuatorCyclic.proto
new file mode 100644
index 0000000..1e89083
--- /dev/null
+++ b/kortex_driver/protos/ActuatorCyclic.proto
@@ -0,0 +1,137 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+ 
+import public "Common.proto";
+
+package Kinova.Api.ActuatorCyclic;
+
+// Service to exchange cyclic data with an actuator 
+service ActuatorCyclic {//@PROXY_ID=11 @ERROR=Kinova.Api.Error
+
+    // Sends a command to a single actuator and receives feedback on status of that actuator
+    rpc Refresh (Command)                   returns (Feedback);                 //@RPC_ID=1
+
+    // Sends a command to a single actuator without feedback
+    rpc RefreshCommand (Command)            returns (Kinova.Api.Common.Empty);  //@RPC_ID=2
+
+    // Obtains feedback from a single actuator
+    rpc RefreshFeedback (MessageId)         returns (Feedback);                 //@RPC_ID=3
+
+    // Obtains custom data from a single actuator
+    rpc RefreshCustomData (MessageId)       returns (CustomData);               //@RPC_ID=4
+}
+
+// Identifies ActuatorCyclic service current version
+enum ServiceVersion {
+    RESERVED_0 = 0;                 // Reserved
+    CURRENT_VERSION = 1;            // Current version
+}
+
+// Identifies actuator commands
+enum CommandFlags {
+    NO_COMMAND           = 0;   // 0x0 Default value
+    SERVO_ENABLE         = 1;   // 0x1 Servoing mode is enabled
+    BRAKE_DISABLE        = 2;   // 0x2 Brake normally applied, 1 disables brake
+    CLEAR_MAJOR_FAULT    = 4;   // 0x4 Clear the major fault flag (See StatusFlags)
+    CLEAR_MINOR_FAULT    = 8;   // 0x8 Clear the minor fault flag (See StatusFlags)
+    PROTECTIVE_STOP      = 16;  // 0x10 Protective stop has been activated
+    FORCE_BRAKE_RELEASE  = 32;  // 0x20 Force a brake release
+    IGNORE               = 64;  // 0x40 ignore the other CommandFlag bits
+    LOW_GAINS            = 128; // 0x80 Use a set of specific gain value used by the joint admittance mode
+    LED_0                = 256; // 0x100 Activate LED 0 (interface module buttons 0)
+    LED_1                = 512; // 0x200 Activate LED 1 (interface module buttons 1)
+}
+
+// Identifies actuator status
+enum StatusFlags {
+    UNKNOWN_STATUS           = 0;         // 0x0 Unknown status 
+    STABILIZED               = 16;        // 0x10 Actuator is in a stable state
+    MOTOR_INDEXED            = 32;        // 0x20 Position sensor is indexed
+    MOTOR_INDEXING           = 64;        // 0x40 Position sensor is indexing
+    JOINT_INDEXED            = 128;       // 0x80 Reserved
+    JOINT_INDEXING           = 256;       // 0x100 Reserved
+    HIGH_PRECISION           = 512;       // 0x200 Reserved
+    BRAKING                  = 1024;      // 0x400 The actuator is braking
+    SERVOING                 = 2048;      // 0x800 The actuator is in servoing mode
+    MAJOR_FAULT              = 4096;      // 0x1000 A major fault has occurred
+    MINOR_FAULT              = 8192;      // 0x2000 A minor fault has occurred
+    CALIBRATED_TORQUE        = 16384;     // 0x4000 The torque sensor is calibrated
+    CALIBRATED_MAG_SENSOR    = 32768;     // 0x8000 The magnetic sensor is calibrated
+    CALIBRATED_ZERO          = 65536;     // 0x10000 The zero position calibration has been performed
+    GPIO_0                   = 131072;    // 0x20000 Reserved
+    GPIO_1                   = 262144;    // 0x40000 Reserved
+    CS_QUASI_STATIC_CONTACT  = 524288;    // 0x80000 Reserved
+    CS_TRANSIENT_CONTACT     = 1048576;   // 0x100000 Reserved
+    VFD_HALL_SYNC            = 2097152;   // 0x200000 Reserved
+    VFD_INDEXED              = 4194304;   // 0x400000 Reserved
+    DRIVE_BOARD_READY        = 8388608;   // 0x800000 Reserved
+    CALIBRATED_CURRENT       = 16777216;  // 0x1000000 Current sensor is calibrated
+    CALIBRATED_MOTOR         = 33554432;  // 0x2000000 Motor is calibrated
+    SW0_ACTIVE               = 67108864;  // 0x4000000 Status of interface module buttons 0
+    SW1_ACTIVE               = 134217728; // 0x8000000 Status of interface module buttons 1
+}
+
+// Provides a message identifier
+message MessageId {
+    fixed32   identifier        = 1;  // Message ID (first 2 bytes : device ID, last 2 bytes : sequence number). By default, set to zero
+}
+
+// Defines an actuator command
+message Command {
+    MessageId command_id        = 1;  // MessageId
+    fixed32   flags             = 2;  // Command flags (see enum CommandFlags)
+    float     position          = 3;  // Desired position of the actuator (degrees)
+    float     velocity          = 4;  // Desired velocity of the actuator (degrees per second)
+    float     torque_joint      = 5;  // Desired torque of the actuator (Newton-meters)
+    float     current_motor     = 6;  // Desired current of the motor (Amperes)
+}
+
+// Status feedback provided by an actuator
+message Feedback {
+    MessageId feedback_id       = 1;  // MessageId
+    fixed32   status_flags      = 2;  // Status flags (see enum StatusFlags for the rest)
+    fixed32   jitter_comm       = 3;  // Jitter from the communication in μs
+    float     position          = 4;  // Position of the actuator (degrees)
+    float     velocity          = 5;  // Angular velocity of the actuator (degrees per second)
+    float     torque            = 6;  // Torque of the actuator (Newton meter)
+    float     current_motor     = 7;  // Current of the motor (Amperes)
+    float     voltage           = 8;  // Voltage of the main board in (Volt)
+    float     temperature_motor = 9;  // Motor temperature (average of the three (3) temperatures (degrees Celsius))
+    float     temperature_core  = 10; // Microcontroller temperature in (degrees Celsius)
+    fixed32   fault_bank_a      = 11; // Bank A Fault (see ActuatorConfig.SafetyIdentifier)
+    fixed32   fault_bank_b      = 12; // Bank B Fault (see ActuatorConfig.SafetyIdentifier)
+    fixed32   warning_bank_a    = 13; // Bank A Warning (see ActuatorConfig.SafetyIdentifier)
+    fixed32   warning_bank_b    = 14; // Bank B Warning (see ActuatorConfig.SafetyIdentifier)
+}
+
+// Custom development data, content varies according to debug needs
+message CustomData {
+    MessageId custom_data_id    = 1;  // MessageId
+    fixed32   custom_data_0     = 2;  // Custom data word 0
+    fixed32   custom_data_1     = 3;  // Custom data word 1
+    fixed32   custom_data_2     = 4;  // Custom data word 2
+    fixed32   custom_data_3     = 5;  // Custom data word 3
+    fixed32   custom_data_4     = 6;  // Custom data word 4
+    fixed32   custom_data_5     = 7;  // Custom data word 5
+    fixed32   custom_data_6     = 8;  // Custom data word 6
+    fixed32   custom_data_7     = 9;  // Custom data word 7
+    fixed32   custom_data_8     = 10; // Custom data word 8
+    fixed32   custom_data_9     = 11; // Custom data word 9
+    fixed32   custom_data_10    = 12; // Custom data word 10
+    fixed32   custom_data_11    = 13; // Custom data word 11
+    fixed32   custom_data_12    = 14; // Custom data word 12
+    fixed32   custom_data_13    = 15; // Custom data word 13
+    fixed32   custom_data_14    = 16; // Custom data word 14
+    fixed32   custom_data_15    = 17; // Custom data word 15
+}
diff --git a/kortex_driver/protos/Base.proto b/kortex_driver/protos/Base.proto
new file mode 100644
index 0000000..87a0517
--- /dev/null
+++ b/kortex_driver/protos/Base.proto
@@ -0,0 +1,2082 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+
+import public "Common.proto";
+import public "Errors.proto";
+import public "ProductConfiguration.proto";
+
+package Kinova.Api.Base;
+
+/*
+ * Base service. Broadly useful service. 
+ * Provides functions for configuring a range of base-related functionalities and for enabling high-level control for the robot.
+ */
+service Base {//@PROXY_ID=2 @ERROR=Kinova.Api.Error
+
+    // Creates a user profile and returns a handle to the profile
+    rpc CreateUserProfile (FullUserProfile) returns (Kinova.Api.Common.UserProfileHandle);//@RPC_ID=1
+
+    // Updates an existing user profile
+    rpc UpdateUserProfile (UserProfile) returns (Kinova.Api.Common.Empty);//@RPC_ID=2
+
+    // Retrieves an existing user profile
+    rpc ReadUserProfile (Kinova.Api.Common.UserProfileHandle) returns (UserProfile);//@RPC_ID=3
+
+    // Deletes an existing user profile
+    rpc DeleteUserProfile (Kinova.Api.Common.UserProfileHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=4
+
+    // Retrieves all user profiles
+    rpc ReadAllUserProfiles (Kinova.Api.Common.Empty) returns (UserProfileList);//@RPC_ID=5
+
+    // Retrieves the list of all user profile handles
+    rpc ReadAllUsers (Kinova.Api.Common.Empty) returns (UserList);//@RPC_ID=6
+
+    // Changes the password of an existing user
+    rpc ChangePassword (PasswordChange) returns (Kinova.Api.Common.Empty);//@RPC_ID=7
+
+    // Creates a new sequence and returns a handle to the sequence
+    rpc CreateSequence (Sequence) returns (SequenceHandle);//@RPC_ID=8
+
+    // Updates an existing sequence
+    rpc UpdateSequence (Sequence) returns (Kinova.Api.Common.Empty);//@RPC_ID=9
+
+    // Retrieves an existing sequence
+    rpc ReadSequence (SequenceHandle) returns (Sequence);//@RPC_ID=10
+
+    // Deletes an existing sequence
+    rpc DeleteSequence (SequenceHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=11
+
+    // Retrieves the list of all existing sequences
+    rpc ReadAllSequences (Kinova.Api.Common.Empty) returns (SequenceList);//@RPC_ID=12
+
+    // DeleteSequenceTask is still RPC_ID=13, but is at position 221 in this file
+
+    // DeleteAllSequenceTasks is still RPC_ID=14, but is at position 222 in this file
+
+    // Plays an existing sequence
+    rpc PlaySequence (SequenceHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=15
+
+    // Plays an existing sequence with options
+    rpc PlayAdvancedSequence (AdvancedSequenceHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=16
+
+    // Stops execution of currently playing sequence
+    rpc StopSequence (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=17
+
+    // Pauses execution of currently playing sequence
+    rpc PauseSequence (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=18
+
+    // Resumes execution of currently paused sequence
+    rpc ResumeSequence (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=19
+
+    // Creates a new protection zone and returns a handle to the protection zone
+    rpc CreateProtectionZone (ProtectionZone) returns (ProtectionZoneHandle);//@RPC_ID=20
+
+    // Updates an existing protection zone
+    rpc UpdateProtectionZone (ProtectionZone) returns (Kinova.Api.Common.Empty);//@RPC_ID=21
+
+    // Retrieves an existing protection zone
+    rpc ReadProtectionZone (ProtectionZoneHandle) returns (ProtectionZone);//@RPC_ID=22
+
+    // Deletes an existing protection zone
+    rpc DeleteProtectionZone (ProtectionZoneHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=23
+
+    // Retrieves a list of all protection zones
+    rpc ReadAllProtectionZones (Kinova.Api.Common.Empty) returns (ProtectionZoneList);//@RPC_ID=24
+
+    // Creates a new mapping
+    rpc CreateMapping (Mapping) returns (MappingHandle);//@RPC_ID=26
+
+    // Retrieves an existing mapping
+    rpc ReadMapping (MappingHandle) returns (Mapping);//@RPC_ID=27
+
+    // Updates an existing mapping
+    rpc UpdateMapping (Mapping) returns (Kinova.Api.Common.Empty);//@RPC_ID=28
+    
+    // Deletes an existing mapping
+    rpc DeleteMapping (MappingHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=29
+
+    // Retrieves a list of all mappings
+    rpc ReadAllMappings (Kinova.Api.Common.Empty) returns (MappingList);//@RPC_ID=30
+
+    // Creates a new map
+    rpc CreateMap (Map) returns (MapHandle);//@RPC_ID=36
+
+    // Retrieves an existing map
+    rpc ReadMap (MapHandle) returns (Map);//@RPC_ID=37
+    
+    // Updates an existing map
+    rpc UpdateMap (Map) returns (Kinova.Api.Common.Empty);//@RPC_ID=38
+    
+    // Deletes an existing map
+    rpc DeleteMap (MapHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=39
+
+    // Retrieves a list of all maps associated to the specified mapping
+    rpc ReadAllMaps (MappingHandle) returns (MapList);//@RPC_ID=40
+
+    // Activates the specified map within the specified map group and mapping
+    rpc ActivateMap (ActivateMapHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=41
+
+    // Creates a new action
+    rpc CreateAction (Action) returns (ActionHandle);//@RPC_ID=42
+
+    // Retrieves an existing action
+    rpc ReadAction (ActionHandle) returns (Action);//@RPC_ID=43
+
+    // Retrieves a list of all existing actions
+    rpc ReadAllActions (RequestedActionType) returns (ActionList);//@RPC_ID=44
+
+    // Deletes an existing action
+    rpc DeleteAction (ActionHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=45
+
+    // Updates an existing action
+    rpc UpdateAction (Action) returns (Kinova.Api.Common.Empty);//@RPC_ID=46
+
+    // Commands the robot to execute the specified existing action
+    rpc ExecuteActionFromReference (ActionHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=47
+
+    // Commands the robot to execute the specified action
+    rpc ExecuteAction (Action) returns (Kinova.Api.Common.Empty);//@RPC_ID=48
+
+    // Pauses the currently executed action. ResumeAction can be invoked afterwards
+    rpc PauseAction (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=49
+
+    // Stops the currently executed action. ResumeAction cannot be invoked afterwards
+    rpc StopAction (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=50
+
+    // Resumes execution of the currently paused action
+    rpc ResumeAction (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=51
+
+    // Retrieves the IPv4 network configuration for the specified network adapter
+    rpc GetIPv4Configuration (NetworkHandle) returns (IPv4Configuration);//@RPC_ID=59
+
+    // Modifies the IPv4 network configuration for the specified network adapter
+    rpc SetIPv4Configuration (FullIPv4Configuration) returns (Kinova.Api.Common.Empty);//@RPC_ID=60
+
+    // Enables (or disables) the specified communication interface 
+    rpc SetCommunicationInterfaceEnable (CommunicationInterfaceConfiguration) returns (Kinova.Api.Common.Empty);//@RPC_ID=61
+
+    // Determines if the specified communication interface is enabled (or disabled)
+    rpc IsCommunicationInterfaceEnable (NetworkHandle) returns (CommunicationInterfaceConfiguration);//@RPC_ID=62
+
+    // Retrieves the list of available Wi-Fi networks
+    rpc GetAvailableWifi (Kinova.Api.Common.Empty) returns (WifiInformationList);//@RPC_ID=63
+
+    // Retrieves information about a specific Wi-Fi network
+    rpc GetWifiInformation (Ssid) returns (WifiInformation);//@RPC_ID=64
+
+    // Configures a specific Wi-Fi network
+    rpc AddWifiConfiguration (WifiConfiguration) returns (Kinova.Api.Common.Empty);//@RPC_ID=65
+
+    // Deletes a specific Wi-Fi network
+    rpc DeleteWifiConfiguration (Ssid) returns (Kinova.Api.Common.Empty);//@RPC_ID=66
+
+    // Retrieves the list of configured Wi-Fi networks
+    rpc GetAllConfiguredWifis (Kinova.Api.Common.Empty) returns (WifiConfigurationList);//@RPC_ID=67
+
+    // Connects robot to specified Wi-Fi network
+    rpc ConnectWifi (Ssid) returns (Kinova.Api.Common.Empty);//@RPC_ID=68
+
+    // Disconnects the robot from the currently connected Wi-Fi network
+    rpc DisconnectWifi (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=69
+
+    // Retrieves information about the connected Wi-Fi network
+    rpc GetConnectedWifiInformation (Kinova.Api.Common.Empty) returns (WifiInformation);//@RPC_ID=70
+
+    // Unsubscribes client from receiving notifications for the specified topic
+    rpc Unsubscribe (Kinova.Api.Common.NotificationHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=97 @UNSUB
+
+    // Subscribes to configuration change topic for notifications
+    rpc ConfigurationChangeTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=98 @PUB_SUB=ConfigurationChangeNotification
+
+    // Subscribes to mapping information topic for notifications
+    rpc MappingInfoTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=99 @PUB_SUB=MappingInfoNotification
+
+    // Subscribes to control mode topic for notifications
+    rpc ControlModeTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=100 @PUB_SUB=ControlModeNotification
+
+    // Subscribes to operating mode topic for notifications
+    rpc OperatingModeTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=101 @PUB_SUB=OperatingModeNotification
+
+    // Subscribes to sequence information topic for notifications
+    rpc SequenceInfoTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=102 @PUB_SUB=SequenceInfoNotification
+
+    // Subscribes to protection zone topic for notifications
+    rpc ProtectionZoneTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=103 @PUB_SUB=ProtectionZoneNotification
+    
+    // Subscribes to user topic for notifications
+    rpc UserTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=104 @PUB_SUB=UserNotification
+
+    // Subscribes to controller topic for notifications
+    rpc ControllerTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=105 @PUB_SUB=ControllerNotification
+
+    // Subscribes to action topic for notifications
+    rpc ActionTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=106 @PUB_SUB=ActionNotification
+
+    // Subscribes to robot event topic for notifications
+    rpc RobotEventTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=107 @PUB_SUB=RobotEventNotification
+
+    // Moves robot to the specified tool pose (position and orientation) while imposing specified constraints.
+    rpc PlayCartesianTrajectory (ConstrainedPose) returns (Kinova.Api.Common.Empty);//@RPC_ID=109
+
+    // Moves robot to the specified position while imposing specified constraints.
+    rpc PlayCartesianTrajectoryPosition (ConstrainedPosition) returns (Kinova.Api.Common.Empty);//@RPC_ID=110
+
+    // Moves to the specified orientation while imposing specified constraints.
+    rpc PlayCartesianTrajectoryOrientation (ConstrainedOrientation) returns (Kinova.Api.Common.Empty);//@RPC_ID=111
+
+    // Stops robot movement
+    rpc Stop (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=112
+
+    // Retrieves the current computed tool pose (position and orientation) for the robot
+    rpc GetMeasuredCartesianPose (Kinova.Api.Common.Empty) returns (Pose);//@RPC_ID=115
+
+    // Sends a wrench command (screw consisting of force and torque) to be applied to the tool. This method is EXPERIMENTAL.
+    rpc SendWrenchCommand (WrenchCommand) returns (Kinova.Api.Common.Empty);//@RPC_ID=118
+
+    /*
+	 * Sends a wrench (screw consisting of force and torque) joystick command to be applied to the tool. 
+	 * The wrench values sent to this call are expected to be a ratio of maximum value (between -1.0/+1.0). This method is EXPERIMENTAL.
+	 */
+    rpc SendWrenchJoystickCommand (WrenchCommand) returns (Kinova.Api.Common.Empty);//@RPC_ID=119
+
+    /*
+	 * Sends a twist (screw consisting of linear and angular velocity) joystick command to be applied to the tool. 
+	 * The twist values sent to this call are expected to be a ratio of the maximum value (between -1.0/+1.0).
+	 */
+    rpc SendTwistJoystickCommand (TwistCommand) returns (Kinova.Api.Common.Empty);//@RPC_ID=120
+
+    // Sends a twist (screw consisting of linear and angular velocity) command to be applied to the tool
+    rpc SendTwistCommand (TwistCommand) returns (Kinova.Api.Common.Empty);//@RPC_ID=121
+
+    // Moves joints to the specified joint angles while imposing specified constraints.
+    rpc PlayJointTrajectory (ConstrainedJointAngles) returns (Kinova.Api.Common.Empty);//@RPC_ID=124
+
+    // Moves specifed joint to the specifed joint angle while imposing specified constraints.
+    rpc PlaySelectedJointTrajectory (ConstrainedJointAngle) returns (Kinova.Api.Common.Empty);//@RPC_ID=125
+
+    // Retrieves the currently measured joint angles for each joint
+    rpc GetMeasuredJointAngles (Kinova.Api.Common.Empty) returns (JointAngles);//@RPC_ID=126
+
+    /*
+     * Sends a set of joint speed commands to all joints with one command. Joint speed commmands must be sent to all joints. 
+	 * If you do not want to move some of the joints, simply send a speed value of 0 degrees / second for that joint.
+	 */
+    rpc SendJointSpeedsCommand (JointSpeeds) returns (Kinova.Api.Common.Empty);//@RPC_ID=132
+
+    // Sends a speed command for a specific joint
+    rpc SendSelectedJointSpeedCommand (JointSpeed) returns (Kinova.Api.Common.Empty);//@RPC_ID=133
+
+    // Sends a command to move the gripper
+    rpc SendGripperCommand (GripperCommand) returns (Kinova.Api.Common.Empty);//@RPC_ID=136
+
+    // Retrieves the current gripper movement, that is the current gripper position, force or speed
+    rpc GetMeasuredGripperMovement (GripperRequest) returns (Gripper);//@RPC_ID=137
+
+    // Sets the robot in the chosen admittance mode 
+    rpc SetAdmittance (Admittance) returns (Kinova.Api.Common.Empty);//@RPC_ID=139
+
+    // Sets a new operating mode. Only Maintenance, Update and Run modes are permitted.
+    rpc SetOperatingMode (OperatingModeInformation) returns (Kinova.Api.Common.Empty);//@RPC_ID=141
+
+    // Stops robot movement and activates emergency stop state. You will not be able to move the robot. Use ClearFaults() to clear the stop.
+    rpc ApplyEmergencyStop (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=145
+
+    // Clears robot stop. Robot is permitted to move again.
+    rpc ClearFaults (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=146
+
+    // Retrieves current control mode
+    rpc GetControlMode (Kinova.Api.Common.Empty) returns (ControlModeInformation);//@RPC_ID=150
+
+    // Retrieves current operating mode
+    rpc GetOperatingMode (Kinova.Api.Common.Empty) returns (OperatingModeInformation);//@RPC_ID=151
+
+    // Sets the servoing mode
+    rpc SetServoingMode (ServoingModeInformation) returns (Kinova.Api.Common.Empty);//@RPC_ID=152
+
+    // Retrieves current servoing mode
+    rpc GetServoingMode (Kinova.Api.Common.Empty) returns (ServoingModeInformation);//@RPC_ID=153
+
+    // Subscribes to servoing mode topic for notifications
+    rpc ServoingModeTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=154 @PUB_SUB=ServoingModeNotification
+
+    // Deletes all configurations and reverts settings to their factory defaults (except network settings)
+    rpc RestoreFactorySettings (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=160
+
+    // Reboots the robot
+    rpc Reboot (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=162
+
+    // Subscribes to factory topic for notifications
+    rpc FactoryTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=164 @PUB_SUB=FactoryNotification
+
+    // Retrieves the list of all connected controllers
+    rpc GetAllConnectedControllers (Kinova.Api.Common.Empty) returns (ControllerList);//@RPC_ID=166
+
+    // Retrieves the state of a specified controller
+    rpc GetControllerState (ControllerHandle) returns (ControllerState);//@RPC_ID=167
+
+    // Retrieves the number of actuators in the robot
+    rpc GetActuatorCount (Kinova.Api.Common.Empty) returns (ActuatorInformation);//@RPC_ID=171
+
+    // Initiates Wi-Fi scanning
+    rpc StartWifiScan (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=172
+
+    // Retrieves a configured Wi-Fi network
+    rpc GetConfiguredWifi (Ssid) returns (WifiConfiguration);//@RPC_ID=173
+
+    // Subscribes to network event notifications
+    rpc NetworkTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=174 @PUB_SUB=NetworkNotification
+
+    // Retrieves current robot arm state
+    rpc GetArmState (Kinova.Api.Common.Empty) returns (ArmStateInformation);//@RPC_ID=175
+
+    // Subscribes to robot arm state notifications
+    rpc ArmStateTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=176 @PUB_SUB=ArmStateNotification
+
+    // Retrieves the IPv4 network information for the specified network adapter
+    rpc GetIPv4Information (NetworkHandle) returns (IPv4Information);//@RPC_ID=177
+
+    // Sets the Wi-Fi country code
+    rpc SetWifiCountryCode (Kinova.Api.Common.CountryCode) returns (Kinova.Api.Common.Empty);//@RPC_ID=178
+
+    // Retrieves the Wi-Fi country code
+    rpc GetWifiCountryCode (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.CountryCode);//@RPC_ID=179
+
+    // Configures capacitive sensor on the gripper or wrist
+    rpc SetCapSenseConfig (CapSenseConfig)          returns (Kinova.Api.Common.Empty);//@RPC_ID=180
+
+    // Retrieves configuration of capacitive sensor on the gripper or wrist
+    rpc GetCapSenseConfig (Kinova.Api.Common.Empty) returns (CapSenseConfig);//@RPC_ID=181
+
+    // Retrieves speed hard limits for all joints 
+    rpc GetAllJointsSpeedHardLimitation (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=183 @DEPRECATED="This function will be removed in a future release. Use GetKinematicHardLimits from the ControlConfig service instead."
+
+    // Retrieves torque hard limits for all joints 
+    rpc GetAllJointsTorqueHardLimitation  (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=184 @DEPRECATED
+
+    // Retrieves twist hard limitations
+    rpc GetTwistHardLimitation (Kinova.Api.Common.Empty) returns (TwistLimitation);//@RPC_ID=185 @DEPRECATED="This function will be removed in a future release. Use GetKinematicHardLimits from the ControlConfig service instead."
+
+    // Retrieves wrench hard limitations
+    rpc GetWrenchHardLimitation (Kinova.Api.Common.Empty) returns (WrenchLimitation);//@RPC_ID=186 @DEPRECATED
+
+    /*
+     * Sends the desired joystick speeds to all joints with one command. 
+	 * The speed values sent to this call are expected to be a ratio of the maximum value (between -1.0/+1.0)
+	 * Speeds must be sent to all joints. If you don't want to move some of the joints, send a value of 0.
+	 */
+    rpc SendJointSpeedsJoystickCommand (JointSpeeds) returns (Kinova.Api.Common.Empty);//@RPC_ID=187
+
+    /* 
+	 * Sends a joystick speed for a specific joint. 
+	 * The speed value sent to this call is expected to be a ratio of the maximum value (between -1.0/+1.0)
+	 */
+    rpc SendSelectedJointSpeedJoystickCommand (JointSpeed) returns (Kinova.Api.Common.Empty);//@RPC_ID=188
+
+    // Enables TCP bridge to hardware device
+    rpc EnableBridge (BridgeConfig) returns (BridgeResult); //@RPC_ID=193
+
+    // Disables specified TCP bridge
+    rpc DisableBridge (BridgeIdentifier) returns (BridgeResult); //@RPC_ID=194
+
+    // Retrieves list of created bridges
+    rpc GetBridgeList (Kinova.Api.Common.Empty) returns (BridgeList); //@RPC_ID=195
+
+    // Retrieves configuration for specified bridge
+    rpc GetBridgeConfig (BridgeIdentifier) returns (BridgeConfig); //@RPC_ID=196
+
+    // Plays a pre-computed angular trajectory
+    rpc PlayPreComputedJointTrajectory (PreComputedJointTrajectory) returns (Kinova.Api.Common.Empty);//@RPC_ID=197
+
+    // Retrieves product configuration information
+    rpc GetProductConfiguration (Kinova.Api.Common.Empty) returns (Kinova.Api.ProductConfiguration.CompleteProductConfiguration);//@RPC_ID=198
+
+    // Set new end-effector type in product configuration (Identification Number)
+    rpc UpdateEndEffectorTypeConfiguration (Kinova.Api.ProductConfiguration.ProductConfigurationEndEffectorType) returns (Kinova.Api.Common.Empty);//@RPC_ID=201
+    
+    // Restores product configuration to factory product configuration
+    rpc RestoreFactoryProductConfiguration (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=206
+
+    /*
+     * Obtains trajectory error report listing errors for rejected trajectory.
+	 * Provides some feedback on why the trajectory could not be completed.
+	 */
+    rpc GetTrajectoryErrorReport (Kinova.Api.Common.Empty) returns (TrajectoryErrorReport);//@RPC_ID=207
+
+    // Retrieves list of soft speed limits for all joints
+    rpc GetAllJointsSpeedSoftLimitation (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=208 @DEPRECATED="This function will be removed in a future release. Use GetKinematicSoftLimits from the ControlConfig service instead."
+
+    // Retrieves list of soft torque limits for all joints 
+    rpc GetAllJointsTorqueSoftLimitation  (Kinova.Api.Common.Empty) returns (JointsLimitationsList);//@RPC_ID=209 @DEPRECATED
+
+    // Retrieves all twist soft limitations
+    rpc GetTwistSoftLimitation (Kinova.Api.Common.Empty) returns (TwistLimitation);//@RPC_ID=210 @DEPRECATED="This function will be removed in a future release. Use GetKinematicSoftLimits from the ControlConfig service instead."
+
+    // Retrieves all wrench soft limitations
+    rpc GetWrenchSoftLimitation (Kinova.Api.Common.Empty) returns (WrenchLimitation);//@RPC_ID=211 @DEPRECATED
+
+    // Sets controller configuration mode
+    rpc SetControllerConfigurationMode (ControllerConfigurationMode) returns (Kinova.Api.Common.Empty);//@RPC_ID=212
+
+    // Retrieves current controller configuration mode
+    rpc GetControllerConfigurationMode (Kinova.Api.Common.Empty) returns (ControllerConfigurationMode);//@RPC_ID=213
+
+    // Enables the teaching mode on a sequence
+    rpc StartTeaching (SequenceTaskHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=214
+
+    // Disables the teaching mode on a sequence
+    rpc StopTeaching (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty);//@RPC_ID=215
+
+    // Adds tasks to the specified sequence
+    rpc AddSequenceTasks (SequenceTasksConfiguration) returns (SequenceTasksRange);//@RPC_ID=216
+
+    // Updates a task within the specified sequence
+    rpc UpdateSequenceTask (SequenceTaskConfiguration) returns (Kinova.Api.Common.Empty);//@RPC_ID=217
+
+    // Swaps two task indexes in a sequence
+    rpc SwapSequenceTasks (SequenceTasksPair) returns (Kinova.Api.Common.Empty);//@RPC_ID=218
+
+    // Reads a specific task from the specified sequence
+    rpc ReadSequenceTask (SequenceTaskHandle) returns (SequenceTask);//@RPC_ID=219
+
+    // Reads all tasks from the specified sequence
+    rpc ReadAllSequenceTasks (SequenceHandle) returns (SequenceTasks);//@RPC_ID=220
+
+    // Deletes a specific task from the specified sequence
+    rpc DeleteSequenceTask (SequenceTaskHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=13
+
+    // Deletes all tasks from the specified sequence
+    rpc DeleteAllSequenceTasks (SequenceHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=14
+
+    // Take a snapshot of current robot Cartesian, joint or gripper position 
+    rpc TakeSnapshot (Snapshot) returns (Kinova.Api.Common.Empty);//@RPC_ID=223
+
+    // Retrieves current firmware bundle versions
+    rpc GetFirmwareBundleVersions (Kinova.Api.Common.Empty) returns (FirmwareBundleVersions);//@RPC_ID=224
+
+    // Move task to new index in a sequence
+    rpc MoveSequenceTask (SequenceTasksPair) returns (Kinova.Api.Common.Empty);//@RPC_ID=227
+
+    // Duplicates an existing mapping
+    rpc DuplicateMapping (MappingHandle) returns (MappingHandle);//@RPC_ID=228
+
+    // Duplicates an existing map
+    rpc DuplicateMap (MapHandle) returns (MapHandle);//@RPC_ID=229
+
+    // Sets controller configuration
+    rpc SetControllerConfiguration (ControllerConfiguration) returns (Kinova.Api.Common.Empty);//@RPC_ID=230
+
+    // Retrieves current controller configuration
+    rpc GetControllerConfiguration (ControllerHandle) returns (ControllerConfiguration);//@RPC_ID=231
+
+    // Retrieves all controller configurations
+    rpc GetAllControllerConfigurations (Kinova.Api.Common.Empty) returns (ControllerConfigurationList);//@RPC_ID=232
+}
+
+// Identifies Base service current version
+enum ServiceVersion {
+    RESERVED_0 = 0;         // Reserved
+    CURRENT_VERSION = 1;    // Current version
+}
+
+// Information about a user, together with a password. Full set of information needed to create a user profile.
+message FullUserProfile {
+    UserProfile user_profile = 1; // Information about the user, including its username.
+    string password = 2;          // User's password
+}
+
+// Information about a user
+message UserProfile {
+    Kinova.Api.Common.UserProfileHandle handle = 1; // User handle (no need to set it with CreateUserProfile())
+    string username = 2;                            // Username, which is used to connect to robot (or login via Web App)
+    string firstname = 3;                           // User's first name
+    string lastname = 4;                            // User's last name
+    string application_data = 5;                    // Application data (reserved for use by Web App)
+}
+
+// Array of user profiles
+message UserProfileList {
+    repeated UserProfile user_profiles = 1;  // User profile
+}
+
+// Array of user profile handles
+message UserList {
+    repeated Kinova.Api.Common.UserProfileHandle user_handles = 1; // User handle
+}
+
+// Information required to change user password
+message PasswordChange {
+    Kinova.Api.Common.UserProfileHandle handle = 1; // User handle
+    string old_password = 2;                        // Current password
+    string new_password = 3;                        // New password
+}
+
+// Reference to a specific sequence
+message SequenceHandle {
+    uint32 identifier = 1;  // Sequence identifier
+    fixed32 permission = 2; // Sequence permission. See 'Kinova.Api.Common.Permission' enum.
+}
+
+// Reference to a sequence along with execution options
+message AdvancedSequenceHandle {
+    SequenceHandle handle = 1; // Sequence handle
+    /*
+     * Loop execution. Set to true to play the sequence in loop, false otherwise. When a sequence is executed in loop, it will automatically
+     * go back to first task within the sequence after completing execution of last task and continue execution forever
+     * unless the sequence is explicitely stopped
+     */
+    bool in_loop = 2;
+}
+
+// Reference to a specific task inside a sequence
+message SequenceTaskHandle {
+    SequenceHandle sequence_handle = 1; // Sequence handle
+    uint32 task_index = 2;              // Task index inside the sequence
+}
+
+// Information on a single task within a sequence
+message SequenceTask {
+    uint32 group_identifier = 1;    // This field is deprecated and unused. Use task_index in the SequenceTaskHandle instead.
+    Action action = 2;              // Specifies the action to execute
+    string application_data = 3;    // Application data (reserved for use by Web App)
+}
+
+// Information on multiple tasks within a sequence
+message SequenceTasks {
+    repeated SequenceTask sequence_tasks    = 1;    // List of tasks
+}
+
+// Reference to a specific task within a sequence, and information on list of sequence tasks to be inserted
+message SequenceTasksConfiguration {
+    SequenceTaskHandle sequence_task_handle = 1;    // Sequence Handle and task index as the insertion point
+    repeated SequenceTask sequence_tasks    = 2;    // Tasks to be inserted 
+}
+
+// Reference to a specific task within a sequence, and configuration information on task to be updated
+message SequenceTaskConfiguration {
+    SequenceTaskHandle sequence_task_handle = 1;    // Sequence Handle and index of task to update
+    SequenceTask sequence_task = 2;                 // Configuration information on task to be updated
+}
+
+// Information on a range of task indexes
+message SequenceTasksRange {
+    uint32 first_task_index = 1;    // Index of first task 
+    uint32 second_task_index = 2;   // Index of second task
+}
+
+// Information on a sequence and a pair of tasks to be operated on
+message SequenceTasksPair {
+    SequenceHandle sequence_handle = 1; // Sequence handle
+    uint32 first_task_index = 2;        // Index of first task 
+    uint32 second_task_index = 3;       // Index of second task
+}
+
+// Information about a sequence
+message Sequence {
+    SequenceHandle handle = 1;          // Sequence handle
+    string name = 2;                    // Sequence name
+    string application_data = 3;        // Application data (reserved for use by Web App)
+    repeated SequenceTask tasks = 4;    // Array of tasks that this sequence contains
+}
+
+// An array of sequences
+message SequenceList {
+    repeated Sequence sequence_list = 1; // Sequence
+}
+
+// Representation of the result of appending (adding at the end) an action to an existing sequence (not implemented yet)
+message AppendActionInformation {
+    SequenceHandle sequence_handle = 1; // Sequence to which action must be appended
+    Action action = 2;                  // Action to append
+}
+
+// Reference to a specific action
+message ActionHandle {
+    uint32 identifier = 1;      // Action identifier
+    ActionType action_type = 2; // Action type
+    fixed32 permission = 3;     // Permission of specified Action entity. Must use 'Kinova.Api.Common.Permission' enum.
+}
+
+// Message used for requesting all action instances of a specific action type
+message RequestedActionType {
+    ActionType action_type = 1; // Action type
+}
+
+// Defines an action. An action is some task performed on the robot.
+message Action {
+    ActionHandle handle = 1;                                            // Reference to the action (useful when updating an existing action)
+    string name = 2;                                                    // Action friendly name
+    string application_data = 3;                                        // Application data (reserved for use by Web App)
+    oneof action_parameters {
+        TwistCommand send_twist_command = 4;                            // Control the tool in velocity
+        WrenchCommand send_wrench_command = 5;                          // Control the tool in force (EXPERIMENTAL)
+        JointSpeeds send_joint_speeds = 7;                              // Action to control each joint speed
+        ConstrainedPose reach_pose = 9;                                 // Reach a pose given Cartesian constraints.
+        ConstrainedJointAngles reach_joint_angles = 10;                 // Reach a series of joint angles given angular constraints.
+        AdmittanceMode toggle_admittance_mode = 16;                     // Enable or disable the admittance mode
+        Snapshot snapshot = 17;                                         // Take a snapshot of current robot position
+        SwitchControlMapping switch_control_mapping = 19;               // Switch the active controller map
+        JointNavigationDirection navigate_joints = 20;                  // Select the next actuator to control in a map
+        NavigationDirection navigate_mappings = 21;                     // Select a different map
+        ChangeTwist change_twist = 25;                                  // Change tool twist
+        ChangeJointSpeeds change_joint_speeds = 26;                     // Change the joint speeds individually
+        ChangeWrench change_wrench = 28;                                // Change the Cartesian force
+        EmergencyStop apply_emergency_stop = 31;                        // Apply robot emergency stop
+        Faults clear_faults = 32;                                       // Clear faults. Robot will be able to move if there is no more fault (see BaseCyclic.BaseFeedback.[fault_bank_a | fault_bank_b])
+        Delay delay = 34;                                               // Apply a delay
+        ActionHandle execute_action = 35;                               // Execute an existing action
+        GripperCommand send_gripper_command = 36;                       // Send a gripper command
+        Stop stop_action = 38;                                          // Stop movement
+        PreComputedJointTrajectory play_pre_computed_trajectory = 39;   // Play a pre-computed joint trajectory
+    }
+}
+
+// Admissible types of actions
+enum ActionType {
+    UNSPECIFIED_ACTION = 0;             // Unspecified action type
+    SEND_TWIST_COMMAND = 1;             // Control the robot in Cartesian velocity
+    SEND_WRENCH_COMMAND = 2;            // Control the robot in force
+    SEND_JOINT_SPEEDS = 4;              // Control each joint speed
+    REACH_POSE = 6;                     // Reach a pose
+    REACH_JOINT_ANGLES = 7;             // Reach a series of joint angles
+    TOGGLE_ADMITTANCE_MODE = 13;        // Enable or disable the admittance mode
+    SNAPSHOT = 14;                      // Take a snapshot of current robot position
+    SWITCH_CONTROL_MAPPING = 16;        // Switch the active controller map
+    NAVIGATE_JOINTS = 17;               // Select the next actuator to control from control mapping
+    NAVIGATE_MAPPINGS = 18;             // Select a different map
+    CHANGE_TWIST = 22;                  // Change the twist
+    CHANGE_JOINT_SPEEDS = 23;           // Change the joint speeds individually
+    CHANGE_WRENCH = 25;                 // Change the Cartesian force
+    APPLY_EMERGENCY_STOP = 28;          // Apply robot emergency stop
+    CLEAR_FAULTS = 29;                  // Clear faults. Robot will be able to move if there is no more fault (see BaseCyclic.BaseFeedback.[fault_bank_a | fault_bank_b])
+    TIME_DELAY = 31;                    // Apply a delay
+    EXECUTE_ACTION = 32;                // Execute an existing action
+    SEND_GRIPPER_COMMAND = 33;          // Send a gripper command
+    STOP_ACTION = 35;                   // Stop robot movement
+    PLAY_PRE_COMPUTED_TRAJECTORY = 39;  // Play a pre-computed trajectory
+}
+
+// Admissible types of snapshots
+enum SnapshotType {
+    UNSPECIFIED_SNAPSHOT = 0;           // Unspecified snapshot type
+    CARTESIAN_POSITION_SNAPSHOT = 1;    // Snapshot of the current Cartesian robot position
+    JOINT_POSITION_SNAPSHOT = 2;        // Snapshot of the current joint robot position
+    GRIPPER_SNAPSHOT = 3;               // Snapshot of the current gripper position
+    COMBINED_SNAPSHOT = 4;              // Snapshot of the current robot and gripper positions
+}
+
+// Action parameter to take a snapshot of current robot position
+message Snapshot {
+    SnapshotType snapshot_type = 1;     // Snapshot type
+}
+
+// Action parameter to switch the active controller map
+message SwitchControlMapping {
+    uint32 controller_identifier = 1;       // Identifier of the controller for which changing the active map is requested
+    MapGroupHandle map_group_handle = 2;    // Reference to the map group for which the active map needs to change
+    MapHandle map_handle = 3;               // Reference to new active map
+}
+
+// Action to change the maximum Cartesian velocity by a specific increment
+message ChangeTwist {
+    float linear = 1;   // Linear Cartesian velocity increment (in meters per second)
+    float angular = 2;  // Angular Cartesian velocity increment (in degrees per second)
+}
+
+// Action to change the maximum angular velocity per joint by a specific increment
+message ChangeJointSpeeds {
+   JointSpeeds joint_speeds = 1; // Joint speeds
+}
+
+// Action to change the maximum Cartesian force by a specific increment
+message ChangeWrench {
+    float force = 1;    // Linear force increment (in Newton)
+    float torque = 2;   // Angular torque increment (in Newton*meters)
+}
+
+// Action to force an emergency of the robot
+message EmergencyStop {
+}
+
+// Action to clear faults
+message Faults {
+}
+
+// Action to apply a delay
+message Delay {
+    uint32 duration = 1; // Delay (in seconds)
+}
+
+// Action to stop robot movement
+message Stop {
+}
+
+// Array of actions
+message ActionList {
+    repeated Action action_list = 1; // Action
+}
+
+// Timeout for a specified duration
+message Timeout {
+    uint32 value = 1; // Timeout value (not implemented yet)
+}
+
+// Wi-Fi SSID
+message Ssid {
+    string identifier = 1; // Wi-Fi Service Set Identifier
+}
+
+// Configuration information for enabling or disabling a specific communication interface (e.g. Wi-Fi, Wired Ethernet)
+message CommunicationInterfaceConfiguration {
+    NetworkType type = 1;   // Network type (e.g. Wi-Fi, Wired Ethernet)
+    bool enable = 2;        // Enable configuration. Set to true to enable network, false otherwise
+}
+
+// Admissible network types
+enum NetworkType {
+    UNSPECIFIED_NETWORK_TYPE = 0;   // Unspecified network type
+    WIFI = 1;                       // Wi-Fi network
+    WIRED_ETHERNET = 2;             // Wired Ethernet network
+    WIRED_MICROUSB = 3;             // Wired Ethernet over USB network (RNDIS)
+    WIRED_USB = 4;                  // Wired Ethernet over USB network
+}
+
+// Reference to a network
+message NetworkHandle {
+    NetworkType type = 1;  // Network type
+}
+
+// IPv4 configuration information
+message IPv4Configuration {
+    uint32 ip_address = 1;      // IPv4 address
+    uint32 subnet_mask = 2;     // IPv4 subnet mask
+    uint32 default_gateway = 3; // Gateway IPv4 address
+    bool dhcp_enabled = 4;      // Enable automatic (DHCP) IPv4 configuration. Set to true to enable DHCP instead of static configuration.
+}
+
+// Information about an IPv4 endpoint
+message IPv4Information {
+    uint32 ip_address = 1;      // IPv4 address
+    uint32 subnet_mask = 2;     // IPv4 subnet mask
+    uint32 default_gateway = 3; // Gateway IPv4 address
+}
+
+// IPv4 configuration for a specific network
+message FullIPv4Configuration {
+    NetworkHandle handle = 1;                   // Network handle
+    IPv4Configuration ipv4_configuration = 2;   // IPv4 configuration
+}
+
+
+// Admissible Wi-Fi Security types
+enum WifiSecurityType {
+    UNSPECIFIED_AUTHENTICATION = 0; // Unspecified Wi-Fi security type
+    WEP = 1;                        // WEP authentication required
+    WPA2_PERSONAL = 2;              // WPA2 Personal authentication required
+    WPA_PERSONAL = 4;               // WPA Personal authentication required
+    NO_AUTHENTICATION = 8;          // No authentication required
+}
+
+// Admissible Wi-Fi encryption types
+enum WifiEncryptionType {
+    UNSPECIFIED_ENCRYPTION = 0; // Unspecified Wi-Fi encryption type
+    AES_ENCRYPTION = 1;         // AES encryption
+    TKIP_ENCRYPTION = 2;        // TKIP encryption
+    WEP_ENCRYPTION = 4;         // WEP encryption
+}
+
+// Admissible signal quality values
+enum SignalQuality {
+    UNSPECIFIED_SIGNAL_QUALITY = 0; // Unspecified signal quality
+    POOR = 1;                       // Poor signal quality
+    FAIR = 2;                       // Fair signal quality
+    GOOD = 3;                       // Good signal quality
+    EXCELLENT = 4;                  // Excellent signal quality
+    NONE = 5;                       // No signal
+}
+
+// Information about a specific Wi-Fi network
+message WifiInformation {
+    Ssid ssid = 1;                      // SSID
+    fixed32 security_type = 2;          // Wi-Fi security type
+    fixed32 encryption_type = 3;        // Wi-Fi encryption type
+    SignalQuality signal_quality = 4;   // Wi-Fi signal quality
+    int32 signal_strength = 5;          // Wi-Fi signal power in dBm
+    uint32 frequency = 6;               // Wi-Fi operating frequency (channel) in MHz
+    uint32 channel = 7;                 // Wi-Fi operating channel
+}
+
+// Array of information about different Wi-Fi networks
+message WifiInformationList {
+    repeated WifiInformation wifi_information_list = 1; // Wi-Fi information
+}
+
+// Wi-Fi connection configuration
+message WifiConfiguration {
+    Ssid ssid = 1;                  // SSID
+    string security_key = 2;        // Security key to used when connecting to Wi-Fi network
+    bool connect_automatically = 3; // Connection mode. Set to true so robot automatically connects to this Wi-Fi network at bootup, false otherwise
+}
+
+// Array of Wi-Fi connection configuration for different networks
+message WifiConfigurationList {
+    repeated WifiConfiguration wifi_configuration_list   = 1; // Wi-Fi configurations
+}
+
+// Reference to a specific protection zone
+message ProtectionZoneHandle {
+    uint32 identifier = 1;  // Protection zone identifier
+    fixed32 permission = 2; // Permission of specified Proctection zone entity. Must use 'Kinova.Api.Common.Permission' enum.
+}
+
+/*
+ * Single row of a 3x3 rotation matrix. To be a valid possible row of a rotation matrix, 
+ * the norm of the row must be 1 (the sum of the squares of the row elements has to equal 1).
+ */
+message RotationMatrixRow {
+    float column1 = 1;  // Value between -1.0 and 1.0
+    float column2 = 2;  // Value between -1.0 and 1.0
+    float column3 = 3;  // Value between -1.0 and 1.0
+}
+
+/* 
+ * Representation of a 3x3 rotation matrix. To be a valid rotation matrix, the rows must be orthonormal 
+ * (the rows must each have norm of 1 and the row vectors must be orthogonal to each other). 
+ * The determinant of the matrix must also be +1.
+ */
+message RotationMatrix {
+    RotationMatrixRow row1 = 1; // First rotation matrix row
+    RotationMatrixRow row2 = 2; // Second rotation matrix row
+    RotationMatrixRow row3 = 3; // Third rotation matrix row
+}
+
+// Coordinates of a Cartesian point
+message Point {
+    float x = 1;  // x (in meters)
+    float y = 2;  // y (in meters)
+    float z = 3;  // z (in meters)
+}
+
+// Admissible protection zone shape types
+enum ShapeType {
+    UNSPECIFIED_SHAPE = 0;  // Unspecified shape type
+    CYLINDER = 1;           // Cylinder shape type
+    SPHERE = 2;             // Sphere shape type
+    RECTANGULAR_PRISM = 3;  // Rectangular prism shape type
+}
+
+// Protection zone shape description
+message ZoneShape {
+    ShapeType shape_type = 1;       // Shape type
+    Point origin = 2;               // Origin of the protection zone shape from reference (in meters)
+    RotationMatrix orientation = 3; // Rotation matrix to provide shape orientation
+    repeated float dimensions = 4;  // Shape size measurement (in meters). If rectangular prism: x, y and z dimensions. If cylinder: radius and height. If sphere: radius
+    float envelope_thickness = 5;   // Thickness of envelop around shape (in meters). The envelop is of same shape type as the shape at its center.
+}
+
+// Protection zone configuration
+message ProtectionZone {
+    ProtectionZoneHandle handle = 1;                        // Protection zone handle
+    string name = 2;                                        // Protection zone friendly name
+    string application_data = 3;                            // Application data (reserved for use by Web App)
+    bool is_enabled = 4;                                    // True if protection zone is enabled, false otherwise
+    ZoneShape shape = 5;                                    // Protection zone shape
+    repeated CartesianLimitation limitations = 6;           // List of Cartesian limitation
+    repeated CartesianLimitation envelope_limitations = 7;  // List of Cartesian limitation of the envelop
+}
+
+// Array of protection zones
+message ProtectionZoneList {
+    repeated ProtectionZone protection_zones = 1; // Protection zone
+}
+
+// Admissible limitation types
+enum LimitationType {
+    UNSPECIFIED_LIMITATION = 0;     // Unspecified limitation
+    FORCE_LIMITATION = 1;           // Force limitation (not implemented yet)
+    ACCELERATION_LIMITATION = 2;    // Acceleration limitation (not implemented yet)
+    VELOCITY_LIMITATION = 3;        // Velocity limitation
+    TORQUE_LIMITATION = 4;          // Torque limitation
+}
+
+// Translation and orientation limits for a specified limit type for Cartesian configuration
+message CartesianLimitation {
+    LimitationType type = 1;    // Limitation type
+    float translation = 2;      // Translation limitation
+    float orientation = 3;      // Orientation limitation
+}
+
+// Linear and angular speed limitations for twist configuration
+message TwistLimitation {
+    float linear = 1;      // Linear limitation
+    float angular = 2;     // Angular limitation
+}
+
+// Force and torque limitations for wrench configuration
+message WrenchLimitation {
+    float force = 1;      // Force limitation
+    float torque = 2;     // Torque limitation
+}
+
+// Array of Cartesian limitations
+message CartesianLimitationList {
+    repeated CartesianLimitation limitations = 1; // Limitation
+}
+
+// Limitation for a specified robot joint
+message JointLimitation {
+    uint32 joint_identifier = 1;    // Joint device identifier
+    LimitationType type = 2;        // Joint limitation type
+    float value = 3;                // Joint limitation value
+}
+
+// Array of joint limitations
+message JointsLimitationsList {
+    repeated JointLimitation joints_limitations = 1; // Joints Limitations
+}
+
+// Parameters of an event log query (not implemented yet)
+message Query {
+    Kinova.Api.Common.Timestamp start_timestamp = 1;    // Start timestamp (set to zero to specify it)
+    Kinova.Api.Common.Timestamp end_timestamp = 2;      // End timestamp (set to zero to not specify it)
+    string username = 3;                                // Queried username (set to "" to not specify it)
+}
+
+// Admissible configuration events
+enum ConfigurationNotificationEvent {
+    UNSPECIFIED_CONFIGURATION_EVENT = 0;    // Unspecified configuration event
+    CONFIGURATION_UPDATED = 1;              // Configuration deleted
+    CONFIGURATION_DELETED = 2;              // Configuration updated
+    CONFIGURATION_DELETED_ALL = 3;          // All configurations deleted
+    CONFIGURATION_CREATED = 4;              // Configuration created
+}
+
+// Representation of a configuration change event
+message ConfigurationChangeNotification {
+    ConfigurationNotificationEvent event = 1;                           // Configuration event
+    Kinova.Api.Common.Timestamp timestamp = 2;                          // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 3;                // User that caused the configuration event
+    oneof configuration_change {
+        SequenceHandle sequence_handle = 4;                             // Sequence for which the configuration changed
+        ActionHandle action_handle = 5;                                 // Action for which the configuration changed
+        MappingHandle mapping_handle = 6;                               // Mapping for which the configuration changed
+        MapGroupHandle map_group_handle = 7;                            // Map group for which the configuration changed
+        MapHandle map_handle = 8;                                       // Map for which the configuration changed
+        Kinova.Api.Common.UserProfileHandle user_profile_handle = 9;    // User Profile for which the configuration changed
+        ProtectionZoneHandle protection_zone_handle = 10;               // Protection zone for which the configuration changed
+        Kinova.Api.Common.SafetyHandle safety_handle = 11;              // Safety for which the configuration changed
+        NetworkHandle network_handle = 12;                              // Network element for which the configuration changed
+        Ssid ssid = 14;                                                 // Wi-Fi instance for which the configuration changed
+        ControllerHandle controller_handle = 16;                        // Controller instance for which the configuration changed
+    }
+    Kinova.Api.Common.Connection connection = 15;                       // Connection that caused the configuration event
+}
+
+// Notification about a single mapping information event
+message MappingInfoNotification {
+    uint32 controller_identifier = 1;                       // Identifier of the controller
+    MapHandle active_map_handle = 2;                        // New active map
+    Kinova.Api.Common.Timestamp timestamp = 3;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 4;    // User that caused the mapping information event
+    Kinova.Api.Common.Connection connection = 5;            // Connection that caused the mapping information event
+    MappingHandle mapping_handle = 6;                       // Mapping for which the map was activated
+}
+
+// Admissible robot control modes.
+// This enum may be removed in a future release. It has been moved to ControlConfig service.
+enum ControlMode {
+    UNSPECIFIED_CONTROL_MODE = 0;           // Unspecified control mode
+    ANGULAR_JOYSTICK = 1;                   // Angular joystick mode
+    CARTESIAN_JOYSTICK = 2;                 // Cartesian joystick mode
+    ANGULAR_TRAJECTORY = 4;                 // Angular trajectory mode
+    CARTESIAN_TRAJECTORY = 5;               // Cartesian trajectory mode
+    CARTESIAN_ADMITTANCE = 6;               // Cartesian admittance mode
+    JOINT_ADMITTANCE = 7;                   // Joint admittance mode
+    NULL_SPACE_ADMITTANCE = 8;              // Null space mode
+    FORCE_CONTROL = 10;                     // Force control mode
+    FORCE_CONTROL_MOTION_RESTRICTED = 11;   // Force control motion restricted mode
+    IDLE = 13;                              // Idle
+};
+
+// Control mode information
+// This message may be removed in a future release. It has been moved to ControlConfig service.
+message ControlModeInformation {
+    ControlMode mode = 1; // Control mode
+}
+
+// Notification about a single control mode event
+message ControlModeNotification {
+    ControlMode control_mode = 1;                           // New control mode
+    Kinova.Api.Common.Timestamp timestamp = 2;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 3;    // User that caused the control mode event
+    Kinova.Api.Common.Connection connection = 4;            // Connection that caused the control mode event
+}
+
+// Admissible robot operating modes (used to report robot firmware upgrade current state)
+enum OperatingMode {
+    UNSPECIFIED_OPERATING_MODE = 0; // Unspecified operating mode
+    MAINTENANCE_MODE = 1;           // Robot in maintenance mode
+    UPDATE_MODE = 2;                // Robot waiting for upgrade package
+    UPDATE_COMPLETED_MODE = 3;      // Robot update successfully completed
+    UPDATE_FAILED_MODE = 4;         // Robot update failed
+    SHUTTING_DOWN_MODE = 5;         // Robot about to shutdown
+    RUN_MODE = 6;                   // Robot properly running (or normal operation mode)
+    UPDATING_DEVICE_MODE = 7;       // Robot updating device
+}
+
+// Admissible servoing modes
+enum ServoingMode {
+    UNSPECIFIED_SERVOING_MODE = 0;  // Unspecified servoing mode
+    SINGLE_LEVEL_SERVOING = 2;      // Single-level servoing
+    LOW_LEVEL_SERVOING = 3;         // Low-level servoing
+    BYPASS_SERVOING = 4;            // Bypass mode
+}
+
+// Information about the servoing mode
+message ServoingModeInformation {
+    ServoingMode servoing_mode = 1; // Servoing mode
+}
+
+// Information about the operating mode
+message OperatingModeInformation {
+    OperatingMode operating_mode = 1;                   // Operating mode
+    Kinova.Api.Common.DeviceHandle device_handle = 2;   // Device matching operating mode (if applicable)
+}
+
+// Notification about a single operating mode event
+message OperatingModeNotification {
+    OperatingMode operating_mode = 1;                       // New operating mode
+    Kinova.Api.Common.Timestamp timestamp = 2;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 3;    // User that caused the operating mode event
+    Kinova.Api.Common.Connection connection = 4;            // Connection that caused the operating mode event
+    Kinova.Api.Common.DeviceHandle device_handle = 5;       // Device matching operating mode (if applicable)
+}
+
+// Notification about a single servoing mode event
+message ServoingModeNotification {
+    ServoingMode servoing_mode = 1;                         // New servoing mode
+    Kinova.Api.Common.Timestamp timestamp = 2;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 3;    // User that caused the servoing mode event
+    Kinova.Api.Common.Connection connection = 4;            // Connection that caused the servoing mode event
+}
+
+// Admissible sequence event types
+enum EventIdSequenceInfoNotification {
+    UNSPECIFIED_SEQUENCE_EVENT = 0; // Unspecified sequence event
+    SEQUENCE_COMPLETED = 1;         // Sequence completed successfully
+    SEQUENCE_ABORTED = 2;           // Sequence aborted
+    SEQUENCE_PAUSED = 3;            // Sequence paused
+    SEQUENCE_TASK_STARTED = 4;      // Sequence task started
+    SEQUENCE_TASK_COMPLETED = 5;    // Sequence task completed
+    SEQUENCE_STARTED = 6;           // Sequence started
+}
+
+// Notification about a single sequence information event
+message SequenceInfoNotification {
+    EventIdSequenceInfoNotification event_identifier = 1;   // Sequence event type
+    SequenceHandle sequence_handle = 2;                     // Handle of the sequence that this event refers to
+    uint32 task_index = 3;                                  // Task index
+    uint32 group_identifier = 4;                            // This field is deprecated and unused. Use task_index instead.
+    Kinova.Api.Common.Timestamp timestamp = 5;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 6;    // User that caused the sequence event
+    SubErrorCodes abort_details = 7;                        // Details if event_identifier is equal to ABORT
+    Kinova.Api.Common.Connection connection = 8;            // Connection that caused the sequence event
+}
+
+// Information about a sequence
+message SequenceInformation {
+    EventIdSequenceInfoNotification event_identifier = 1;   // Sequence event type
+    uint32 task_index = 2;                                  // Task index
+    uint32 task_identifier = 3;                             // Task identifier
+}
+
+// Admissible protection zone events
+enum ProtectionZoneEvent {
+    UNSPECIFIED_PROTECTION_ZONE_EVENT = 0;  // Unspecified protection zone event
+    REACHED = 1;                            // Protection zone limit is reached
+    ENTERED = 2;                            // Protection zone limit is entered
+    EXITED = 3;                             // Protection zone limit is exited
+};
+
+// Notification about a single protection zone event
+message ProtectionZoneNotification {
+    ProtectionZoneEvent event = 1;                          // Event type
+    ProtectionZoneHandle handle = 2;                        // Handle of the protection zone that this event refers to
+    Kinova.Api.Common.Timestamp timestamp = 3;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 4;    // User that caused the protection zone event to occur
+    Kinova.Api.Common.Connection connection = 5;            // Connection that caused the protection zone event to occur
+}
+
+// Information about a protection zone event
+message ProtectionZoneInformation {
+    ProtectionZoneEvent event = 1; // Event type
+}
+
+// Admissible user event types
+enum UserEvent {
+    UNSPECIFIED_USER_EVENT = 0; // Unspecified user event
+    LOGGED_OUT = 1;             // User logged out
+    LOGGED_IN = 2;              // User logged in
+};
+
+// Notification about a single user event
+message UserNotification {
+    UserEvent user_event = 1;                               // User event type
+    Kinova.Api.Common.UserProfileHandle modified_user = 2;  // User profile that was modified
+    Kinova.Api.Common.Timestamp timestamp = 3;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 4;    // User that caused the user profile event (i.e.  user who changed the user profile)
+    Kinova.Api.Common.Connection connection = 5;            // Connection that caused the user profile event (i.e.  user who changed the user profile)
+}
+
+// Admissible controller types
+enum ControllerType {
+    UNSPECIFIED_CONTROLLER_TYPE = 0;    // Unspecified controller device type
+    XBOX_CONTROLLER = 1;                // Xbox gamepad
+    WRIST_CONTROLLER = 2;               // Wrist buttons
+    BASIC_JOYSTICK_CONTROLLER = 3;      // Simplified joystick connected to Kinova robot base
+    BASE_GPIO_CONTROLLER = 4;           // GPIO Controller (not implemented yet)
+}
+
+// Reference to a specific controller device
+message ControllerHandle {
+    ControllerType type = 1;            // Controller device type
+    uint32 controller_identifier = 2;   // Controller device identifier
+}
+
+// Reference ro a specific button (or axis) of a controller device
+message ControllerElementHandle {
+    ControllerHandle controller_handle = 1; // Controller handle
+    oneof identifier {
+        uint32 button = 2;                  // Button identifier (only set if 'button' controller event, otherwise zero)
+        uint32 axis = 3;                    // Axis identifier (only set if 'axis' controller event, otherwise zero)
+    }
+}
+
+// Notification about a single controller event
+message ControllerNotification {
+    oneof state {
+        ControllerState controller_state = 1;               // Used to indicate if a controller connection or disconnection event occured
+        ControllerElementState controller_element = 2;      // Used to indicate if a specific button (or axis) was pressed (or moved)
+    }
+    Kinova.Api.Common.Timestamp timestamp = 3;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 4;    // User that caused the controller event
+    Kinova.Api.Common.Connection connection = 5;            // Connection that caused the controller event
+}
+
+// Array of references to different controllers
+message ControllerList {
+    repeated ControllerHandle handles = 1;  // Controller handle
+}
+
+// Indicates if a specific controller is connected (or disconnected)
+message ControllerState {
+    ControllerHandle handle = 1;        // Controller identifier
+    ControllerEventType event_type = 2; // Type of controller event that occured
+}
+
+// Indicates if a specific button (or axis) was pressed (or moved)
+message ControllerElementState {
+    ControllerElementHandle handle = 1;         // Controller element handle
+    ControllerElementEventType event_type = 2;  // Type of controller element event that occured
+    float axis_value = 3;                       // Axis value (set between -1.0 and 1.0); only set if 'axis' controller element, otherwise set to zero
+}
+
+// Admissible controller event types
+enum ControllerEventType {
+    UNSPECIFIED_CONTROLLER_EVENT = 0;   // Unspecified controller event
+    CONTROLLER_DISCONNECTED = 1;        // Controller is disconnected
+    CONTROLLER_CONNECTED = 2;           // Controller is connected
+}
+
+// Admissible controller element event types
+enum ControllerElementEventType {
+    UNSPECIFIED_CONTROLLER_ELEMENT_EVENT = 0;   // Unspecified controller element event
+    AXIS_MOVED = 1;                             // Controller axis moved
+    BUTTON_DOWN = 2;                            // Controller button pressed
+    BUTTON_UP = 3;                              // Controller button released
+    BUTTON_CLICK = 4;                           // Controller button clicked
+}
+
+// Admissible action event types
+enum ActionEvent {
+    UNSPECIFIED_ACTION_EVENT = 0;   // Unspecified action event
+    ACTION_END = 1;                 // Action execution end reached
+    ACTION_ABORT = 2;               // Action execution aborted
+    ACTION_PAUSE = 3;               // Action execution paused
+    ACTION_START = 4;               // Action execution started
+    ACTION_PREPROCESS_START = 5;    // Action pre-process started
+    ACTION_PREPROCESS_ABORT = 6;    // Action pre-process aborted
+    ACTION_PREPROCESS_END = 7;      // Action pre-process ended
+    ACTION_POSTPROCESS_START = 8;   // Action post-process started
+    ACTION_POSTPROCESS_ABORT = 9;   // Action post-process aborted
+    ACTION_POSTPROCESS_END = 10;    // Action post-process ended
+}
+
+// Notification about a single action event
+message ActionNotification {
+    ActionEvent action_event = 1;                           // Action event type
+    ActionHandle handle = 2;                                // Identifies the action for which this event occured
+    Kinova.Api.Common.Timestamp timestamp = 3;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 4;    // User that caused the action event
+    SubErrorCodes abort_details = 5;                        // Details if action_event is equal to ACTION_ABORT
+    Kinova.Api.Common.Connection connection = 6;            // Connection that caused the action event
+}
+
+// Indicates the execution state of an action (not implemented yet)
+message ActionExecutionState {
+    ActionEvent action_event = 1;   // Action event type
+    ActionHandle handle = 2;        // Identifies the action for which this event occured
+}
+
+// Admissible robot events
+enum RobotEvent {
+    UNSPECIFIED_ROBOT_EVENT = 0;    // Unspecified robot event
+    ARM_CONNECTED = 1;              // Robot arm is connected
+    ARM_DISCONNECTED = 2;           // Robot arm is disconnected
+    TOOL_CONNECTED = 5;             // Tool is connected to the interface module (not implemented yet)
+    TOOL_DISCONNECTED = 6;          // Tool is disconnected from the interface module (not implemented yet)
+}
+
+// Notification about a single robot event
+message RobotEventNotification {
+    RobotEvent event = 1;                                   // Robot event type
+    Kinova.Api.Common.DeviceHandle handle = 2;              // Identifier of the hardware device connected or disconnected
+    Kinova.Api.Common.Timestamp timestamp = 3;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 4;    // User that caused the robot event to occur
+    Kinova.Api.Common.Connection connection = 6;            // Connection that caused the robot event to occur
+}
+
+// Admissible backup events (not implemented yet)
+enum BackupEvent {
+    UNSPECIFIED_BACKUP_EVENT = 0;   // Unspecified backup event
+    BACKUP_RESTORED = 1;            // Configuration backup restored
+    BACKUP_UPLOADED = 2;            // Configuration backup uploaded on robot
+}
+
+// Admissible factory events
+enum FactoryEvent {
+    UNSPECIFIED_FACTORY_EVENT = 0;          // Unspecified factory event
+    FACTORY_DEFAULT_RESTORED = 1;           // Factory defaults restored on robot
+    NETWORK_FACTORY_DEFAULT_RESTORED = 2;   // Network factory defaults restored on robot (not implemented yet)
+}
+
+// Notification about a single factory event
+message FactoryNotification {
+    FactoryEvent event = 1;                                 // Event type
+    Kinova.Api.Common.Timestamp timestamp = 2;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 3;    // User that caused the factory event to occur
+    Kinova.Api.Common.Connection connection = 4;            // Connection that caused the factory event to occur
+}
+
+// Admissible network events
+enum NetworkEvent {
+    UNSPECIFIED_NETWORK_EVENT = 0;          // Unspecified network event
+    WIFI_CONNECTED = 1;                     // Wi-Fi connected
+    WIFI_DISCONNECTED = 2;                  // Wi-Fi Disconnected
+    WIFI_SCAN_STARTED = 3;                  // Wi-Fi scan was initiated
+    WIFI_SCAN_RESULTS = 4;                  // Wi-Fi scan results are available
+    WIFI_SCAN_FAILED = 5;                   // Wi-Fi scan failed
+    WIFI_NOT_FOUND = 6;                     // Wi-Fi selected network not found
+    WIFI_ASSOC_REJECTED = 7;                // Wi-Fi AP rejected association
+    WIFI_AUTH_WRONG_KEY = 8;                // Wi-Fi wrong PSK supplied
+    WIFI_AUTH_CONN_FAILED = 9;              // Wi-Fi connection failure during auth
+    WIFI_AUTH_FAILED = 10;                  // Wi-Fi authentication failure
+}
+
+// Notification about a single network event
+message NetworkNotification {
+    NetworkEvent event = 1;                                 // Event type
+    Kinova.Api.Common.Timestamp timestamp = 2;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 3;    // User that caused the network event to occur
+    Kinova.Api.Common.Connection connection = 4;            // Connection that caused the network event to occur
+}
+
+// Array of configuration change notifications
+message ConfigurationChangeNotificationList {
+    repeated ConfigurationChangeNotification notifications = 1; // Notification
+}
+
+// Array of mapping information notifications
+message MappingInfoNotificationList {
+    repeated MappingInfoNotification notifications = 1;         // Notification
+}
+
+// Array of control mode notifications
+message ControlModeNotificationList {
+    repeated ControlModeNotification notifications = 1;         // Notification
+}
+
+// Array of operating mode notifications
+message OperatingModeNotificationList {
+    repeated OperatingModeNotification notifications = 1;       // Notification
+}
+
+// Array of servoing mode notifications
+message ServoingModeNotificationList {
+    repeated ServoingModeNotification notifications = 1;        // Notification
+}
+
+// Array of sequence information notifications
+message SequenceInfoNotificationList {
+    repeated SequenceInfoNotification notifications = 1;        // Notification
+}
+
+// Array of protection zone notifications
+message ProtectionZoneNotificationList {
+    repeated ProtectionZoneNotification notifications = 1;      // Notification
+}
+
+// Array of user notifications
+message UserNotificationList {
+    repeated UserNotification notifications = 1;                // Notification
+}
+
+// Array of safety notifications
+message SafetyNotificationList {
+    repeated Kinova.Api.Common.SafetyNotification notifications = 1; // Notification
+}
+
+// Array of controller notifications
+message ControllerNotificationList {
+    repeated ControllerNotification notifications = 1;          // Notifications
+}
+
+// Array of action notifications
+message ActionNotificationList {
+    repeated ActionNotification notifications = 1;              // Notification
+}
+
+// Array of robot event notifications
+message RobotEventNotificationList {
+    repeated RobotEventNotification notifications = 1;          // Notification
+}
+
+// Array of network event notifications
+message NetworkNotificationList {
+    repeated NetworkNotification notifications = 1;             // Notification
+}
+
+// Reference to a specific Mapping
+message MappingHandle {
+    uint32 identifier = 1;  // Mapping identifier
+    fixed32 permission = 2; // Permission of specified mapping entity. Must use 'Kinova.Api.Common.Permission' enum.
+}
+
+// Admissible controller input types
+enum ControllerInputType {
+    UNSPECIFIED_CONTROLLER_INPUT_TYPE = 0;  // Unspecified controller input type
+    ANALOG = 1;                             // Analog controller input type
+    DIGITAL = 2;                            // Digital controller input type
+}
+
+// Admissible controller input behaviors
+enum ControllerBehavior {
+    UNSPECIFIED_CONTROLLER_BEHAVIOR = 0;    // Unspecified controller behavior
+    CONTROLLER_BUTTON_DOWN = 1;             // Pushing button down
+    CONTROLLER_BUTTON_UP = 2;               // Releasing button
+    CONTROLLER_AXIS_POSITIVE = 3;           // Positive axis movement
+    CONTROLLER_AXIS_NEGATIVE = 4;           // Negative axis movement
+    CONTROLLER_BUTTON_CLICK = 5;            // Button down and up within X msec
+}
+
+// A safety event (not implemented yet)
+message SafetyEvent {
+    Kinova.Api.Common.SafetyHandle safety_handle = 1;   // Safety that caused the event to occur
+}
+
+// A controller event
+message ControllerEvent {
+    ControllerInputType input_type = 1; // Type of controller input that caused the event_identifier
+    ControllerBehavior behavior = 2;    // Controller behavior that occured
+    uint32 input_identifier = 3;        // Controller input that caused the event
+}
+
+// A GPIO event (not implemented yet)
+message GpioEvent {
+    ControllerInputType input_type = 1;  // Type of controller input that caused the event_identifier
+    GpioBehavior behavior = 2;           // GPIO behavior that occured
+    uint32 input_identifier = 3;         // GPIO PIN ID that caused the event               
+}
+
+// A map event
+message MapEvent {
+    oneof events {
+        SafetyEvent safety_event = 1;           // Mapped safety event (not implemented yet)
+        GpioEvent gpio_event = 2;               // Mapped GPIO event (not implemented yet)
+        ControllerEvent controller_event = 3;   // Mapped controller event
+    }
+    string name = 4;                            // Map event friendly name
+}
+
+// Associates an event to an action
+message MapElement {
+    MapEvent event = 1; // Map event that occured
+    Action action = 2;  // Action to invoke upon event occurence
+    string name = 3;    // Map element friendly name
+}
+
+// Reference to a specific new active map for the specified mapping and map group
+message ActivateMapHandle {
+    MappingHandle mapping_handle = 1;       // Mapping that the active map is asked for
+    MapGroupHandle map_group_handle = 2;    // Map group that the active map is asked for (not implemented yet)
+    MapHandle map_handle = 3;               // New active map
+}
+
+// A map as an array of map elements
+message Map {
+    MapHandle handle = 1;               // Map handle (do not set on createMap() call)
+    string name = 2;                    // Map friendly name
+    repeated MapElement elements = 3;   // Array of map elements
+}
+
+// Reference to a specific map
+message MapHandle {
+    uint32 identifier = 1;  // Identifier
+    fixed32 permission = 2; // Permission of specified map entity. Must use 'Kinova.Api.Common.Permission' enum.
+}
+
+// Array of maps
+message MapList {
+    repeated Map map_list = 1;  // map
+}
+
+// Reference to a specific map group (not implemented yet)
+message MapGroupHandle {
+    uint32 identifier = 1;  // Identifier
+    fixed32 permission = 2; // Permission of specified map group entity. Must use 'Kinova.Api.Common.Permission' enum.
+}
+
+/*
+ * All information about a map group including the list of maps that it contains and its
+ * relationship versus other map groups (not implemented yet)
+ */
+message MapGroup {
+    MapGroupHandle group_handle = 1;                        // Map group handle (do not set on createMapGroup() call)
+    string name = 2;                                        // Map group friendly name
+    MappingHandle related_mapping_handle = 3;               // Mapping that this map group belongs to
+    MapGroupHandle parent_group_handle = 4;                 // Parent map group (if any)
+    repeated MapGroupHandle children_map_group_handles = 5; // Children map groups (if any)
+    repeated MapHandle map_handles = 6;                     // Array of maps that are included in this map group
+    string application_data = 7;                            // Application data (reserved for use by Web App)
+}
+
+// Array of map groups (not implemented yet)
+message MapGroupList {
+    repeated MapGroup map_groups = 1;   // Map group
+}
+
+/*
+ * All information about a mapping including the controller to which it is associated,
+ * the array of map groups it contains, the currently active map group, the array of maps it contains
+ * and the currently active map
+ */
+message Mapping {
+    MappingHandle handle = 1;                       // Mapping handle (do not set on createMapping() call)
+    string name = 2;                                // Mapping friendly name
+    uint32 controller_identifier = 3;               // Associated controller identifier
+    MapGroupHandle active_map_group_handle = 4;     // Currently active map group (not implemented yet)
+    repeated MapGroupHandle map_group_handles = 5;  // Array of associated map groups (not implemented yet)
+    MapHandle active_map_handle = 6;                // Currently active map
+    repeated MapHandle map_handles = 7;             // Array of associated maps
+    string application_data = 8;                    // Application data (reserved for use by Web App)
+}
+
+// Array of mappings
+message MappingList {
+    repeated Mapping mappings = 1;  // Mapping
+}
+
+/*
+ * Admissible Base safeties.
+ * Used with BaseCyclic.BaseFeedback.[fault_bank_a | fault_bank_b | warning_bank_a | warning_bank_b]
+ */
+enum SafetyIdentifier {
+    UNSPECIFIED_BASE_SAFETY_IDENTIFIER              = 0;         // 0x0 - Unspecified base safety
+    FIRMWARE_UPDATE_FAILURE                         = 1;         // 0x1 - Firmware update failure
+    EXTERNAL_COMMUNICATION_ERROR                    = 2;         // 0x2 - External communication error (not implemented yet)
+    MAXIMUM_AMBIENT_TEMPERATURE                     = 4;         // 0x4 - Maximum ambient temperature reached
+    MAXIMUM_CORE_TEMPERATURE                        = 8;         // 0x8 - Maximum core temperature reached
+    JOINT_FAULT                                     = 16;        // 0x10 - Joint fault
+    CYCLIC_DATA_JITTER                              = 32;        // 0x20 - Cyclic data jitter (not implemented yet)
+    REACHED_MAXIMUM_EVENT_LOGS                      = 64;        // 0x40 - Reached Maximum number of event log entries (not implemented yet)
+    NO_KINEMATICS_SUPPORT                           = 128;       // 0x80 - No kinematics support (not implemented yet)
+    ABOVE_MAXIMUM_DOF                               = 256;       // 0x100 - Above maximum DoF
+    NETWORK_ERROR                                   = 512;       // 0x200 - Network error (not implemented yet)
+    UNABLE_TO_REACH_POSE                            = 1024;      // 0x400 - Unable to reach pose
+    JOINT_DETECTION_ERROR                           = 2048;      // 0x800 - Joint detection error
+    NETWORK_INITIALIZATION_ERROR                    = 4096;      // 0x1000 - Network initialization error
+    MAXIMUM_CURRENT                                 = 8192;      // 0x2000 - Maximum current reached
+    MAXIMUM_VOLTAGE                                 = 16384;     // 0x4000 - Maximum voltage reached
+    MINIMUM_VOLTAGE                                 = 32768;     // 0x8000 - Minimum voltage reached
+    MAXIMUM_END_EFFECTOR_TRANSLATION_VELOCITY       = 65536;     // 0x10000 - Maximum tool translation velocity reached (not implemented yet)
+    MAXIMUM_END_EFFECTOR_ORIENTATION_VELOCITY       = 131072;    // 0x20000 - Maximum tool orientation velocity reached (not implemented yet)
+    MAXIMUM_END_EFFECTOR_TRANSLATION_ACCELERATION   = 262144;    // 0x40000 - Maximum tool translation acceleration reached (not implemented yet)
+    MAXIMUM_END_EFFECTOR_ORIENTATION_ACCELERATION   = 524288;    // 0x80000 - Maximum tool orientation acceleration reached (not implemented yet)
+    MAXIMUM_END_EFFECTOR_TRANSLATION_FORCE          = 1048576;   // 0x100000 - Maximum tool translation force reached (not implemented yet)
+    MAXIMUM_END_EFFECTOR_ORIENTATION_FORCE          = 2097152;   // 0x200000 - Maximum tool orientation force reached (not implemented yet)
+    MAXIMUM_END_EFFECTOR_PAYLOAD                    = 4194304;   // 0x400000 - Maximum tool payload reached (not implemented yet)
+    EMERGENCY_STOP_ACTIVATED                        = 8388608;   // 0x800000 - Emergency stop activated
+    EMERGENCY_LINE_ACTIVATED                        = 16777216;  // 0x1000000 - Emergency line activated
+    INRUSH_CURRENT_LIMITER_FAULT                    = 33554432;  // 0x2000000 - In rush current limiter fault
+    NVRAM_CORRUPTED                                 = 67108864;  // 0x4000000 - NVRAM corrupted (not implemented yet)
+    INCOMPATIBLE_FIRMWARE_VERSION                   = 134217728; // 0x8000000 - Incompatible firmware version
+    POWERON_SELF_TEST_FAILURE                       = 268435456; // 0x10000000 - Power on seflt test failure
+    DISCRETE_INPUT_STUCK_ACTIVE                     = 536870912; // 0x20000000 - Discrete Input stuck active
+    ARM_INTO_ILLEGAL_POSITION                       = 1073741824;// 0x40000000 - Arm is in an illegal position (sigularity)
+}
+
+// A 4x4 homogeneous transformation matrix representing the transformation between two reference frames.
+message TransformationMatrix {
+    TransformationRow r0 = 1;   // First transformation row
+    TransformationRow r1 = 2;   // Second transformation row
+    TransformationRow r2 = 3;   // Third transformation row
+    TransformationRow r3 = 4;   // Fourth transformation row
+}
+
+// A single row of a 4x4 homogeneous transformation matrix 
+message TransformationRow {
+    float c0 = 1;   // First column value
+    float c1 = 2;   // Second column value
+    float c2 = 3;   // Third column value
+    float c3 = 4;   // Fourth column value
+}
+
+/*
+ * A Cartesian tool pose (position and orientation). 
+ * Orientation is defined as a sequence of three Euler angles using z-y-x Tait-Bryan extrinsic convention.
+ * That is, rotation around fixed X-axis, then rotation around fixed Y-axis, then rotation around fixed Z-axis.
+ */
+message Pose {
+    float x = 1;        // X position (in meters)
+    float y = 2;        // Y position (in meters)
+    float z = 3;        // Z position (in meters)
+    float theta_x = 4;  // Theta X orientation (in degrees)
+    float theta_y = 5;  // Theta Y orienation (in degrees)
+    float theta_z = 6;  // Theta Z orientation (in degrees)
+}
+// A Cartesian tool position
+message Position {
+    float x = 1;    // X position (in meters)
+    float y = 2;    // Y position (in meters)
+    float z = 3;    // Z position (in meters)
+}
+
+/*
+ * A Cartesian tool orientation. Defines orientation as sequence of three Euler angles using z-y-x Tait-Bryan extrinsic convention.
+ * That is, rotation around fixed X-axis, then rotation around fixed Y-axis, then rotation around fixed Z-axis.
+ */
+message Orientation {
+    float theta_x = 1;  // Theta X orientation (in degrees)
+    float theta_y = 2;  // Theta Y orientation (in degrees)
+    float theta_z = 3;  // Theta Z orientation (in degrees)
+}
+
+// Admissible constraint types that can be applied when controlling a joint in trajectory mode
+enum JointTrajectoryConstraintType {
+    UNSPECIFIED_JOINT_CONSTRAINT = 0;   // Unspecified joint constraint
+    JOINT_CONSTRAINT_DURATION = 1;      // Duration constraint (in second)
+    JOINT_CONSTRAINT_SPEED = 2;         // Speed constraint (in meters per second)
+}
+
+// A Cartesian tool speed (translation speed and angular speed)
+message CartesianSpeed {
+    float translation = 1; // Translation speed (in meters per second)
+    float orientation = 2; // Orientation speed (in degrees per second)
+}
+
+// Cartesian trajectory constraint that can be applied when controlling in Cartesian trajectory mode
+message CartesianTrajectoryConstraint {
+    oneof type {
+        CartesianSpeed speed = 1;   // Speed constraint
+        float duration = 2;         // Duration constraint (in seconds) (not implemented yet)
+    }
+}
+
+// Joint trajectory constraint that can be applied when controlling a joint in trajectory mode
+message JointTrajectoryConstraint {
+    JointTrajectoryConstraintType type = 1; // Joint trajectory constraint type
+    float value = 2;                        // Constraint value (in seconds or in meters per second depending on constraint type)
+}
+
+// Admissible wrench (force) modes
+enum WrenchMode {
+    UNSPECIFIED_WRENCH_MODE = 0;    // Unspecified wrench mode
+    WRENCH_RESTRICTED = 1;          // Wrench restricted mode (tool motion is authorized only in the direction of the wrench command)
+    WRENCH_NORMAL = 2;              // Wrench normal mode (tool motion is authorized in any direction)
+}
+
+// A wrench (force and torque) 
+message Wrench {
+    float force_x = 1;      // Linear X force (Newtons or ratio between -1.0 and 1.0 if used with Joystick command)
+    float force_y = 2;      // Linear Y force (Newtons or ratio between -1.0 and 1.0 if used with Joystick command)
+    float force_z = 3;      // Linear Z force (Newtons or ratio between -1.0 and 1.0 if used with Joystick command)
+    float torque_x = 4;     // Angular X torque (Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command)
+    float torque_y = 5;     // Angular Y torque (Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command)
+    float torque_z = 6;     // Angular Z torque (Newton-meters or ratio between -1.0 and 1.0 if used with Joystick command)
+}
+
+// A twist (linear and angular velocity).  
+message Twist {
+    float linear_x = 1;     // Linear X velocity  (m/s or ratio between -1.0 and 1.0 if used with joystick command)
+    float linear_y = 2;     // Linear Y velocity  (m/s or ratio between -1.0 and 1.0 if used with joystick command)
+    float linear_z = 3;     // Linear Z velocity  (m/s or ratio between -1.0 and 1.0 if used with joystick command)
+    float angular_x = 4;    // Angular X velocity (deg/s or ratio between -1.0 and 1.0 if used with joystick command)
+    float angular_y = 5;    // Angular Y velocity (deg/s or ratio between -1.0 and 1.0 if used with joystick command)
+    float angular_z = 6;    // Angular Z velocity (deg/s or ratio between -1.0 and 1.0 if used with joystick command)
+}
+
+// An admittance mode
+message Admittance {
+    AdmittanceMode admittance_mode = 1; // mode
+}
+
+// Admissible admittance modes
+enum AdmittanceMode {
+    UNSPECIFIED_ADMITTANCE_MODE = 0;    // Unspecified admittance mode
+    CARTESIAN = 1;                      // Cartesian admittance mode
+    JOINT = 2;                          // Joint admittance mode
+    NULL_SPACE = 3;                     // Null space admittance mode
+    DISABLED = 4;                       // No admittance
+}
+
+// Cartesian tool pose with specified constraint
+message ConstrainedPose {
+    Pose target_pose = 1;                           // Cartesian pose
+    CartesianTrajectoryConstraint constraint = 2;   // Constraint to apply to the target pose
+}
+
+// Cartesian tool position with specified constraint
+message ConstrainedPosition {
+    Position target_position = 1;                   // Cartesian position
+    CartesianTrajectoryConstraint constraint = 2;   // Constraint to apply to the target position
+}
+
+// Cartesian tool orientation with specified constraint
+message ConstrainedOrientation {
+    Orientation target_orientation = 1;             // Cartesian orientation
+    CartesianTrajectoryConstraint constraint = 2;   // Constraint to apply to the target orientation
+}
+
+// A wrench command to be applied to the tool
+message WrenchCommand {
+    Kinova.Api.Common.CartesianReferenceFrame reference_frame = 1;  // The reference frame used for the wrench command
+    WrenchMode mode = 2;                                            // Mode in which the command is executed
+    Wrench wrench = 3;                                              // Wrench value
+    uint32 duration = 4;                                            // Duration constraint. If not 0, allows to set a limit (in milliseconds) to the WrenchCommand
+}
+
+// A twist command to be applied to the tool
+message TwistCommand {
+    Kinova.Api.Common.CartesianReferenceFrame reference_frame = 1;      // The reference frame used for the twist command
+    Twist twist = 2;                                                    // Twist value
+    uint32 duration = 3;                                                // Duration constrant. If not 0, allows to set a limit (in milliseconds) to the TwistCommand (not implemented yet)
+}
+
+// An array of joint angles values with specified constraint
+message ConstrainedJointAngles {
+    JointAngles joint_angles = 1;               // Joint angles values
+    JointTrajectoryConstraint constraint = 2;   // Constraint to apply to all the joint angles (optional)
+}
+
+// A single joint angle value with specifed constraint
+message ConstrainedJointAngle {
+    uint32 joint_identifier = 1;                // Joint identifier (use device_identifier)
+    float value = 2;                            // Joint value (in degrees)
+    JointTrajectoryConstraint constraint = 3;   // Constraint to apply to the joint angle (optional)
+}
+
+// An array of joint angles
+message JointAngles {
+    repeated JointAngle joint_angles = 1; // Array of joint angles
+}
+
+// Angle value of a specific joint
+message JointAngle {
+    uint32 joint_identifier = 1;    // Joint identifier
+    float value = 2;                // Position (in degrees)
+}
+
+// An array of joints speeds
+message JointSpeeds {
+    repeated JointSpeed joint_speeds = 1;   // Array of joint speeds
+    uint32 duration = 2;                    // Duration constraint. If not 0, allows to set a limit (in seconds) common to every joint specified in 'joint_speeds' (not implemented yet)
+}
+
+// Speed of a specific joint
+message JointSpeed {
+    uint32 joint_identifier = 1;    // Joint identifier
+    float value = 2;                // Joint speed (in degrees per second)
+    uint32 duration = 3;            // Duration constraint. If not 0, allows to set a limit (in seconds) to the JointsSpeed (not implemented yet)
+}
+
+// An array of joint torques 
+message JointTorques {
+    repeated JointTorque joint_torques = 1; // Array of joint torque.
+    uint32 duration = 2;                    // Duration constraint. If not 0, allows to set a limit (in seconds) common to every joint specified in 'joint_torques' (not implemented yet)
+}
+
+// joint torque for a specified joint
+message JointTorque {
+    uint32 joint_identifier = 1;    // Joint identifier
+    float value = 2;                // Joint speed (in Newton*meters)
+    uint32 duration = 3;            // Duration constraint. If not 0, allows to set a limit (in seconds) to the JointTorque (not implemented yet)
+}
+
+// Admissible gripper control mode
+enum GripperMode {
+    UNSPECIFIED_GRIPPER_MODE = 0;   // Unspecified gripper mode
+    GRIPPER_FORCE = 1;              // Force control (in Newton) (not implemented yet)
+    GRIPPER_SPEED = 2;              // Speed control (in meters per second)
+    GRIPPER_POSITION = 3;           // Position control (in meters)
+}
+
+// A command to control the gripper movement
+message GripperCommand {
+    GripperMode mode = 1;   // Mode in which to control the gripper
+    /*
+     * In position, admissible values for each finger is between 0 and 1.0, where 0 is fully open and 1.0 is fully closed.
+     * In speed, admissible values for each finger is between -1.0 and 1.0, where 1.0 corresponds
+     * to maximum opening speed and -1.0 corresponds to maximum closing speed.
+     */
+    Gripper gripper = 2;    // Gripper movement values
+    uint32 duration = 3;    // Duration constraint. If not 0, allows to set a limit (in seconds) to the GripperCommand
+}
+
+// Request to apply a specific gripper mode
+message GripperRequest {
+    GripperMode mode = 1;   // Mode for which the gripper movement status is requested
+}
+
+// Gripper movement composed of a series of fingers movement
+message Gripper {
+    repeated Finger finger = 1; // Finger movements
+}
+
+// Movement of a specified gripper finger 
+message Finger {
+    uint32 finger_identifier = 1;   // Finger identifier
+
+    /*
+     * In position, admissible values for each finger is between 0 and 1.0, where 0 is fully open and 1.0 is fully closed.
+     * In speed or torque, admissible values for each finger is between -1.0 and 1.0, where 1.0 corresponds
+     * to maximum opening speed or torque and -1.0 corresponds to maximum closing speed or torque.
+     */
+    float value = 2;
+}
+
+
+// Admissible map navigation directions
+enum NavigationDirection {
+    UNSPECIFIED_NAVIGATION_DIRECTION = 0;   // Unspecified navigation direction
+    NEXT = 1;                               // Go to next map
+    UP = 2;                                 // Go to parent map group (not implemented yet)
+    DOWN = 3;                               // Go to children map group (not implemented yet)
+    PREVIOUS = 4;                           // Go to previous map
+}
+
+// Admissible joint navigation directions
+enum JointNavigationDirection {
+    UNSPECIFIED_JOINT_NAVIGATION_DIRECTION = 0; // Unspecified joint navigation direction
+    JOINT_NEXT = 1;                             // Go to next joint
+    JOINT_PREVIOUS = 2;                         // Go to previous joint
+}
+
+// Admissible sound types (not implemented yet)
+enum SoundType {
+    UNSPECIFIED_SOUND_TYPE = 0; // Unspecified sound types
+    BIP_SERIES = 1;             // Bip series sound type
+    SINGLE_BIP = 2;             // Single bin sound type
+}
+
+// Admissible LED states (not implemented yet)
+enum LedState {
+    UNSPECIFIED_LED_STATE = 0;  // Unspecified LED state
+    LED_OFF = 1;                // LED is off
+    LED_PULSE = 2;              // LED is in pulse state
+    LED_ON = 3;                 // LED is one
+}
+
+// Admissible GPIO behavior (not implemented yet)
+enum GpioBehavior {
+    UNSPECIFIED_GPIO_BEHAVIOR = 0; // Unspecified GPIO behavior
+    GPIO_FALLING = 1;              // Falling edge
+    GPIO_RISING = 2;               // Rising edge
+    GPIO_PULSE_LOW = 3;            // Sequence of HIGH - LOW - HIGH
+    GPIO_PULSE_HIGH = 4;           // Sequence of LOW - HIGH - LOW
+}
+
+// Available GPIO PIN (not implemented yet)
+enum Gen3GpioPinId {
+    UNSPECIFIED_PIN = 0;  // Unspecified PIN ID
+    GPIO_PIN_B = 1;       // GPIO PIN B
+    GPIO_PIN_C = 2;       // GPIO PIN C
+    GPIO_PIN_D = 3;       // GPIO PIN D
+    GPIO_PIN_E = 4;       // GPIO PIN E
+    GPIO_PIN_G = 5;       // GPIO PIN G
+    GPIO_PIN_H = 6;       // GPIO PIN H
+    GPIO_PIN_I = 7;       // GPIO PIN I
+    GPIO_PIN_K = 8;       // GPIO PIN K
+    GPIO_PIN_N = 9;       // GPIO PIN N
+    GPIO_PIN_O = 10;      // GPIO PIN O
+    GPIO_PIN_S = 11;      // GPIO PIN S
+    GPIO_PIN_T = 12;      // GPIO PIN T
+}
+
+// Identifies the system time (not implemented yet)
+message SystemTime {
+    uint32 sec = 1;     // Seconds after the minute(0-59)
+    uint32 min = 2;     // Minutes after the hour (0-59)
+    uint32 hour = 3;    // Hours since midnight (0-23)
+    uint32 mday = 4;    // Day of the month (1-31)
+    uint32 mon = 5;     // Months since January (0-11)
+    uint32 year = 6;    // Years since 1900
+}
+
+// Admissible XBOX360 digital inputs
+enum Xbox360DigitalInputIdentifier {
+    UNSPECIFIED_XBOX360_DIGITAL = 0;    // Unspecified  digital input
+    XBOX360_PAD_UP = 1;                 // Pad up input
+    XBOX360_PAD_DOWN = 2;               // Pad down input
+    XBOX360_PAD_LEFT = 3;               // Pad left input
+    XBOX360_PAD_RIGHT = 4;              // Pad right input
+    XBOX360_FILE_BUTTON_START = 5;      // File button start input
+    XBOX360_DOCUMENT_BUTTON_BACK = 6;   // Document button back input
+    XBOX360_LEFT_THUMB_BUTTON = 7;      // Left thumb button input
+    XBOX360_RIGHT_THUMB_BUTTON = 8;     // Right thumb button input
+    XBOX360_LEFT_SHOULDER = 9;          // Left shoulder input
+    XBOX360_RIGHT_SHOULDER = 10;        // Right shoulder input
+    XBOX360_BUTTON_A = 13;              // Button A input
+    XBOX360_BUTTON_B = 14;              // Button B input
+    XBOX360_BUTTON_X = 15;              // Button X input
+    XBOX360_BUTTON_Y = 16;              // Button Y input
+}
+
+// Admissible XBOX360 analog inputs
+enum Xbox360AnalogInputIdentifier {
+    UNSPECIFIED_XBOX360_ANALOG = 0; // Unspecified analog input
+    XBOX360_THUMB_LEFT_X = 1;       // Thumb left X input
+    XBOX360_THUMB_LEFT_Y = 2;       // Thumb left Y input
+    XBOX360_THUMB_RIGHT_X = 3;      // Thumb right X input
+    XBOX360_THUMB_RIGHT_Y = 4;      // Thumb right Y input
+    XBOX360_TRIGGER_LEFT = 5;       // Trigger left input
+    XBOX360_TRIGGER_RIGHT = 6;      // Trigger right input
+}
+
+// Admissible Wrist digital inputs
+enum WristDigitalInputIdentifier {
+    UNSPECIFIED_WRIST_DIGITAL = 0;      // Unspecified digital input
+    WRIST_BUTTON_1 = 1;                 // Button 1 input
+    WRIST_BUTTON_2 = 2;                 // Button 2 input
+    WRIST_BUTTON_BOTH = 3;              // Button 1 + Button 2 combo
+}
+
+// Controller configuration mode information
+message ControllerConfigurationMode {
+    bool enable = 1;    // Enable controller configuration mode. Set to true to configure controllers, false for normal operation
+}
+
+// Controller configuration information
+message ControllerConfiguration {
+    ControllerHandle handle = 1;                // Controller identifier 
+    string name = 2;                            // Controller friendly name
+    MappingHandle active_mapping_handle = 3;    // Mapping that is active on this controller
+    string analog_input_identifier_enum = 4;    // Name that identifies the enum used to interpret the ‘analog_input_identifier’ field (for example in ControllerEvent). Thus 'analog_input_identifier_enum' shall take the name of an existing enum (ex. Xbox360AnalogInputIdentifier)
+    string digital_input_identifier_enum = 5;   // Name that identifies the enum used to interpret the ‘digital_input_identifier’ field (for example in ControllerEvent). Thus 'digital_input_identifier_enum' shall take the name of an existing enum (ex. Xbox360DigitalInputIdentifier, WristDigitalInputIdentifier)
+}
+
+// Controller configuration information for multiple controllers
+message ControllerConfigurationList {
+    repeated ControllerConfiguration controller_configurations = 1;       // List of controller configurations
+}
+
+// A count of the number of actuators in the robot
+message ActuatorInformation {
+    uint32 count = 1;   // Number of actuators
+}
+
+// Information about the arm state
+message ArmStateInformation {
+    Kinova.Api.Common.ArmState active_state = 1; // Arm active state
+    Kinova.Api.Common.Connection connection = 2; // Connection information of the last processed command which triggered an arm state change
+}
+
+// Notification about a single arm state event
+message ArmStateNotification {
+    Kinova.Api.Common.ArmState active_state = 1;    // New arm state
+    Kinova.Api.Common.Timestamp timestamp = 2;      // Event timestamp
+    Kinova.Api.Common.Connection connection = 3;    // Connection that caused the arm state event
+}
+
+// Admissible capacitive sensor modes
+enum CapSenseMode
+{
+    RESERVED                    = 0; // Reserved, do not use
+    INACTIVE                    = 1; // Cap sensor is inactive
+    ACTIVE_AUTO_THRESHOLD       = 2; // Cap sensor is active in automatic threshold mode
+    ACTIVE_NOISE_ATT            = 4; // Cap sensor is active with noise mitigation enabled
+    ACTIVE_NORMAL               = 5; // Cap sensor is active in normal mode
+    CONFIGURATION               = 6; // Configuration mode
+}
+
+// Capacitive sensor configuration information
+message CapSenseConfig
+{
+    uint32              identifier      = 1; // MessageId
+    CapSenseMode        mode            = 2; // Operational mode of the sensor
+    float               threshold_a     = 3; // Threshold of the sensor A (successive detection count to trigger a change of state)
+    float               threshold_b     = 4; // Threshold of the sensor B (successive detection count to trigger a change of state)
+    float               sensitivity_a   = 5; // Sensitivity of the sensor A (picofarad)
+    float               sensitivity_b   = 6; // Sensitivity of the sensor B (picofarad)
+}
+
+// An array of configuration information for different bridges.
+message BridgeList {
+    repeated BridgeConfig bridgeConfig = 1; // List of bridge configuration.
+}
+
+// The result of an operation on a specific bridge
+message BridgeResult
+{
+    BridgeIdentifier bridge_id = 1; // ID of the bridge on which operation was performed
+    BridgeStatus status = 2;        // Result code of operation.
+}
+
+// Bridge identifier
+message BridgeIdentifier {
+    uint32 bridge_id = 1;   // Unique bridge identifier.
+}
+
+// Bridge configuration information. It is used to either create a bridge or to retrieve information about an existing bridge
+message BridgeConfig {
+    uint32 device_identifier = 1;       // Identifier of the device to which the bridge is connecting.
+    BridgeType bridgetype = 2;          // Bridge type.
+    BridgePortConfig port_config = 3;   // Port configuration. If used to enable port bridging, it is optional. If no port config is given defaults for bridge type is used.
+    BridgeIdentifier bridge_id = 4;     // Bridge identifier. Not used when creating bridge. It is used when retrieving configuration.
+}
+
+// Port configuration information for a TCP port bridge
+message BridgePortConfig
+{
+    uint32 target_port  = 1; // Port on target device.
+    uint32 out_port     = 2; // Port exposed on base's external interface
+}
+
+// Bridge operation status
+enum BridgeStatus {
+    BRIDGE_STATUS_OK                    = 0;    // No error encountered.
+    BRIDGE_STATUS_OUTP_UNAVAILABLE      = 1;    // Requested output port unavailable.
+    BRIDGE_STATUS_UNKNOWN_DEVID         = 2;    // Given device identifier is unknown (no device associated with it).
+    BRIDGE_STATUS_UNKNOWN_BRIDGE_TYPE   = 3;    // Unknown bridge type used.
+    BRIDGE_STATUS_NOT_FOUND             = 4;    // Requested bridge not found.
+    BRIDGE_STATUS_NOT_INITIALIZED       = 5;    // Bridge manager not initialized.
+    BRIDGE_STATUS_UNKNOWN               = 6;    // Unknown error.
+}
+
+// Type of port forward bridge to create
+enum BridgeType {
+    BRIDGE_TYPE_UNSPECIFIED = 0; // Unspecified Type (custom bridge)
+    BRIDGE_TYPE_UART        = 1; // Bridge to uart bridge TCP port.
+    BRIDGE_TYPE_TELNET      = 2; // Bridge to telnet port
+}
+
+// Pre-computed joint trajectory subject to specified continuity constraints. The starting point of the trajectory must have an elapsed time of 0 ms and the angular values must reflect the current state of the robot. The robot control libraries will validate the trajectory fulfills the specified continuity constraints before playing the trajectory.
+message PreComputedJointTrajectory {
+    TrajectoryContinuityMode mode                                   = 1;    // Trajectory continuity mode
+    repeated PreComputedJointTrajectoryElement trajectory_elements  = 2;    // List of pre-computed elements composing the trajectory.
+}
+
+// Set of angle, speed, acceleration, and elapsed time values for each joint for a given 1 ms interval. A PreComputedJointTrajectory is made up of a series of these elements.
+message PreComputedJointTrajectoryElement {
+    repeated float joint_angles          = 1;    // Angles values for all joints (in degrees)
+    repeated float joint_speeds          = 2;    // Speed values for all joints (in degrees per second)
+    repeated float joint_accelerations   = 3;    // Acceleration values for all joints (in degrees per second^2)
+    float time_from_start                = 4;    // Absolute elaspsed time since initial point (in seconds)
+}
+
+// Admissible trajectory continuity mode
+enum TrajectoryContinuityMode
+{
+    TRAJECTORY_CONTINUITY_MODE_UNSPECIFIED  = 0;    // Unspecified continuity
+    TRAJECTORY_CONTINUITY_MODE_POSITION     = 1;    // Position continuity only
+    TRAJECTORY_CONTINUITY_MODE_SPEED        = 2;    // Position and speed continuity
+    TRAJECTORY_CONTINUITY_MODE_ACCELERATION = 3;    // Position, speed and acceleration continuity
+}
+
+// Trajectory validation error types
+enum TrajectoryErrorType
+{
+    TRAJECTORY_ERROR_TYPE_UNSPECIFIED             = 0;   // Unspecified error type
+    TRAJECTORY_ERROR_TYPE_OUTSIDE_WORKSPACE       = 1;   // The trajectory point is outside robot workspace
+    TRAJECTORY_ERROR_TYPE_ACTUATOR_COUNT_MISMATCH = 2;   // There is an actuator count mismatch with the robot
+    TRAJECTORY_ERROR_TYPE_INVALID_DURATION        = 3;   // The trajectory has an invalid duration
+    TRAJECTORY_ERROR_TYPE_ZERO_DISTANCE           = 4;   // The trajectory does not move the robot because the delta is either zero or too small
+    TRAJECTORY_ERROR_TYPE_INVALID_SPEED           = 5;   // The speed for a trajectory point for an actuator is invalid
+    TRAJECTORY_ERROR_TYPE_LARGE_SPEED             = 6;   // The speed for a trajectory point for an actuator exceeds its limit
+    TRAJECTORY_ERROR_TYPE_INVALID_ACCELERATION    = 7;   // The acceleration for a trajectory point for an actuator is invalid
+    TRAJECTORY_ERROR_TYPE_INVALID_TIME_STEP       = 8;   // The time step for a trajectory point is invalid
+    TRAJECTORY_ERROR_TYPE_LARGE_SIZE              = 9;   // The trajectory is too large
+    TRAJECTORY_ERROR_TYPE_WRONG_MODE              = 10;  // The robot is not currently in Trajectory Control mode
+    TRAJECTORY_ERROR_TYPE_JOINT_POSITION_LIMIT    = 11;  // The position limit for a trajectory point for an actuator is exceeded
+    TRAJECTORY_ERROR_TYPE_FILE_ERROR              = 12;  // An internal file error was encountered
+    TRAJECTORY_ERROR_TYPE_NO_FILE_IN_MEMORY       = 13;  // An internal file memory error was encountered
+    TRAJECTORY_ERROR_TYPE_INDEX_OUT_OF_TRAJ       = 14;  // The index for a trajectory point is invalid
+    TRAJECTORY_ERROR_TYPE_ALREADY_RUNNING         = 15;  // A trajectory is already running
+    TRAJECTORY_ERROR_TYPE_WRONG_STARTING_POINT    = 16;  // The difference between the trajectory's starting point and the current position is too large
+    TRAJECTORY_ERROR_TYPE_CARTESIAN_CANNOT_START  = 17;  // The cartesian trajectory is not able to start
+    TRAJECTORY_ERROR_TYPE_WRONG_STARTING_SPEED    = 18;  // The difference between the trajectory's starting speed and the current speed is too large
+    TRAJECTORY_ERROR_TYPE_INVALID_POSITION        = 19;  // The position for a trajectory point for an actuator is invalid
+}
+
+// Trajectory validation error identifiers
+enum TrajectoryErrorIdentifier
+{
+    TRAJECTORY_ERROR_IDENTIFIER_UNSPECIFIED   = 0;   // Unspecified error identifier
+    TRAJECTORY_ERROR_IDENTIFIER_UNAPPLICABLE  = 1;   // No identifier required for this error
+    TRAJECTORY_ERROR_IDENTIFIER_TIME          = 2;   // Time validation failed
+    TRAJECTORY_ERROR_IDENTIFIER_POSITION      = 3;   // Position validation failed
+    TRAJECTORY_ERROR_IDENTIFIER_VELOCITY      = 4;   // Velocity validation failed
+    TRAJECTORY_ERROR_IDENTIFIER_ACCELERATION  = 5;   // Acceleration validation failed
+}
+
+// Details for a single trajectory validation error 
+message TrajectoryErrorElement
+{
+    TrajectoryErrorType       error_type = 1;         // Error type
+    TrajectoryErrorIdentifier error_identifier = 2;   // Error identifier
+    float   error_value = 3; // Erroneous value
+    float   min_value = 4;   // Minimum permitted value
+    float   max_value = 5;   // Maximum permitted value
+    uint32  index = 6;       // Actuator index
+    string  message = 7;     // Clarification message for the error
+}
+
+// Report collecting information on different validation errors for a particular trajectory
+message TrajectoryErrorReport
+{
+    repeated TrajectoryErrorElement trajectory_error_elements = 1;
+}
+
+// Firmware bundle versions including main firmware bundle version and components versions
+message FirmwareBundleVersions
+{
+    string main_bundle_version = 1; // Version of the main bundle
+    repeated FirmwareComponentVersion components_versions = 2; // List containing all components of the bundle
+} 
+
+// Individual component with its version
+message FirmwareComponentVersion
+{
+    string name = 1; // Name of the component
+    string version = 2; // Version of the component
+    uint32 device_id = 3; // Device id of the component
+}
diff --git a/kortex_driver/protos/BaseCyclic.proto b/kortex_driver/protos/BaseCyclic.proto
new file mode 100644
index 0000000..c4f9636
--- /dev/null
+++ b/kortex_driver/protos/BaseCyclic.proto
@@ -0,0 +1,172 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+
+import public "Common.proto";
+import public "InterconnectCyclicMessage.proto";
+
+package Kinova.Api.BaseCyclic;
+
+// Service to exchange cyclic data with base
+service BaseCyclic { //@PROXY_ID=3 @ERROR=Kinova.Api.Error
+
+    // Sends a command to actuators and interface and returns feedback from base, actuators, and interface on actual status
+    rpc Refresh (Command)                         returns (Feedback);                //@RPC_ID=1
+
+    // Sends a command to actuators and interface without receiving feedback
+    rpc RefreshCommand (Command)                  returns (Kinova.Api.Common.Empty); //@RPC_ID=2
+
+    // Obtains feedback from base, actuators, and interface on their status
+    rpc RefreshFeedback (Kinova.Api.Common.Empty) returns (Feedback);                //@RPC_ID=3
+
+    // Retrieves custom data
+    rpc RefreshCustomData (CustomData)            returns (CustomData);              //@RPC_ID=4
+}
+
+// Identifies BaseCyclic current version
+enum ServiceVersion
+{
+    RESERVED_0      = 0;        // Reserved
+    CURRENT_VERSION = 1;        // Current version
+}
+
+// Defines an actuator command
+message ActuatorCommand         // @NOTE=copied from ActuatorCyclic.proto
+{
+    fixed32  command_id    = 1; // Command ID (first 2 bytes: device ID, last 2 bytes: sequence number)
+    fixed32  flags         = 2; // Flags
+    float    position      = 3; // Desired position of the actuator (in degrees)
+    float    velocity      = 4; // Desired velocity of the actuator (in degrees per second)
+    float    torque_joint  = 5; // Desired torque of the actuator (in Newton * meters)
+    float    current_motor = 6; // Desired current of the motor (in Amperes)
+}
+
+// Defines the feedback provided by an actuator
+message ActuatorFeedback             // @NOTE=copied from ActuatorCyclic.proto
+{
+    fixed32  command_id             = 1;  // Command ID (first 2 bytes: device ID, last 2 bytes: sequence number)
+    fixed32  status_flags           = 2;  // Status flags
+    fixed32  jitter_comm            = 3;  // Jitter from the communication (in microseconds)
+    float    position               = 4;  // Position of the actuator (in degrees)
+    float    velocity               = 5;  // Velocity of the actuator (in degrees per second)
+    float    torque                 = 6;  // Torque of the actuator (in Newton * meters)
+    float    current_motor          = 7;  // Current of the motor (in Amperes)
+    float    voltage                = 8;  // Voltage of the main board (in Volts)
+    float    temperature_motor      = 9;  // Motor temperature (maximum of the three (3) phase temperatures in °C)
+    float    temperature_core       = 10; // Microcontroller temperature (in degrees Celsius)
+    fixed32  fault_bank_a           = 11; // Fault bank A
+    fixed32  fault_bank_b           = 12; // Fault bank B
+    fixed32  warning_bank_a         = 13; // Warning bank A
+    fixed32  warning_bank_b         = 14; // Warning bank B
+}
+
+// Custom development data from an actuator, content varies according to debug needs
+message ActuatorCustomData           // @NOTE=copied from ActuatorCyclic.proto
+{
+    fixed32  command_id     = 1;     // Command ID (first 2 bytes: device ID, last 2 bytes: sequence number)
+    fixed32  custom_data_0  = 2;     // Custom data word 0
+    fixed32  custom_data_1  = 3;     // Custom data word 1
+    fixed32  custom_data_2  = 4;     // Custom data word 2
+    fixed32  custom_data_3  = 5;     // Custom data word 3
+    fixed32  custom_data_4  = 6;     // Custom data word 4
+    fixed32  custom_data_5  = 7;     // Custom data word 5
+    fixed32  custom_data_6  = 8;     // Custom data word 6
+    fixed32  custom_data_7  = 9;     // Custom data word 7
+    fixed32  custom_data_8  = 10;    // Custom data word 8
+    fixed32  custom_data_9  = 11;    // Custom data word 9
+    fixed32  custom_data_10 = 12;    // Custom data word 10
+    fixed32  custom_data_11 = 13;    // Custom data word 11
+    fixed32  custom_data_12 = 14;    // Custom data word 12
+    fixed32  custom_data_13 = 15;    // Custom data word 13
+    fixed32  custom_data_14 = 16;    // Custom data word 14
+    fixed32  custom_data_15 = 17;    // Custom data word 15
+}
+
+// Defines the feedback provided by the base
+message BaseFeedback
+{
+    uint32  active_state_connection_identifier      = 1;  // Connection identifier of the last processed command which triggered an arm state change
+    Kinova.Api.Common.ArmState active_state         = 2;  // Active state of the arm
+    float   arm_voltage                             = 3;  // Arm voltage (in Volts)
+    float   arm_current                             = 4;  // Arm current (in Amperes)
+    float   temperature_cpu                         = 5;  // CPU temperature (in degree Celsius)
+    float   temperature_ambient                     = 6;  // Ambient temperature (in degree Celsius)
+    float   imu_acceleration_x                      = 7;  // IMU Measured acceleration (X-Axis) of the base (in meters per second squared)
+    float   imu_acceleration_y                      = 8;  // IMU Measured acceleration (Y-Axis) of the base (in meters per second squared)
+    float   imu_acceleration_z                      = 9;  // IMU Measured acceleration (Z-Axis) of the base (in meters per second squared)
+    float   imu_angular_velocity_x                  = 10; // IMU Measured angular velocity (X-Axis) of the base (in degrees per second)
+    float   imu_angular_velocity_y                  = 11; // IMU Measured angular velocity (Y-Axis) of the base (in degrees per second)
+    float   imu_angular_velocity_z                  = 12; // IMU Measured angular velocity (Z-Axis) of the base (in degrees per second)
+    float   tool_pose_x                             = 13; // Measured Cartesian position (X-Axis) of the tool (in meters)
+    float   tool_pose_y                             = 14; // Measured Cartesian position (Y-Axis) of the tool (in meters)
+    float   tool_pose_z                             = 15; // Measured Cartesian position (Z-Axis) of the tool (in meters)
+    float   tool_pose_theta_x                       = 16; // Measured Cartesian orientation (X-Axis) of the tool (in degrees)
+    float   tool_pose_theta_y                       = 17; // Measured Cartesian orientation (Y-Axis) of the tool (in degrees)
+    float   tool_pose_theta_z                       = 18; // Measured Cartesian orientation (Z-Axis) of the tool (in degrees)
+    float   tool_twist_linear_x                     = 19; // Measured Cartesian linear velocity (X-Axis) of the tool (in meters per second)
+    float   tool_twist_linear_y                     = 20; // Measured Cartesian linear velocity (Y-Axis) of the tool (in meters per second)
+    float   tool_twist_linear_z                     = 21; // Measured Cartesian linear velocity (Z-Axis) of the tool (in meters per second)
+    float   tool_twist_angular_x                    = 22; // Measured Cartesian angular velocity (X-Axis) of the tool (in degrees per second)
+    float   tool_twist_angular_y                    = 23; // Measured Cartesian angular velocity (Y-Axis) of the tool (in degrees per second)
+    float   tool_twist_angular_z                    = 24; // Measured Cartesian angular velocity (Z-Axis) of the tool (in degrees per second)
+    float   tool_external_wrench_force_x            = 25; // Computed force in X-Axis from external wrench (in Newton)
+    float   tool_external_wrench_force_y            = 26; // Computed force in Y-Axis from external wrench (in Newton)
+    float   tool_external_wrench_force_z            = 27; // Computed force in Z-Axis from external wrench (in Newton)
+    float   tool_external_wrench_torque_x           = 28; // Computed torque about X-axis from external wrench (in Newton-meters)
+    float   tool_external_wrench_torque_y           = 29; // Computed torque about Y-axis from external wrench (in Newton-meters)
+    float   tool_external_wrench_torque_z           = 30; // Computed torque about Z-axis from external wrench (in Newton-meters)
+    fixed32 fault_bank_a                            = 31; // The arm fault flags bank A (0 if no fault) see Base.SafetyIdentifier
+    fixed32 fault_bank_b                            = 32; // The arm fault flags bank B (0 if no fault) see Base.SafetyIdentifier
+    fixed32 warning_bank_a                          = 33; // The arm warning flags bank A (0 if no warning) see Base.SafetyIdentifier
+    fixed32 warning_bank_b                          = 34; // The arm warning flags bank B (0 if no warning) see Base.SafetyIdentifier
+    float commanded_tool_pose_x                     = 35; // Commanded Cartesian position (X-Axis) of the tool (in meters)
+    float commanded_tool_pose_y                     = 36; // Commanded Cartesian position (Y-Axis) of the tool (in meters)
+    float commanded_tool_pose_z                     = 37; // Commanded Cartesian position (Z-Axis) of the tool (in meters)
+    float commanded_tool_pose_theta_x               = 38; // Commanded Cartesian orientation (X-Axis) of the tool (in degrees)
+    float commanded_tool_pose_theta_y               = 39; // Commanded Cartesian orientation (Y-Axis) of the tool (in degrees)
+    float commanded_tool_pose_theta_z               = 40; // Commanded Cartesian orientation (Z-Axis) of the tool (in degrees)
+}
+
+// Custom development data, content varies according to debug needs
+message CustomData
+{
+    fixed32  frame_id                                                   = 1;  // Frame ID
+    fixed32  custom_data_0                                              = 2;  // Custom data word 0
+    fixed32  custom_data_1                                              = 3;  // Custom data word 1
+    fixed32  custom_data_2                                              = 4;  // Custom data word 2
+    fixed32  custom_data_3                                              = 5;  // Custom data word 3
+    fixed32  custom_data_4                                              = 6;  // Custom data word 4
+    fixed32  custom_data_5                                              = 7;  // Custom data word 5
+    fixed32  custom_data_6                                              = 8;  // Custom data word 6
+    fixed32  custom_data_7                                              = 9;  // Custom data word 7
+    repeated ActuatorCustomData actuators_custom_data                   = 10; // Actuator custom data (repeated) 
+    Kinova.Api.InterconnectCyclic.CustomData interconnect_custom_data   = 11; // Interconnect custom data
+}
+
+
+// Defines a command provided to robot devices (actuators and interface)
+message Command 
+{
+    fixed32 frame_id                                           = 1;                 // Frame ID
+    repeated ActuatorCommand actuators                         = 2;                 // Actuator command (repeated)
+    Kinova.Api.InterconnectCyclic.Command interconnect         = 3;                 // Interface command    
+}
+
+// Defines the feedback provided by robot devices (base, actuators and interface)
+message Feedback 
+{  
+    fixed32 frame_id                                             = 1;                // Frame ID
+    BaseFeedback base                                            = 2;                // Base feedback
+    repeated ActuatorFeedback actuators                          = 3;                // Actuator feedback
+    Kinova.Api.InterconnectCyclic.Feedback interconnect          = 4;                // Interface feedback
+}
diff --git a/kortex_driver/protos/Common.proto b/kortex_driver/protos/Common.proto
new file mode 100644
index 0000000..97f5ab7
--- /dev/null
+++ b/kortex_driver/protos/Common.proto
@@ -0,0 +1,332 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+
+package Kinova.Api.Common;
+
+// Admissible device types
+enum DeviceTypes {
+    UNSPECIFIED_DEVICE_TYPE = 0;    // Unspecified device type
+    BASE = 1;                       // Base module
+    VISION = 2;                     // Vision module
+    BIG_ACTUATOR = 3;               // Big actuator module
+    SMALL_ACTUATOR = 4;             // Small actuator module
+    INTERCONNECT = 5;               // Interface module
+    GRIPPER = 6;                    // Gripper module
+    MEDIUM_ACTUATOR = 7;            // Medium actuator module
+    XBIG_ACTUATOR = 8;              // XBig actuator module
+}
+
+// Reference to a specific device
+message DeviceHandle {
+    DeviceTypes device_type = 1;    // Device type
+    uint32 device_identifier = 2;   // Unique device identifier (used with other services)
+    uint32 order = 3;               // Unique value indicating the order of that device versus the others to facilitate representation
+}
+
+// Admissible safety statuses
+enum SafetyStatusValue {
+    SAFETY_STATUS_UNSPECIFIED = 0;  // Unspecified safety status
+    SAFETY_STATUS_WARNING = 1;      // Warning safety reached
+    SAFETY_STATUS_ERROR = 2;        // Error safety reached
+    SAFETY_STATUS_NORMAL = 3;       // Safety is off
+}
+
+// Admissible permissions. Used as bitfields
+enum Permission {
+    NO_PERMISSION = 0;      // No permission
+    READ_PERMISSION = 1;    // Read permission. Refers to an entity that can be read
+    UPDATE_PERMISSION = 2;  // Update permission. Refers to an entity that can be modified
+    DELETE_PERMISSION = 4;  // Delete permission. Refers to an entity that can be deleted
+}
+
+// Admissible notification types
+enum NotificationType {
+    NOTIFICATION_TYPE_UNSPECIFIED = 0;  // Unspecified notification
+    NOTIFICATION_TYPE_THRESHOLD = 1;    // Threshold notification. Refers to a notification sent beyond a specific threshold (not implemented yet)
+    NOTIFICATION_TYPE_FIX_RATE = 2;     // Fix rate notification. Refers to a notification sent at a predetermined fix rate (not implemented yet)
+    NOTIFICATION_TYPE_EVENT = 3;        // Event type notification. Refers to a notification sent in response to an event
+}
+
+// Admissible units used throughout API methods
+enum Unit {
+    UNSPECIFIED_UNIT = 0;       // Unspecified unit
+    CELSIUS = 1;                // Degree Celsius
+    AMPERE = 2;                 // Ampere
+    VOLT = 3;                   // Volt
+    METER_PER_SECOND = 4;       // Meter per second
+    DEGREE_PER_SECOND = 5;      // Degree per second
+    METER_PER_SECOND_2 = 6;     // Meter per second squared
+    DEGREE_PER_SECOND_2 = 7;    // Degree per second squared
+    NEWTON = 8;                 // Newton
+    NEWTON_METER =9;            // Newton * meter
+    KILOGRAM = 10;              // Kilogram
+    DEGREE = 11;                // Degree
+    TICK = 12;                  // Tick
+    DEGREE_PER_MILLISECOND = 13;// Degre per millisecond
+}
+
+// Message used when no information needs to be exchanged between client application and robot, and vice versa
+message Empty {
+}
+
+// Specifies options associated to a notification
+message NotificationOptions {
+    NotificationType type = 1;  // Type of notification
+    uint32 rate_m_sec = 2;      // Rate value (in meters per second) (if applicable)
+    float threshold_value = 3;  // Threshold value (if applicable)
+}
+
+// Reference to a specific safety
+message SafetyHandle {
+    uint32 identifier = 1; // Safety identifier
+}
+
+// Reference to a specific notification topic
+message NotificationHandle {
+    uint32 identifier = 1; // Notification identifier
+}
+
+// Notification about a single safety event
+message SafetyNotification {
+    SafetyHandle safety_handle = 1;     // Safety handle
+    SafetyStatusValue value = 2;        // New safety status
+    Timestamp timestamp = 3;            // Event timestamp
+    UserProfileHandle user_handle = 4;  // User that caused the safety event
+    Connection connection = 5;          // Connection that caused the safety event
+}
+
+// Timestamp based on Epoch (00:00:00 Thursday, January 1, 1970)
+message Timestamp {
+    uint32 sec = 1;     // Number of seconds that have elapsed since Epoch
+    uint32 usec = 2;    // Number of microseconds that have elapsed since the last second (0-999999)
+}
+
+// Reference to a user profile
+message UserProfileHandle {
+    uint32 identifier = 1;  // User profile identifier
+    fixed32 permission = 2; // Must use 'Permission' as bitwise
+}
+
+// Connection between a user and the robot
+message Connection {
+    UserProfileHandle user_handle = 1;  // User profile handle, or set to zero if no user logged in
+    string connection_information = 2;  // Connection info (e.g. IP address with port number)
+    uint32 connection_identifier = 3;   // Connection identifier
+}
+
+// Admissible robot arm states
+enum ArmState
+{
+    ARMSTATE_UNSPECIFIED                    = 0;    // Unspecified arm state
+    ARMSTATE_BASE_INITIALIZATION            = 1;    // Cannot be reported as the Base initialization must be completed before allowing user connection
+    ARMSTATE_IDLE                           = 2;    // Base initialization succeeded
+    ARMSTATE_INITIALIZATION                 = 3;    // Arm is being initialized
+    ARMSTATE_IN_FAULT                       = 4;    // Arm is in fault
+    ARMSTATE_MAINTENANCE                    = 5;    // Arm is in maintenance
+    ARMSTATE_SERVOING_LOW_LEVEL             = 6;    // Arm is in low-level servoing mode
+    ARMSTATE_SERVOING_READY                 = 7;    // Arm is ready to be controlled
+    ARMSTATE_SERVOING_PLAYING_SEQUENCE      = 8;    // Arm is currently being controlled via a sequence
+    ARMSTATE_SERVOING_MANUALLY_CONTROLLED   = 9;    // Arm is currently being controlled manually
+    ARMSTATE_RESERVED                       = 255;  // For debugging, this state must never be reported outside the base. this means that a state is not mapped correctly
+}
+
+// UART configuration details
+message UARTConfiguration {
+    uint32 port_id             = 1; // UART port identification
+    bool enabled               = 2; // True if UART device is enabled, false otherwise
+    UARTSpeed speed            = 3; // Speed selection
+    UARTWordLength word_length = 4; // Word length
+    UARTStopBits stop_bits     = 5; // Stop bits
+    UARTParity parity          = 6; // Parity mode
+}
+
+// UART port id identification
+message UARTDeviceIdentification {
+    uint32 port_id = 1; // UART device port id
+}
+
+// Admissible UART baudrates
+enum UARTSpeed {
+    UART_SPEED_UNSPECIFIED = 0;  // Unspecified UART speed
+    UART_SPEED_4800        = 1;  // 4800 bps
+    UART_SPEED_9600        = 2;  // 9600 bps
+    UART_SPEED_19200       = 3;  // 19200 bps
+    UART_SPEED_38400       = 4;  // 38400 bps
+    UART_SPEED_57600       = 5;  // 57600 bps
+    UART_SPEED_115200      = 6;  // 115200 bps
+    UART_SPEED_230400      = 7;  // 230400 bps
+    UART_SPEED_460800      = 8;  // 460800 bps
+    UART_SPEED_921600      = 9;  // 921600 bps
+    UART_SPEED_1382400     = 10; // 1382400 bps
+    UART_SPEED_1612800     = 11; // 1612800 bps
+    UART_SPEED_1843200     = 12; // 1843200 bps
+    UART_SPEED_2073600     = 13; // 2073600 bps
+    UART_SPEED_2188800     = 14; // 2188800 bps
+    UART_SPEED_2246400     = 15; // 2246400 bps
+}
+
+// Admissible UART word lengths
+enum UARTWordLength {
+    UART_WORD_LENGTH_UNSPECIFIED = 0; // Unspecified UART word length
+    UART_WORD_LENGTH_7           = 1; // 7 bits
+    UART_WORD_LENGTH_8           = 2; // 8 bits
+    UART_WORD_LENGTH_9           = 3; // 9 bits
+}
+
+// Admissible UART stop bits
+enum UARTStopBits {
+    UART_STOP_BITS_UNSPECIFIED = 0; // Unspecified UART stop bits
+    UART_STOP_BITS_0_5         = 1; // 0.5 stop bit
+    UART_STOP_BITS_1           = 2; // 1 stop bit
+    UART_STOP_BITS_1_5         = 3; // 1.5 stop bits
+    UART_STOP_BITS_2           = 4; // 2 stop bits
+}
+
+// Admissible UART parity mode
+enum UARTParity {
+    UART_PARITY_UNSPECIFIED = 0; // Unspecified UART parity
+    UART_PARITY_NONE        = 1; // No parity
+    UART_PARITY_ODD         = 2; // Odd parity
+    UART_PARITY_EVEN        = 3; // Even parity
+}
+
+//  Admissible Cartesian reference frame modes
+enum CartesianReferenceFrame {
+    CARTESIAN_REFERENCE_FRAME_UNSPECIFIED = 0;  // Unspecified Cartesian reference frame
+    CARTESIAN_REFERENCE_FRAME_MIXED = 1;        // Mixed reference frame where translation reference = base and  orientation reference = tool
+    CARTESIAN_REFERENCE_FRAME_TOOL = 2;         // Tool reference frame where translation reference = tool and orientation reference = tool
+    CARTESIAN_REFERENCE_FRAME_BASE = 3;         // Base reference frame where the translation reference = base and orientation reference = base
+}
+
+// Country code
+message CountryCode {
+    CountryCodeIdentifier identifier = 1; // ISO3166 country code identifier
+}
+
+// Supported ISO3166 country identifiers
+enum CountryCodeIdentifier {
+    UNSPECIFIED_COUNTRY_CODE = 0;
+    UNITED_ARAB_EMIRATES_AE = 1;
+    ANTIGUA_AND_BARBUDA_AG = 2;
+    ANGUILLA_AI = 3;
+    ALBANIA_AL = 4;
+    AMERICAN_SAMOA_AS = 5;
+    AUSTRIA_AT = 6;
+    AUSTRALIA_AU = 7;
+    ARUBA_AW = 8;
+    AZERBAIJAN_AZ =  9;
+    BOSNIA_AND_HERZEGOVINA_BA = 10;
+    BANGLADESH_BD = 11;
+    BELGIUM_BE = 12;
+    BULGARIA_BG = 13;
+    BAHRAIN_BH = 14;
+    BERMUDA_BM = 15;
+    BRUNEI_DARUSSALAM_BN = 16;
+    BRAZIL_BR = 17;
+    BAHAMAS_BS = 18;
+    BELARUS_BY = 19;
+    SWITZERLAND_CH = 20;
+    CANADA_CA = 21;
+    CHINA_CN = 22;
+    COLOMBIA_CO = 23;
+    COSTA_RICA_CR = 24;
+    CYPRUS_CY = 25;
+    CZECH_REPUBLIC_CZ = 26;
+    GERMANY_DE = 27;
+    DENMARK_DK = 28;
+    ECUADOR_EC = 29;
+    ESTONIA_EE = 30;
+    EGYPT_EG = 31;
+    SPAIN_ES = 32;
+    ETHIOPIA_ET = 33;
+    FINLAND_FI = 34;
+    FRANCE_FR = 35;
+    UNITED_KINGDOM_GB = 36;
+    GRENADA_GD = 37;
+    FRENCH_GUIANA_GF = 38;
+    GUADELOUPE_GP = 39;
+    GREECE_GR = 40;
+    GUATEMALA_GT = 41;
+    GUAM_GU = 42;
+    HONG_KONG_HK = 43;
+    CROATIA_HR = 44;
+    HUNGARY_HU = 45;
+    INDIA_IN = 46;
+    INDONESIA_ID = 47;
+    IRELAND_IE = 48;
+    ISRAEL_IL = 49;
+    ICELAND_IS = 50;
+    ITALY_IT = 51;
+    JORDAN_JO = 52;
+    JAPAN_JP = 53;
+    CAMBODIA_KH = 54;
+    REPUBLIC_OF_KOREA_KR = 55;
+    KUWAIT_KW = 56;
+    CAYMAN_ISLANDS_KY = 57;
+    LAO_PDR_LA = 58;
+    LEBANON_LB = 59;
+    LIECHTENSTEIN_LI = 60;
+    SRI_LANKA_LK = 61;
+    LESOTHO_LS = 62;
+    LITHUANIA_LT = 63;
+    LUXEMBOURG_LU = 64;
+    LATVIA_LV = 65;
+    MOROCCO_MA = 66;
+    MONACO_MC = 67;
+    MOLDOVA_MD = 68;
+    MONTENEGRO_ME = 69;
+    REPUBLIC_OF_MACEDONIA_MK = 70;
+    MONGOLIA_MN = 71;
+    MARTINIQUE_MQ = 72;
+    MAURITANIA_MR = 73;
+    MALTA_MT = 74;
+    MAURITIUS_MU = 75;
+    MALDIVES_MV = 76;
+    MALAWI_MW = 77;
+    MEXICO_MX = 78;
+    MALAYSIA_MY = 79;
+    NICARAGUA_NI = 80;
+    NETHERLANDS_NL = 81;
+    NORWAY_NO = 82;
+    NEW_ZEALAND_NZ = 83;
+    OMAN_OM = 84;
+    PANAMA_PA = 85;
+    PERU_PE = 86;
+    PHILIPPINES_PH = 87;
+    POLAND_PL = 88;
+    PUERTO_RICO_PR = 89;
+    PORTUGAL_PT = 90;
+    PARAGUAY_PY = 91;
+    REUNION_RE = 92;
+    ROMANIA_RO = 93;
+    SERBIA_RS = 94;
+    RUSSIAN_FEDERATION_RU = 95;
+    SWEDEN_SE = 96;
+    SINGAPORE_SI = 97;
+    SLOVAKIA_SK = 98;
+    EL_SALVADOR_SV = 99;
+    THAILAND_TH = 100;
+    TUNISIA_TN = 101;
+    TURKEY_TR = 102;
+    TRINIDAD_AND_TOBAGO_TT = 103;
+    TAIWAN_PROVINCE_OF_CHINA_TW = 104;
+    UKRAINE_UA = 105;
+    UNITED_STATES_US = 106;
+    HOLY_SEE_VATICAN_CITY_STATE_VA = 107;
+    BOLIVARIAN_REPUBLIC_OF_VENEZUELA_VE = 108;
+    BRITISH_VIRGIN_ISLANDS_VG = 109;
+    VIETNAM_VN = 110;
+    MAYOTTE_YT = 111;
+    SOUTH_AFRICA_ZA = 112;
+}
diff --git a/kortex_driver/protos/ControlConfig.proto b/kortex_driver/protos/ControlConfig.proto
new file mode 100644
index 0000000..55a50c4
--- /dev/null
+++ b/kortex_driver/protos/ControlConfig.proto
@@ -0,0 +1,273 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+
+import public "Common.proto";
+
+package Kinova.Api.ControlConfig;
+
+// Service to configure robot control library
+service ControlConfig {//@PROXY_ID=16 @ERROR=Kinova.Api.Error
+
+    // Sets global gravity vector in terms of base reference frame. This needs to be configured to enable control of the robot in wall or ceiling mounting of the robot.
+    rpc SetGravityVector (GravityVector) returns (Kinova.Api.Common.Empty);//@RPC_ID=1
+
+    // Retrieves global gravity vector
+    rpc GetGravityVector (Kinova.Api.Common.Empty) returns (GravityVector);//@RPC_ID=2
+
+    // Sets payload information. This needs to be configured so that the control library can take into account the presence of the payload mass in computing the dynamics of the robot. 
+    rpc SetPayloadInformation (PayloadInformation) returns (Kinova.Api.Common.Empty);//@RPC_ID=3
+
+    // Retrieves payload information
+    rpc GetPayloadInformation (Kinova.Api.Common.Empty) returns (PayloadInformation);//@RPC_ID=4
+
+    // Sets tool configuration. This needs to be configured for two reasons. 1) so that the control library can take into account the presence of the tool mass in computing the dynamics of the robot. 2) so that the robot is aware of the tool frame center relative position and orientation to correctly compute and report the tool position.
+    rpc SetToolConfiguration (ToolConfiguration) returns (Kinova.Api.Common.Empty);//@RPC_ID=5
+
+    // Retrieves tool configuration
+    rpc GetToolConfiguration (Kinova.Api.Common.Empty) returns (ToolConfiguration);//@RPC_ID=6
+
+    // Subscribes to control configuration notifications
+    rpc ControlConfigurationTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=7 @PUB_SUB=ControlConfigurationNotification
+
+    // Unsubscribes client from receiving specified type of notifications
+    rpc Unsubscribe (Kinova.Api.Common.NotificationHandle) returns (Kinova.Api.Common.Empty);//@RPC_ID=8 @UNSUB
+
+    // Defines the reference frame to use with twist and wrench commands
+    rpc SetCartesianReferenceFrame (CartesianReferenceFrameInfo) returns (Kinova.Api.Common.Empty);//@RPC_ID=9
+
+    // Retrieves the current reference frame used by the twist and wrench commands
+    rpc GetCartesianReferenceFrame (Kinova.Api.Common.Empty) returns (CartesianReferenceFrameInfo);//@RPC_ID=10
+
+    // Retrieves current control mode (not implemented yet)
+    rpc GetControlMode (Kinova.Api.Common.Empty) returns (ControlModeInformation);//@RPC_ID=13
+
+    // Set the software joint speed limits.
+    rpc SetJointSpeedSoftLimits (JointSpeedSoftLimits) returns (Kinova.Api.Common.Empty);//@RPC_ID=14
+
+    // Set the software twist linear limit.
+    rpc SetTwistLinearSoftLimit (TwistLinearSoftLimit) returns (Kinova.Api.Common.Empty);//@RPC_ID=15
+
+    // Set the software twist angular limit.
+    rpc SetTwistAngularSoftLimit (TwistAngularSoftLimit) returns (Kinova.Api.Common.Empty);//@RPC_ID=16
+
+    // Set the software joint acceleration limits.
+    rpc SetJointAccelerationSoftLimits (JointAccelerationSoftLimits) returns (Kinova.Api.Common.Empty);//@RPC_ID=17
+
+    // Retrieves angular and twist hard limits.
+    rpc GetKinematicHardLimits (Kinova.Api.Common.Empty) returns (KinematicLimits);//@RPC_ID=18
+
+    // Retrieves the software kinematic limits for a specific control mode.
+    rpc GetKinematicSoftLimits (ControlModeInformation) returns (KinematicLimits);//@RPC_ID=19
+
+    // Retrieves the software kinematic limits for all control modes.
+    rpc GetAllKinematicSoftLimits (Kinova.Api.Common.Empty) returns (KinematicLimitsList);//@RPC_ID=20
+    
+    // Set the desired linear twist when using the joystick.
+    rpc SetDesiredLinearTwist (LinearTwist) returns (Kinova.Api.Common.Empty);//@RPC_ID=21
+
+    // Set the desired angular twist when using the joystick.
+    rpc SetDesiredAngularTwist (AngularTwist) returns (Kinova.Api.Common.Empty);//@RPC_ID=22
+
+    // Set the desired joint speeds when using the joystick in angular mode.
+    rpc SetDesiredJointSpeeds (JointSpeeds) returns (Kinova.Api.Common.Empty);//@RPC_ID=23
+
+    // Retrieves the desired joystick speeds
+    rpc GetDesiredSpeeds (Kinova.Api.Common.Empty) returns (DesiredSpeeds);//@RPC_ID=24
+
+    // Resets gravity vector to default values   
+    rpc ResetGravityVector (Kinova.Api.Common.Empty) returns (GravityVector);//@RPC_ID=25
+
+    // Resets payload information to default values
+    rpc ResetPayloadInformation (Kinova.Api.Common.Empty) returns (PayloadInformation);//@RPC_ID=26
+
+    // Resets tool configuration to default values
+    rpc ResetToolConfiguration (Kinova.Api.Common.Empty) returns (ToolConfiguration);//@RPC_ID=27
+
+    // Resets joint speed soft limits to default values
+    rpc ResetJointSpeedSoftLimits (ControlModeInformation) returns (JointSpeedSoftLimits);//@RPC_ID=28
+
+    // Resets twist linear soft limit to default value
+    rpc ResetTwistLinearSoftLimit (ControlModeInformation) returns (TwistLinearSoftLimit);//@RPC_ID=29
+
+    // Resets twist angular soft limit to default value
+    rpc ResetTwistAngularSoftLimit (ControlModeInformation) returns (TwistAngularSoftLimit);//@RPC_ID=30
+
+    // Resets joint acceleration soft limits to default values
+    rpc ResetJointAccelerationSoftLimits (ControlModeInformation) returns (JointAccelerationSoftLimits);//@RPC_ID=31
+}
+
+// Identifies ControlConfig current version
+enum ServiceVersion
+{
+    RESERVED_0 = 0;       // Reserved
+    CURRENT_VERSION = 1;  // Current version
+}
+
+// Defines the gravity vector in terms of the robot base frame. If not explicitly configured, it defaults to (0, 0, -9.81), assuming a mounting on a horizontal surface. If the robot is mounted on a wall or ceiling, the gravity vector relative to the base frame will change. The control library needs to be aware of this to accurately compensate for gravity.
+message GravityVector
+{
+    float x = 1;                // x (meters / second^squared)
+    float y = 2;                // y (meters / second^squared)
+    float z = 3;                // z (meters / second^squared)
+}
+
+// A Cartesian position
+message Position {
+    float x = 1;      // x position (in meters)
+    float y = 2;      // y position (in meters)
+    float z = 3;      // z position (in meters)
+}
+
+// Defines payload information
+message PayloadInformation
+{
+    float payload_mass = 1;             // Tool mass in kg
+    Position payload_mass_center = 2;   // Tool mass center position relative to the tool reference frame
+}
+
+// Defines a Cartesian transform
+message CartesianTransform
+{
+    float x = 1;       // x (in meters)
+    float y = 2;       // y (in meters)
+    float z = 3;       // z (in meters)
+    float theta_x = 4; // Theta x (in degrees)
+    float theta_y = 5; // Theta y (in degrees)
+    float theta_z = 6; // Theta z (in degrees)
+}
+
+// Defines a tool configuration
+message ToolConfiguration {
+    CartesianTransform tool_transform = 1;  // Cartesian transform tool
+    float tool_mass = 2;                    // Tool mass (in kg)
+    Position tool_mass_center = 3;          // Tool mass center position relative to the interface module reference frame
+}
+
+// Admissible control configuration events
+enum ControlConfigurationEvent {
+    UNSPECIFIED_CONTROL_CONFIGURATION_EVENT = 0;            // Unspecified control configuration event
+    ANGLE_UNIT_CHANGED = 1;                                 // Angle unit changed event
+    GRAVITY_VECTOR_CHANGED = 2;                             // Gravity vector changed event
+    JOINT_ADMITTANCE_CONFIGURATION_CHANGED = 4;             // Joint admittance configuration changed event
+    NULL_ADMITTANCE_CONFIGURATION_CHANGED = 5;              // Null admittance configuration changed event
+    CARTESIAN_ADMITTANCE_CONFIGURATION_CHANGED = 6;         // Cartesian admittance configuration changed event
+    JOINT_TORQUE_HYBRID_CONFIGURATION_CHANGED = 7;          // Joint torque hybrid configuraiton changed event
+    WRENCH_COMMAND_NORMAL_CONFIGURATION_CHANGED = 8;        // Wrench commmand normal configuration changed event
+    WRENCH_COMMAND_RESTRICTED_CONFIGURATION_CHANGED = 9;    // Wrench command restricted configuration changed event
+    CONTROL_CONFIGURATION_FACTORY_RESTORED = 10;            // Control configuration factory restored event
+    TOOL_CONFIGURATION_CHANGED = 11;                        // Tool configuration event
+    PAYLOAD_CONFIGURATION_CHANGED = 12;                     // Payload configuration event
+    CARTESIAN_REFERENCE_CHANGED = 13;                       // Cartesian reference event
+    CHANGE_CONTROL_MODE_FAILED = 14;                        // Control mode change fail event
+    JOINT_SPEED_SOFT_LIMITS_CHANGED = 16;                   // Joint speed software limits changed event
+    TWIST_LINEAR_SOFT_LIMIT_CHANGED = 17;                   // Linear speed software limit changed event
+    TWIST_ANGULAR_SOFT_LIMIT_CHANGED = 18;                  // Angular speed software limit changed event
+    JOINT_ACCELERATION_SOFT_LIMITS_CHANGED = 19;            // Joint acceleration software limits changed event
+    DESIRED_TWIST_LINEAR_SPEED_CHANGED = 20;                // Desired joystick twist linear speed changed event
+    DESIRED_TWIST_ANGULAR_SPEED_CHANGED = 21;               // Desired joystick twist angular speed changed event
+    DESIRED_JOINT_SPEED_CHANGED = 22;                       // Desired joystick joint speed changed event
+}
+
+// Notification about a single control configuration event
+message ControlConfigurationNotification {
+    ControlConfigurationEvent event = 1;
+    Kinova.Api.Common.Timestamp timestamp = 2;              // Event timestamp
+    Kinova.Api.Common.UserProfileHandle user_handle = 3;    // User that caused the factory event to occur
+    Kinova.Api.Common.Connection connection = 4;            // Connection that caused the configuration event
+}
+
+// Cartesian reference frame
+message CartesianReferenceFrameInfo {
+    Kinova.Api.Common.CartesianReferenceFrame reference_frame = 1;    // Reference frame
+}
+
+// Software twist linear speed limit
+message TwistLinearSoftLimit {
+    ControlMode control_mode = 1;                   // Control mode
+    float twist_linear_soft_limit = 2;              // Software linear twist limit
+}
+
+// Software twist angular speed limit
+message TwistAngularSoftLimit {
+    ControlMode control_mode = 1;                   // Control mode
+    float twist_angular_soft_limit = 2;             // Software angular twist limit                                   
+}
+
+// Software joint speed limits
+message JointSpeedSoftLimits {
+    ControlMode control_mode = 1;                   // Control mode
+    repeated float joint_speed_soft_limits = 2;     // Software joint speed limits
+}
+
+// Software Joint acceleration limits
+message JointAccelerationSoftLimits {
+    ControlMode control_mode = 1;                            // Control mode
+    repeated float joint_acceleration_soft_limits = 2;       // Software acceleration limits
+}
+
+// Kinematic limits
+message KinematicLimits {
+    ControlMode control_mode = 1;                       // Control mode
+    float twist_linear = 2;                             // Linear twist limits
+    float twist_angular = 3;                            // Angular twist limits
+    repeated float joint_speed_limits = 4;              // Joint speed limits          
+    repeated float joint_acceleration_limits = 5;       // Joint Acceleration limits
+}
+
+// Kinematic limits
+message KinematicLimitsList {
+    repeated KinematicLimits kinematic_limits_list = 1;     // List of kinematic limits
+}
+
+// Desired Joystick speeds.   
+message DesiredSpeeds {
+    float linear = 1;                               // Desired linear speed (meters / second)
+    float angular = 2;                              // Desired angular speed (degrees / second)
+    repeated float joint_speed = 3;                 // Desired joint speeds (degrees / second)
+}
+
+// Desired Joystick linear speed.   
+message LinearTwist {
+    float linear = 1;                               // Desired linear speed (meters / second)
+}
+
+// Desired Joystick angular speed.   
+message AngularTwist {
+    float angular = 1;                              // Desired angular speed (degrees / second)
+}
+
+// Desired Joystick joint speeds.   
+message JointSpeeds {
+    repeated float joint_speed = 1;                 // Desired joint speeds (degrees / second)
+}
+
+// Admissible robot control modes
+enum ControlMode {
+    UNSPECIFIED_CONTROL_MODE = 0;           // Unspecified control mode
+    ANGULAR_JOYSTICK = 1;                   // Angular joystick mode
+    CARTESIAN_JOYSTICK = 2;                 // Cartesian joystick mode
+    ANGULAR_TRAJECTORY = 4;                 // Angular trajectory mode
+    CARTESIAN_TRAJECTORY = 5;               // Cartesian trajectory mode
+    CARTESIAN_ADMITTANCE = 6;               // Cartesian admittance mode
+    JOINT_ADMITTANCE = 7;                   // Joint admittance mode
+    NULL_SPACE_ADMITTANCE = 8;              // Null space mode
+    FORCE_CONTROL = 10;                     // Force control mode
+    FORCE_CONTROL_MOTION_RESTRICTED = 11;   // Force control motion restricted mode
+    IDLE = 13;                              // Idle
+};
+
+// Control mode information
+message ControlModeInformation {
+    ControlMode control_mode = 1; // Control mode
+}
diff --git a/kortex_driver/protos/DeviceConfig.proto b/kortex_driver/protos/DeviceConfig.proto
new file mode 100644
index 0000000..bef45cb
--- /dev/null
+++ b/kortex_driver/protos/DeviceConfig.proto
@@ -0,0 +1,337 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+
+import public "Common.proto";
+
+package Kinova.Api.DeviceConfig;
+
+// Service to get and set device configuration information
+service DeviceConfig {//@PROXY_ID=9 @ERROR=Kinova.Api.Error
+
+    // Returns the run mode for the device
+    rpc GetRunMode (Kinova.Api.Common.Empty) returns (RunMode); //@RPC_ID=1
+
+    // Sets the run mode for the device
+    rpc SetRunMode (RunMode) returns (Kinova.Api.Common.Empty); //@RPC_ID=2
+    
+    // Retrieves the type for the device
+    rpc GetDeviceType (Kinova.Api.Common.Empty) returns (DeviceType); //@RPC_ID=3
+    
+    // Retrieves the device firmware version
+    rpc GetFirmwareVersion (Kinova.Api.Common.Empty) returns (FirmwareVersion); //@RPC_ID=4
+    
+    // Retrieves the device bootloader version 
+    rpc GetBootloaderVersion (Kinova.Api.Common.Empty) returns (BootloaderVersion); //@RPC_ID=5
+    
+    // Retrieves the device model number
+    rpc GetModelNumber (Kinova.Api.Common.Empty) returns (ModelNumber); //@RPC_ID=6
+    
+    // Retrieves the device part number
+    rpc GetPartNumber (Kinova.Api.Common.Empty) returns (PartNumber);	//@RPC_ID=7
+    
+    // Retrieves the device serial number
+    rpc GetSerialNumber (Kinova.Api.Common.Empty) returns (SerialNumber); //@RPC_ID=8
+    
+    // Retrieves the device MAC address
+    rpc GetMACAddress (Kinova.Api.Common.Empty) returns (MACAddress); //@RPC_ID=9
+    
+    // Retrieves the device IPv4 settings (not implemented on Base)
+    rpc GetIPv4Settings (Kinova.Api.Common.Empty) returns (IPv4Settings); //@RPC_ID=10
+    
+    // Sets the device IPv4 settings (not implemented on Base)
+    rpc SetIPv4Settings (IPv4Settings) returns (Kinova.Api.Common.Empty); //@RPC_ID=11
+    
+    // Retrieves the device part number revision
+    rpc GetPartNumberRevision (Kinova.Api.Common.Empty) returns (PartNumberRevision);	//@RPC_ID=12
+    
+    // Sends a request to the device to reboot
+    rpc RebootRequest (RebootRqst) returns (Kinova.Api.Common.Empty); //@RPC_ID=14
+
+    // Enables (disable) the specified safety
+    rpc SetSafetyEnable (SafetyEnable) returns (Kinova.Api.Common.Empty); //@RPC_ID=15
+    
+    // Sets the error threshold for the specified safety
+    rpc SetSafetyErrorThreshold (SafetyThreshold) returns (Kinova.Api.Common.Empty); //@RPC_ID=16
+    
+    // Sets the warning threshold for the specified safety
+    rpc SetSafetyWarningThreshold (SafetyThreshold) returns (Kinova.Api.Common.Empty); //@RPC_ID=17
+    
+    // Configures the specified safety (i.e. sets error and warning thresholds)
+    rpc SetSafetyConfiguration (SafetyConfiguration) returns (Kinova.Api.Common.Empty); //@RPC_ID=18
+    
+    // Retrieves configuration about the specified safety
+    rpc GetSafetyConfiguration (Kinova.Api.Common.SafetyHandle) returns (SafetyConfiguration); //@RPC_ID=19
+    
+    // Retrieves information about the specified safety
+    rpc GetSafetyInformation (Kinova.Api.Common.SafetyHandle) returns (SafetyInformation); //@RPC_ID=20
+    
+    // Indicates if specified safety is enabled (or disabled)
+    rpc GetSafetyEnable (Kinova.Api.Common.SafetyHandle) returns (SafetyEnable); //@RPC_ID=21
+    
+    // Indicates if the specified safety is raised
+    rpc GetSafetyStatus (Kinova.Api.Common.SafetyHandle) returns (SafetyStatus); //@RPC_ID=22
+    
+    // Clear all safety status for this device if they are no longer raised
+    rpc ClearAllSafetyStatus (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=23    
+
+    // Clear a specific safety status if it is no longer raised
+    rpc ClearSafetyStatus (Kinova.Api.Common.SafetyHandle) returns (Kinova.Api.Common.Empty); //@RPC_ID=24
+    
+    // Retrieves configuration on all safeties 
+    rpc GetAllSafetyConfiguration (Kinova.Api.Common.Empty) returns (SafetyConfigurationList); //@RPC_ID=25
+    
+    // Retrieves information on all safeties
+    rpc GetAllSafetyInformation (Kinova.Api.Common.Empty) returns (SafetyInformationList); //@RPC_ID=26
+
+    // Restores all safety configurations to factory defaults
+    rpc ResetSafetyDefaults (Kinova.Api.Common.Empty) returns (Kinova.Api.Common.Empty); //@RPC_ID=27
+    
+    // Subscribes to safety notifications
+    rpc SafetyTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle); //@RPC_ID=28 @PUB_SUB=Kinova.Api.Common.SafetyNotification
+
+    // Starts device calibration (intended for Kinova Production of Pico)
+    rpc ExecuteCalibration (Calibration) returns (Kinova.Api.Common.Empty);     //@RPC_ID=34
+    
+    // Retrieves the status/result of device calibration (intended for Kinova Production of Pico)
+    rpc GetCalibrationResult (CalibrationElement) returns (CalibrationResult);          //@RPC_ID=35
+    
+    // Stop calibration in progress
+    rpc StopCalibration (Calibration) returns (CalibrationResult);                //@RPC_ID=36
+        
+    // Sets the capacitive sensor calibration
+    rpc SetCapSenseConfig (CapSenseConfig)  returns (Kinova.Api.Common.Empty);          //@RPC_ID=37
+    
+    // Retrieves the capacitive sensor calibration
+    rpc GetCapSenseConfig (Kinova.Api.Common.Empty) returns (CapSenseConfig);           //@RPC_ID=38
+    
+    // Reads low-level register from the capacitive sensor (for Kinova internal use ony, not to be used in the field)
+    rpc ReadCapSenseRegister (CapSenseRegister)     returns (CapSenseRegister);         //@RPC_ID=39
+    
+    // Writes to low-level register of the capacitive sensor (for Kinova internal use ony, not to be used in the field)
+    rpc WriteCapSenseRegister (CapSenseRegister)    returns (Kinova.Api.Common.Empty);  //@RPC_ID=40
+}
+
+// Identifies DeviceConfig current version
+enum ServiceVersion {
+    RESERVED_0 = 0;         // Reserved
+    CURRENT_VERSION = 1;    // Current version
+}
+
+// Options for the run mode for the device
+enum RunModes {
+    RUN_MODE           = 0;
+    CALIBRATION_MODE   = 1; // calibration mode
+    CONFIGURATION_MODE = 2; // configuration mode
+    DEBUG_MODE         = 3; // debug mode
+    TUNING_MODE        = 4; // tuning mode
+}
+
+// Device type
+message DeviceType {
+    Kinova.Api.Common.DeviceTypes device_type = 1;             // Device type
+}
+
+
+// Run mode
+message RunMode {
+    RunModes run_mode = 1;                   // Run mode
+}
+
+// Firmware version for the device
+message FirmwareVersion {
+    uint32 firmware_version = 1;            // Firmware version
+}
+
+// Bootloader version for the device
+message BootloaderVersion {
+    uint32 bootloader_version = 1;          // Bootloader version
+}
+
+// Model number for the device
+message ModelNumber {
+    string model_number = 1;                // Model number of size 25 including null character
+}
+
+// Part number for the device
+message PartNumber {
+    string part_number = 1;                 // Part number of size 25 including null character
+}
+
+// Serial number for the device
+message SerialNumber {
+    string serial_number = 1;               // Serial number of size 25 including null character
+}
+
+// MAC address for the device
+message MACAddress {
+    bytes mac_address = 1;                  // MAC address
+}
+
+// IPv4 settings for the device, including address, subnet mask, and default gateway
+message IPv4Settings {
+    uint32 ipv4_address         = 1;        // IPv4Address
+    uint32 ipv4_subnet_mask     = 2;        // IPv4SubnetMask
+    uint32 ipv4_default_gateway = 3;        // IPv4DefaultGateway
+}
+
+// Part number revision for the device
+message PartNumberRevision {
+    string part_number_revision = 1;        // Part number revision
+}
+
+// Result of power on self test
+message PowerOnSelfTestResult {
+    uint32 power_on_self_test_result = 1;   // Power on self test result
+}
+
+// Reboot request with bootloader delay
+message RebootRqst {
+    uint32 delay = 1;                       // Bootloader delay
+}
+
+// Admissible calibration items
+enum CalibrationItem 
+{
+   UNSPECIFIED_CALIBRATION_ITEM = 0; // Unspecified calibration item
+   COGGING                      = 1; // Cogging calibration
+   MAGNETIC                     = 2; // Magnetic sensors calibration
+   MOTOR                        = 3; // Motor calibration
+   POSITION_RANGE               = 4; // Position range calibration
+}
+
+// Admissible calibration status
+enum CalibrationStatus 
+{
+   UNSPECIFIED_CALIBRATION_STATUS = 0; // Unspecified calibration status
+   NOT_CALIBRATED                 = 1; // Calibration is not done
+   IN_PROGRESS                    = 2; // Calibration is in progress
+   CALIBRATED                     = 3; // Calibration was successfully completed
+   IN_FAULT                       = 4; // Calibration failed
+}
+
+// Types of safeties limits
+enum SafetyLimitType {
+    UNSPECIFIED_SAFETY_LIMIT_TYPE = 0;      
+    MINIMAL_LIMIT = 1;                  // Safety that will kick in below a certain Minimum threshold (e.g. Minimum temperature safety)
+    MAXIMAL_LIMIT = 2;                  // Safety that will kick in above a certain Maximum threshold (e.g. Maximum voltage safety)
+    EVENT_LIMIT = 3;                    // Safety that will kick in in reaction to a specific event (e.g. motor drive fault)
+
+}
+
+// Admissible capacitive sensor mode 
+enum CapSenseMode
+{
+    RESERVED                    = 0; // Reserved, do not use.
+    INACTIVE                    = 1; // Cap sensor is inactive.
+    ACTIVE_AUTO_THRESHOLD       = 2; // Cap sensor is active in automatic threshold mode.
+    ACTIVE_NOISE_ATT            = 4; // Cap sensor is active with noise mitigation enabled.
+    ACTIVE_NORMAL               = 5; // Cap sensor is active in normal mode.
+    CONFIGURATION               = 6; // Configuration mode.
+}
+
+// Information about a specific safety
+message SafetyInformation {
+    Kinova.Api.Common.SafetyHandle handle = 1;      // Safety handle that this information is about
+    bool can_change_safety_state = 2;               // True if related safety configuration can be modified
+    bool has_warning_threshold = 3;                 // True if safety status can go in Warning
+    bool has_error_threshold = 4;                   // True if safety status can go in Error
+    SafetyLimitType limit_type = 5;                 // Safety limit type
+    float default_warning_threshold = 6;            // Default warning threshold (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT and 'has_warning_threshold' is true)
+    float default_error_threshold = 7;              // Default error threshold (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT and 'has_error_threshold' is true)
+    float upper_hard_limit = 8;                     // Maximal threshold value (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT)
+    float lower_hard_limit = 9;                     // Minimal threshold value (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT)
+    Kinova.Api.Common.SafetyStatusValue status = 11;// Current Safety status
+    Kinova.Api.Common.Unit unit = 12;               // Unit that the safety status is in
+}
+
+// Array of safety information
+message SafetyInformationList {
+    repeated SafetyInformation information = 1;
+}
+
+// Enable or disable a specific safety
+message SafetyEnable {
+    Kinova.Api.Common.SafetyHandle handle = 1;  // Handle to safety to enable or disable
+    bool enable = 2;                            // Safety enable state
+}
+
+// Configure threshold of a specific safety
+message SafetyThreshold {
+    Kinova.Api.Common.SafetyHandle handle = 1;  // Identifies safety to configure
+    float value = 2;                            // Safety threshold value
+}
+
+// Configuration for a safety
+message SafetyConfiguration {
+    Kinova.Api.Common.SafetyHandle handle = 1;  // Handle to safety to configure
+    float error_threshold = 2;                  // Safety error threshold value
+    float warning_threshold = 3;                // Safety warning threshold value
+    SafetyEnable enable = 4;                    // Safety enable state
+}
+
+// Array of safety configurations
+message SafetyConfigurationList {
+    repeated SafetyConfiguration configuration = 1; // Safety configuration
+}
+
+// Safety status
+message SafetyStatus {
+    Kinova.Api.Common.SafetyStatusValue value = 1; // Safety status (e.g. in error, warning or normal state)
+}
+
+// Single calibration parameter information
+message CalibrationParameter 
+{
+  uint32 calibration_parameter_identifier = 1; // Calibration parameter identifier
+  oneof value {
+    int32 signedIntValue = 2;                  // Signed int calibration value.
+    uint32 unsignedIntValue = 3;               // Unsigned int calibration value.
+    float floatValue = 4;                      // Float calibration value.
+  }
+}
+
+// Calibration information to push to device
+message Calibration
+{
+   CalibrationItem calibration_item                    = 1; // Item to calibrate
+   repeated CalibrationParameter calibration_parameter = 2; // Parameters associated to calibration item
+}
+
+// Calibration element
+message CalibrationElement
+{
+    CalibrationItem calibration_item                    = 1; // Item to get status
+}
+
+// Result of a calibration
+message CalibrationResult
+{
+   CalibrationStatus calibration_status = 1; // Calibration status
+   uint32 calibration_details = 2;           // Additional information (used when status is in fault)
+}
+
+// Capacitive sensor configuration message
+message CapSenseConfig
+{
+    CapSenseMode        mode            = 1; // Operational mode of the sensor
+    float               threshold_a     = 2; // Sensitivity of the sensor A (0-100%).
+    float               threshold_b     = 3; // Sensitivity of the sensor B (0-100%).
+}
+
+// Message used to address a register
+message CapSenseRegister
+{
+    uint32      address         = 1; // Register address
+    uint32      value           = 2; // Register value
+}
diff --git a/kortex_driver/protos/DeviceManager.proto b/kortex_driver/protos/DeviceManager.proto
new file mode 100644
index 0000000..5d3d145
--- /dev/null
+++ b/kortex_driver/protos/DeviceManager.proto
@@ -0,0 +1,35 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+
+import public "Common.proto";
+
+package Kinova.Api.DeviceManager;
+
+// This service provides information about which devices are present in the robot
+service DeviceManager {//@PROXY_ID=23 @ERROR=Kinova.Api.Error
+
+    // Retrieves the list of every device that the system contains, along with its type and order within the system
+    rpc ReadAllDevices (Kinova.Api.Common.Empty) returns (DeviceHandles);//@RPC_ID=1
+}
+
+// Identifies DeviceManager service current version
+enum ServiceVersion {
+    RESERVED_0 = 0;         // Reserved
+    CURRENT_VERSION = 1;    // Current version
+}
+
+// Array of Device handles
+message DeviceHandles {
+    repeated Kinova.Api.Common.DeviceHandle device_handle = 1;  // Device handle    
+}
diff --git a/kortex_driver/protos/Errors.proto b/kortex_driver/protos/Errors.proto
new file mode 100644
index 0000000..dad290a
--- /dev/null
+++ b/kortex_driver/protos/Errors.proto
@@ -0,0 +1,152 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+
+package Kinova.Api;
+
+// Possible error codes
+enum ErrorCodes {
+    ERROR_NONE = 0;             // No error
+    ERROR_PROTOCOL_SERVER = 1;  // Protocol server error
+    ERROR_PROTOCOL_CLIENT = 2;  // Protocol client error
+    ERROR_DEVICE = 3;           // Device error
+    ERROR_INTERNAL = 4;         // Internal error
+}
+
+// Possible sub-error codes
+enum SubErrorCodes {
+    SUB_ERROR_NONE = 0;                     // No sub error
+    METHOD_FAILED = 1;                      // Method returned a failure status (generic error)
+    UNIMPLEMENTED = 2;                      // Unimplemented method
+    INVALID_PARAM = 3;                      // Invalid parameter
+
+    UNSUPPORTED_SERVICE = 4;                // Service not recognized
+    UNSUPPORTED_METHOD = 5;                 // Method not recognized
+    TOO_LARGE_ENCODED_FRAME_BUFFER = 6;     // Encoded frame bigger than what transport permits
+    FRAME_ENCODING_ERR = 7;                 // Unable to encode frame
+    FRAME_DECODING_ERR = 8;                 // Unable to decode frame
+    INCOMPATIBLE_HEADER_VERSION = 9;        // Frame header version differs from what is expected and is considered incompatible
+    UNSUPPORTED_FRAME_TYPE = 10;            // Unrecognized frame type
+    UNREGISTERED_NOTIFICATION_RECEIVED = 11;// Server receiving unregistered notification
+    INVALID_SESSION = 12;                   // Session not recognized
+    PAYLOAD_DECODING_ERR = 13;              // Unable to decode payload
+    UNREGISTERED_FRAME_RECEIVED = 14;       // Client received a response for which it did not send an RPC call
+
+    INVALID_PASSWORD = 15;                  // Password does not match specified user
+    USER_NOT_FOUND = 16;                    // Unrecognized user
+
+    ENTITY_NOT_FOUND = 17;                  // Cannot find entity
+
+    ROBOT_MOVEMENT_IN_PROGRESS = 18;        // Robot refuses new control command because robot movement in progress
+    ROBOT_NOT_MOVING = 19;                  // Robot refuses stop command because robot is not moving
+
+    NO_MORE_STORAGE_SPACE = 20;             // Unable to execute because no more storage
+
+    ROBOT_NOT_READY = 21;                   // Robot initialization is not complete
+    ROBOT_IN_FAULT = 22;                    // Robot in fault
+    ROBOT_IN_MAINTENANCE = 23;              // Robot in maintenance
+    ROBOT_IN_UPDATE_MODE = 24;              // Robot in update
+    ROBOT_IN_EMERGENCY_STOP = 25;           // Robot in emergency stop state
+
+    SINGLE_LEVEL_SERVOING = 26;             // Robot is in single-level servoing mode
+    LOW_LEVEL_SERVOING = 27;                // Robot is in low-level servoing mode
+
+    MAPPING_GROUP_NON_ROOT = 28;            // Trying to add a non-root MapGroup to Mapping
+    MAPPING_INVALID_GROUP = 29;             // Trying to add an invalid or non-existent MapGroup to Mapping
+    MAPPING_INVALID_MAP = 30;               // Trying to add an invalid or non-existent Map to Mapping
+    MAP_GROUP_INVALID_MAP = 31;             // Trying to add an invalid or non-existent Map to MapGroup
+    MAP_GROUP_INVALID_PARENT = 32;          // Trying to add a MapGroup under an invalid parent
+    MAP_GROUP_INVALID_CHILD = 33;           // Trying to add an invalid or non-existent to MapGroup
+    MAP_GROUP_INVALID_MOVE = 34;            // Trying to change a MapGroup's parent: move not supported
+    MAP_IN_USE = 35;                        // Deleting a Map used in a Mapping or MapGroup
+
+    WIFI_CONNECT_ERROR = 36;                // Unable to connect to specified Wifi network
+    UNSUPPORTED_NETWORK_TYPE = 37;          // Unsupported network type
+    TOO_LARGE_ENCODED_PAYLOAD_BUFFER = 38;  // Encoded payload bigger than what transport permits
+
+    UPDATE_PERMISSION_DENIED = 39;          // Attempting update command on non-updatable entity
+    DELETE_PERMISSION_DENIED = 40;          // Attempting delete command on non-deletable entity
+    DATABASE_ERROR = 41;                    // Internal DB error
+
+    UNSUPPORTED_OPTION = 42;                // Option not supported
+    UNSUPPORTED_RESOLUTION = 43;            // Resolution not supported
+    UNSUPPORTED_FRAME_RATE = 44;            // Frame rate not supported
+    UNSUPPORTED_BIT_RATE = 45;              // Bit rate not supported
+    UNSUPPORTED_ACTION = 46;                // Action not supported (generic, when an action is not supported for a particular item)
+    UNSUPPORTED_FOCUS_ACTION = 47;          // Focus action not supported
+    VALUE_IS_ABOVE_MAXIMUM = 48;            // Specified value is above the supported maximum
+    VALUE_IS_BELOW_MINIMUM = 49;            // Specified value is below the supported minimum
+
+    DEVICE_DISCONNECTED = 50;               // Device is not connected
+    DEVICE_NOT_READY = 51;                  // Device is not ready
+
+    INVALID_DEVICE = 52;                    // Device id is invalid during bridging
+
+    SAFETY_THRESHOLD_REACHED = 53;          // Safety threshold is reached therefore safety is on
+
+    INVALID_USER_SESSION_ACCESS = 54;       // Service or function access not allowed: out of session or level access
+
+    CONTROL_MANUAL_STOP = 55;               // Manually stopped sequence or action
+    CONTROL_OUTSIDE_WORKSPACE = 56;         // Commanded Cartesian position is outside of robot workspace
+    CONTROL_ACTUATOR_COUNT_MISMATCH = 57;   // Number of constraint sent does not correspond to number of actuator (ex: joint speed)
+    CONTROL_INVALID_DURATION = 58;          // Duration constraint is too short. The robot would need out of limit speeds/accelerations to reach this duration.
+    CONTROL_INVALID_SPEED = 59;             // Speed constraint is negative
+    CONTROL_LARGE_SPEED = 60;               // Speed constraint is too high (exceed speed limit of leads to high acceleration)
+    CONTROL_INVALID_ACCELERATION = 61;      // Speed constraint is too high or duration constraint too short and leads to high acceleration
+    CONTROL_INVALID_TIME_STEP = 62;         // Refresh rate is smaller than the duration of the trajectory
+    CONTROL_LARGE_SIZE = 63;                // Duration of the trajectory is more than 100s. The length of the trajectory is limited to 100000 points to avoid saturating the base memory.
+    CONTROL_WRONG_MODE = 64;                // Control mode is not a trajectory mode
+    CONTROL_JOINT_POSITION_LIMIT = 65;      // Commanded configuration contains at least one actuator which is out of its physical limits
+    CONTROL_NO_FILE_IN_MEMORY = 66;         // Trajectory is not computed and try to be started
+    CONTROL_INDEX_OUT_OF_TRAJECTORY = 67;   // Attempting to read a point of the trajectory with an index higher than the number of point in trajectory point list.
+    CONTROL_ALREADY_RUNNING = 68;           // Trajectory is already running
+    CONTROL_WRONG_STARTING_POINT = 69;      // Robot is not on the first point of the trajectory when we try to start the trajectory. This can happen if there is a motion between the moment when trajectory is computed and when it is started.
+    CONTROL_CARTESIAN_CANNOT_START =  70;   // Cannot start
+    CONTROL_UNDEFINED_CONSTRAINT = 71;      // Kontrol library is not initialized
+    CONTROL_UNINITIALIZED = 72;             // Contraint sent is not defined
+    CONTROL_NO_ACTION = 73;                 // Action does not exist
+    CONTROL_UNDEFINED = 74;                 // Undefined error
+
+    WRONG_SERVOING_MODE = 75;               // Robot is in not in the right servoing mode
+
+    CONTROL_WRONG_STARTING_SPEED = 76;      // Robot is not at the right speed when starting a new trajectory.
+
+    USERNAME_LENGTH_EXCEEDED = 100;         // User profile username length exceeds maximum allowed length
+    FIRSTNAME_LENGTH_EXCEEDED = 101;        // User profile first name length exceeds maximum allowed length
+    LASTNAME_LENGTH_EXCEEDED = 102;         // User profile last name length exceeds maximum allowed length
+    PASSWORD_LENGTH_EXCEEDED = 103;         // User profile password length exceeds maximum allowed length
+    USERNAME_ALREADY_EXISTS = 104;          // User profile username already in use by another profile
+    USERNAME_EMPTY = 105;                   // User profile empty username not allowed
+    PASSWORD_NOT_CHANGED = 106;             // Change password both passwords are the same
+    MAXIMUM_USER_PROFILES_USED = 107;       // Maximum number of user profiles in use
+    ROUTER_UNVAILABLE = 108;                // The client router is currently unavailable. This can happen if an API method is called after the router has been deactivated via the method SetActivationStatus.
+
+    ADDRESS_NOT_IN_VALID_RANGE = 120;       // IP Address not valid against netmask
+    ADDRESS_NOT_CONFIGURABLE = 121;         // IP Address not configurable on specified interface
+
+    SESSION_NOT_IN_CONTROL = 130;           // Trying to perform command from a non-controlling session in single-level mode
+
+    METHOD_TIMEOUT = 131;                   // Timeout occured during method execution
+
+    UNSUPPORTED_ROBOT_CONFIGURATION = 132;  // Product Configuration setter method failed because changing this parameter is unsupported on your robot model
+    NVRAM_READ_FAIL = 133;                  // Failed to read in NVRAM.
+    NVRAM_WRITE_FAIL = 134;                 // Failed to write in NVRAM.
+
+    NETWORK_NO_ADDRESS_ASSIGNED = 135;      // The specified interface has no assigned IP
+
+    READ_PERMISSION_DENIED = 136;           // Attempting read command on unreadable entity
+
+    CONTROLLER_INVALID_MAPPING = 137;       // Attempting to assign an unsuited mapping to controller
+
+    ACTION_IN_USE = 138;                    // Attempting to delete an Action used by another entity
+}
diff --git a/kortex_driver/protos/GripperConfig.proto b/kortex_driver/protos/GripperConfig.proto
new file mode 100644
index 0000000..e0410e7
--- /dev/null
+++ b/kortex_driver/protos/GripperConfig.proto
@@ -0,0 +1,30 @@
+syntax = "proto3";
+
+import public "Common.proto";
+
+package Kinova.Api.GripperConfig;
+
+// Gripper safety identifier
+enum SafetyIdentifier {
+    UNSPECIFIED_ACTUATOR_SAFETY_IDENTIFIER = 0;   //0x0
+    MAXIMUM_MOTOR_CURRENT                  = 1;   //0x1
+    MAXIMUM_VOLTAGE                        = 2;   //0x2
+    MINIMUM_VOLTAGE                        = 4;   //0x4
+    MAXIMUM_MOTOR_TEMPERATURE              = 8;   //0x8
+    MAXIMUM_CORE_TEMPERATURE               = 16;  //0x10
+    NON_VOLATILE_MEMORY_CORRUPTED          = 32;  //0x20
+    EMERGENCY_LINE_ASSERTED                = 64;  //0x40
+    COMMUNICATION_TICK_LOST                = 128; //0x80
+    WATCHDOG_TRIGGERED                     = 256; //0x100
+}
+
+// Status flags for Robotiq Adaptive Gripper
+enum RobotiqGripperStatusFlags {
+    UNSPECIFIED_ROBOTIQ_STATUS              = 0;    //0x0
+    ROBOTIQ_STAT_INITIALIZED                = 1;    //0x01 
+    ROBOTIQ_STAT_OBJECT_DETECTED            = 2;    //0x02
+    ROBOTIQ_STAT_POS_REACHED                = 4;    //0x04
+    ROBOTIQ_STAT_STOPPED                    = 8;    //0x08
+}
+
+
diff --git a/kortex_driver/protos/GripperCyclic.proto b/kortex_driver/protos/GripperCyclic.proto
new file mode 100644
index 0000000..e987f2a
--- /dev/null
+++ b/kortex_driver/protos/GripperCyclic.proto
@@ -0,0 +1,39 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+ 
+ syntax = "proto3";
+
+import public "Common.proto";
+import public "GripperCyclicMessage.proto";
+
+package Kinova.Api.GripperCyclic;
+
+// Service to exchange cyclic data with gripper 
+service GripperCyclic {//@PROXY_ID=17 @ERROR=Kinova.Api.Error
+
+    // Sends a command to the gripper and receives feedback about the actual status of the gripper
+    rpc Refresh           (Kinova.Api.GripperCyclic.Command)    returns (Kinova.Api.GripperCyclic.Feedback);   //@RPC_ID=1
+    
+    // Sends a command to the gripper without receiving feedback
+    rpc RefreshCommand    (Kinova.Api.GripperCyclic.Command)    returns (Kinova.Api.Common.Empty);      //@RPC_ID=2
+    
+    // Obtains feedback from the gripper on its status
+    rpc RefreshFeedback   (Kinova.Api.GripperCyclic.MessageId)  returns (Kinova.Api.GripperCyclic.Feedback);   //@RPC_ID=3
+    
+	// Obtains custom data from the gripper
+    rpc RefreshCustomData (Kinova.Api.GripperCyclic.MessageId)  returns (Kinova.Api.GripperCyclic.CustomData); //@RPC_ID=4
+}
+
+enum ServiceVersion {
+    RESERVED_0 = 0;
+    CURRENT_VERSION = 1; // Current Version
+}
diff --git a/kortex_driver/protos/GripperCyclicMessage.proto b/kortex_driver/protos/GripperCyclicMessage.proto
new file mode 100644
index 0000000..c27ac09
--- /dev/null
+++ b/kortex_driver/protos/GripperCyclicMessage.proto
@@ -0,0 +1,86 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+ 
+ syntax = "proto3";
+
+import public "Common.proto";
+
+package Kinova.Api.GripperCyclic;
+
+// Message identifier for command or feedback
+message MessageId {
+    fixed32 identifier      = 1;       // Message ID (first 2 bytes : device ID, last 2 bytes : sequence number)
+}
+
+// Command to a single gripper motor
+message MotorCommand {
+    fixed32   motor_id      = 1;       // Motor ID (1, nb_motor)
+    float     position      = 3;       // Desired position of the gripper fingers in percentage (0-100%)
+    float     velocity      = 4;       // Desired velocity in percentage (0-100%) with which position will be set
+    float     force         = 5;       // Desired force limit of the gripper fingers in percentage (0-100%)
+}
+
+// Command sent to a gripper
+message Command {
+    MessageId command_id               = 1; // MessageId
+    fixed32   flags                    = 2; // Flags
+    repeated MotorCommand motor_cmd    = 3; // Array of finger commands, one for each finger of the gripper.
+}
+
+// Status feedback from a single gripper motor
+message MotorFeedback {
+    fixed32   motor_id               = 1;  // Motor ID (1, nb_motor)
+    float     position               = 4;  // Position of the gripper fingers in percentage (0-100%)
+    float     velocity               = 5;  // Velocity of the gripper fingers in percentage (0-100%)
+    float     current_motor          = 7;  // Current comsumed by the gripper motor (mA)  
+    float     voltage                = 8;  // Motor Voltage (V)
+    float     temperature_motor      = 10; // Motor temperature. (degrees Celsius)
+}
+
+// Status feedback from a gripper
+message Feedback {
+    MessageId feedback_id            = 1; // MessageId
+    fixed32   status_flags           = 2; // Status flags (see GripperConfig.RobotiqGripperStatusFlags)
+    fixed32   fault_bank_a           = 3; // Fault bank A (see GripperConfig.SafetyIdentifier)
+    fixed32   fault_bank_b           = 4; // Fault bank B (see GripperConfig.SafetyIdentifier)
+    fixed32   warning_bank_a         = 5; // Warning bank A (see GripperConfig.SafetyIdentifier)
+    fixed32   warning_bank_b         = 6; // Warning bank B (see GripperConfig.SafetyIdentifier)
+    repeated MotorFeedback motor     = 7;
+}
+
+// Custom data 
+message CustomDataUnit {
+    fixed32   custom_data_0      = 1;  // Custom data word 0
+    fixed32   custom_data_1      = 2;  // Custom data word 1
+    fixed32   custom_data_2      = 3;  // Custom data word 2
+    fixed32   custom_data_3      = 4;  // Custom data word 3
+    fixed32   custom_data_4      = 5;  // Custom data word 4
+    fixed32   custom_data_5      = 6;  // Custom data word 5
+    fixed32   custom_data_6      = 7;  // Custom data word 6
+    fixed32   custom_data_7      = 8;  // Custom data word 7
+    fixed32   custom_data_8      = 9;  // Custom data word 8
+    fixed32   custom_data_9      = 10; // Custom data word 9
+    fixed32   custom_data_10     = 11; // Custom data word 10
+    fixed32   custom_data_11     = 12; // Custom data word 11
+    fixed32   custom_data_12     = 13; // Custom data word 12
+    fixed32   custom_data_13     = 14; // Custom data word 13
+    fixed32   custom_data_14     = 15; // Custom data word 14
+    fixed32   custom_data_15     = 16; // Custom data word 15
+}
+
+// Custom data from gripper and gripper motors
+message CustomData {
+    MessageId custom_data_id                    = 1;  // MessageId
+    CustomDataUnit  gripper_custom_data         = 2;
+    repeated CustomDataUnit motor_custom_data   = 3;
+}
+
diff --git a/kortex_driver/protos/InterconnectConfig.proto b/kortex_driver/protos/InterconnectConfig.proto
new file mode 100644
index 0000000..819c2de
--- /dev/null
+++ b/kortex_driver/protos/InterconnectConfig.proto
@@ -0,0 +1,256 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+
+import public "Common.proto";
+
+package Kinova.Api.InterconnectConfig;
+
+// Service to get and set interface module (interconnect) configuration information, including user expansion
+service InterconnectConfig {//@PROXY_ID=14 @ERROR=Kinova.Api.Error
+
+    // Retrieves user UART configuration
+    rpc GetUARTConfiguration (Kinova.Api.Common.UARTDeviceIdentification) returns (Kinova.Api.Common.UARTConfiguration); //@RPC_ID=1
+    
+    // Configures user UART
+    rpc SetUARTConfiguration (Kinova.Api.Common.UARTConfiguration) returns (Kinova.Api.Common.Empty); //@RPC_ID=2
+
+    // Retrieves user Ethernet configuration
+    rpc GetEthernetConfiguration (EthernetDeviceIdentification) returns (EthernetConfiguration); //@RPC_ID=3
+
+    // Configures user Ethernet port
+    rpc SetEthernetConfiguration (EthernetConfiguration) returns (Kinova.Api.Common.Empty); //@RPC_ID=4
+
+    // Retrieves user GPIO configuration
+    rpc GetGPIOConfiguration (GPIOIdentification) returns (GPIOConfiguration); //@RPC_ID=5
+
+    // Configures user GPIO
+    rpc SetGPIOConfiguration (GPIOConfiguration) returns (Kinova.Api.Common.Empty); //@RPC_ID=6
+
+    // Retrieves user GPIO state
+    rpc GetGPIOState (GPIOIdentification) returns (GPIOState); //@RPC_ID=7
+
+    // Configures user GPIO state
+    rpc SetGPIOState (GPIOState) returns (Kinova.Api.Common.Empty); //@RPC_ID=8
+
+    // Retrieves user I2C configuration
+    rpc GetI2CConfiguration (I2CDeviceIdentification) returns (I2CConfiguration); //@RPC_ID=9
+
+    // Configures user I2C
+    rpc SetI2CConfiguration (I2CConfiguration) returns (Kinova.Api.Common.Empty); //@RPC_ID=10
+
+    // Performs an I2C read request
+    rpc I2CRead (I2CReadParameter) returns (I2CData); //@RPC_ID=11
+
+    // Performs an I2C read register request
+    rpc I2CReadRegister (I2CReadRegisterParameter) returns (I2CData); //@RPC_ID=12
+
+    // Performs an I2C write request
+    rpc I2CWrite (I2CWriteParameter) returns (Kinova.Api.Common.Empty); //@RPC_ID=13
+
+    // Performs an I2C write register request
+    rpc I2CWriteRegister (I2CWriteRegisterParameter) returns (Kinova.Api.Common.Empty); //@RPC_ID=14
+}
+
+// Identifies InterconnectConfig current version
+enum ServiceVersion {
+    RESERVED_0 = 0;         // Reserved
+    CURRENT_VERSION = 1;    // Current version
+}
+
+// Admissible interface module safeties
+enum SafetyIdentifier {
+    UNSPECIFIED_INTERCONNECT_SAFETY_IDENTIFIER = 0;   // 0x0 - Unspecified actuator safety
+    MAXIMUM_MOTOR_CURRENT                      = 1;   // 0x1 - Maximum motor current
+    MAXIMUM_VOLTAGE                            = 2;   // 0x2 - Maximum voltage
+    MINIMUM_VOLTAGE                            = 4;   // 0x4 - Minimum voltage
+    MAXIMUM_MOTOR_TEMPERATURE                  = 8;   // 0x8 - Maximum motor temperature
+    MAXIMUM_CORE_TEMPERATURE                   = 16;  // 0x10 - Maximum core temperature
+    NON_VOLATILE_MEMORY_CORRUPTED              = 32;  // 0x20 - Non-volatile memory corrupted
+    EMERGENCY_LINE_ASSERTED                    = 64;  // 0x40 - Emergency line asserted
+    COMMUNICATION_TICK_LOST                    = 128; // 0x80 - Communication tick lost
+    WATCHDOG_TRIGGERED                         = 256; // 0x100 - Watchdog triggered
+}
+
+// Admissible UART port 
+enum UARTPortId {
+    UART_PORT_UNSPECIFIED = 0; // Unspecified UART port
+    UART_PORT_EXPANSION   = 1; // UART port located on the expansion connector
+}
+
+// Admissible Ethernet device
+enum EthernetDevice {
+    ETHERNET_DEVICE_UNSPECIFIED = 0; // Unspecified ethernet device
+    ETHERNET_DEVICE_EXPANSION   = 1; // Ethernet port located on the expansion connector
+}
+
+// Ethernet device identification
+message EthernetDeviceIdentification {
+    EthernetDevice device = 1; // Ethernet device
+}
+
+// Admissible Ethernet speed
+enum EthernetSpeed {
+    ETHERNET_SPEED_UNSPECIFIED = 0; // Unspecified ethernet speed
+    ETHERNET_SPEED_10M          = 1; // 10 Mbps
+    ETHERNET_SPEED_100M         = 2; // 100 Mbps
+}
+
+// Admissible Ethernet duplex mode
+enum EthernetDuplex {
+    ETHERNET_DUPLEX_UNSPECIFIED = 0; // Unspecified ethernet duplex
+    ETHERNET_DUPLEX_HALF        = 1; // Half duplex
+    ETHERNET_DUPLEX_FULL        = 2; // Full duplex
+}
+
+// Ethernet configuration information
+message EthernetConfiguration {
+    EthernetDevice device    = 1; // Device identification
+    bool enabled             = 2; // True if the ethernet device is enabled, false otherwise
+    EthernetSpeed speed      = 3; // Speed selection
+    EthernetDuplex duplex    = 4; // Duplex mode
+}
+
+// Admissible GPIO identifier
+enum GPIOIdentifier {
+    GPIO_IDENTIFIER_UNSPECIFIED = 0; // Unspecified GPIO identifier
+    GPIO_IDENTIFIER_1           = 1; // GPIO identifier 1
+    GPIO_IDENTIFIER_2           = 2; // GPIO identifier 2
+    GPIO_IDENTIFIER_3           = 3; // GPIO identifier 3
+    GPIO_IDENTIFIER_4           = 4; // GPIO identifier 4
+}
+
+// GPIO identification
+message GPIOIdentification {
+    GPIOIdentifier identifier = 1; // GPIO identifier
+}
+
+// Admissible GPIO mode
+enum GPIOMode {
+    GPIO_MODE_UNSPECIFIED        = 0; // Unspecified GPIO mode
+    GPIO_MODE_INPUT_FLOATING     = 1; // Input floating
+    GPIO_MODE_OUTPUT_PUSH_PULL   = 2; // Output push-pull
+    GPIO_MODE_OUTPUT_OPEN_DRAIN  = 3; // Output open drain
+}
+
+// Admissible GPIO pull mode
+enum GPIOPull {
+    GPIO_PULL_UNSPECIFIED = 0; // Unspecified GPIO pull
+    GPIO_PULL_NONE        = 1; // Pull none
+    GPIO_PULL_UP          = 2; // Pull up
+    GPIO_PULL_DOWN        = 3; // Pull down
+}
+
+// Admissible GPIO value
+enum GPIOValue {
+    GPIO_VALUE_UNSPECIFIED = 0; // Unspecified GPIO value
+    GPIO_VALUE_LOW         = 1; // Low
+    GPIO_VALUE_HIGH        = 2; // High
+}
+
+// GPIO configuration information
+message GPIOConfiguration {
+    GPIOIdentifier identifier = 1; // GPIO identifier
+    GPIOMode mode             = 2; // Mode
+    GPIOPull pull             = 3; // Pull mode
+    GPIOValue default_value   = 4; // Default value at power on
+}
+
+// GPIO state
+message GPIOState {
+    GPIOIdentifier identifier = 1; // GPIO identifier
+    GPIOValue value           = 2; // Value
+}
+
+// Admissible I2C device
+enum I2CDevice {
+    I2C_DEVICE_UNSPECIFIED = 0; // Unspecified I2C device
+    I2C_DEVICE_EXPANSION   = 1; // I2C device located on the expansion connector
+}
+
+// I2C device identification
+message I2CDeviceIdentification {
+    I2CDevice device = 1; // I2C device
+}
+
+// I2C mode
+enum I2CMode {
+    I2C_MODE_UNSPECIFIED = 0; // Unspecified I2C mode
+    I2C_MODE_STANDARD    = 1; // Standard mode
+    I2C_MODE_FAST        = 2; // Fast mode
+    I2C_MODE_FAST_PLUS   = 3; // Fast plus mode
+}
+
+// I2C device addressing mode
+enum I2CDeviceAddressing {
+    I2C_DEVICE_ADDRESSING_UNSPECIFIED = 0; // Unspecified device addressing
+    I2C_DEVICE_ADDRESSING_7_BITS      = 1; // 7 bits device addressing
+    I2C_DEVICE_ADDRESSING_10_BITS     = 2; // 10 bits device addressing
+}
+
+// I2C register address size
+enum I2CRegisterAddressSize {
+    I2C_REGISTER_ADDRESS_SIZE_UNSPECIFIED = 0; // Unspecified I2C register address size
+    I2C_REGISTER_ADDRESS_SIZE_8_BITS      = 1; // 8 bits register address size
+    I2C_REGISTER_ADDRESS_SIZE_16_BITS     = 2; // 16 bits register address size
+}
+
+// I2C configuration information
+message I2CConfiguration {
+    I2CDevice device               = 1; // I2C device identification
+    bool enabled                   = 2; // True if I2C device is enabled, false otherwise
+    I2CMode mode                   = 3; // Mode
+    I2CDeviceAddressing addressing = 4; // Addressing mode
+}
+
+// I2C read request
+message I2CReadParameter {
+    I2CDevice device               = 1; // I2C device identification
+    fixed32 device_address         = 2; // I2C device address
+    fixed32 size                   = 5; // I2C number of bytes to read (max 128 bytes)
+    fixed32 timeout                = 6; // Request timeout in milliseconds
+}
+
+// I2C read register request
+message I2CReadRegisterParameter {
+    I2CDevice device                             = 1; // I2C device identification
+    fixed32 device_address                       = 2; // I2C device address
+    fixed32 register_address                     = 3; // I2C register address (8 or 16 bits)
+    I2CRegisterAddressSize register_address_size = 4; // I2C register address size
+    fixed32 size                                 = 5; // I2C number of bytes to read (max 128 bytes)
+    fixed32 timeout                              = 6; // Request timeout in milliseconds
+}
+
+// I2C write request
+message I2CWriteParameter {
+    I2CDevice device               = 1; // I2C device identification
+    fixed32 device_address         = 2; // I2C device address
+    fixed32 timeout                = 5; // Request timeout in milliseconds
+    I2CData data                   = 6; // Data to write
+}
+
+// I2C write register request
+message I2CWriteRegisterParameter {
+    I2CDevice device                             = 1; // I2C device identification
+    fixed32 device_address                       = 2; // I2C device address
+    fixed32 register_address                     = 3; // I2C register address (8 or 16 bits)
+    I2CRegisterAddressSize register_address_size = 4; // I2C register address size
+    fixed32 timeout                              = 5; // Request timeout in milliseconds
+    I2CData data                                 = 6; // Data to write
+}
+
+// I2C data
+message I2CData {
+    bytes data           = 1; // Data byte(s) array (max 128 bytes)
+    fixed32 size         = 2; // Data byte(s) array size
+}
diff --git a/kortex_driver/protos/InterconnectCyclic.proto b/kortex_driver/protos/InterconnectCyclic.proto
new file mode 100644
index 0000000..aeb6832
--- /dev/null
+++ b/kortex_driver/protos/InterconnectCyclic.proto
@@ -0,0 +1,41 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+ 
+import public "Common.proto";
+import public "InterconnectCyclicMessage.proto";
+
+package Kinova.Api.InterconnectCyclic;
+
+// Service to exchange cyclic data with interface module
+service InterconnectCyclic {//@PROXY_ID=15 @ERROR=Kinova.Api.Error
+
+    // Sends a command to the interface module and receive feedback about the actual status 
+    rpc Refresh           (Kinova.Api.InterconnectCyclic.Command)    returns (Kinova.Api.InterconnectCyclic.Feedback);   //@RPC_ID=1
+    
+    // Sends a command to the interface module without receiving feedback
+    rpc RefreshCommand    (Kinova.Api.InterconnectCyclic.Command)    returns (Kinova.Api.Common.Empty);      //@RPC_ID=2
+    
+    // Obtains feedback from the interface module on its status
+    rpc RefreshFeedback   (Kinova.Api.InterconnectCyclic.MessageId)  returns (Kinova.Api.InterconnectCyclic.Feedback);   //@RPC_ID=3
+    
+	// Obtains custom data from the interface module
+    rpc RefreshCustomData (Kinova.Api.InterconnectCyclic.MessageId)  returns (Kinova.Api.InterconnectCyclic.CustomData); //@RPC_ID=4
+}
+
+
+// Identifies InterconnectCyclic service current version
+enum ServiceVersion {
+    RESERVED_0 = 0;         // Reserved
+    CURRENT_VERSION = 1;    // Current version
+}
\ No newline at end of file
diff --git a/kortex_driver/protos/InterconnectCyclicMessage.proto b/kortex_driver/protos/InterconnectCyclicMessage.proto
new file mode 100644
index 0000000..94dc7f3
--- /dev/null
+++ b/kortex_driver/protos/InterconnectCyclicMessage.proto
@@ -0,0 +1,80 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+ syntax = "proto3";
+ 
+ import public "Common.proto";
+ import public "GripperCyclicMessage.proto";
+ 
+ package Kinova.Api.InterconnectCyclic;
+
+ 
+ // Identifies a message
+ message MessageId {
+     fixed32 identifier      = 1;       // Message ID (first 2 bytes : device ID, last 2 bytes : sequence number)
+ }
+ 
+ // Interface module command
+ message Command {
+     MessageId command_id                                   = 1;       // MessageId
+     fixed32   flags                                        = 2;       // Flags
+     oneof tool_command {
+        Kinova.Api.GripperCyclic.Command gripper_command    = 3;       // Gripper command
+    }
+ }
+ 
+ // Defines the feedback provided by interface module
+ message Feedback {
+     MessageId feedback_id                                  = 1;  // MessageId
+     fixed32   status_flags                                 = 2;  // Status flags
+     fixed32   jitter_comm                                  = 3;  // Jitter from the communication (in microseconds)
+     float     imu_acceleration_x                           = 4;  // IMU Measured acceleration (X-Axis) of the interface module (in meters per second ^ squared)
+     float     imu_acceleration_y                           = 5;  // IMU Measured acceleration (Y-Axis) of the interface module (in meters per second ^ squared)
+     float     imu_acceleration_z                           = 6;  // IMU Measured acceleration (Z-Axis) of the interface module (in meters per second ^ squared)
+     float     imu_angular_velocity_x                       = 7; // IMU Measured angular velocity (X-Axis) of the interface module (in degrees per second)
+     float     imu_angular_velocity_y                       = 8; // IMU Measured angular velocity (Y-Axis) of the interface module (in degrees per second)
+     float     imu_angular_velocity_z                       = 9; // IMU Measured angular velocity (Z-Axis) of the interface module (in degrees per second)
+     float     voltage                                      = 10; // Voltage of the main board (in Volt)
+     float     temperature_core                             = 11; // Microcontroller temperature (in degrees Celsius)
+     fixed32   fault_bank_a                                 = 12; // Fault bank A (see InterconnectConfig.SafetyIdentifier)
+     fixed32   fault_bank_b                                 = 13; // Fault bank B (see InterconnectConfig.SafetyIdentifier)
+     fixed32   warning_bank_a                               = 14; // Warning bank A (see InterconnectConfig.SafetyIdentifier)
+     fixed32   warning_bank_b                               = 15; // Warning bank B (see InterconnectConfig.SafetyIdentifier)
+     oneof tool_feedback {
+        Kinova.Api.GripperCyclic.Feedback gripper_feedback  = 18;                // Gripper model tool feedback
+    }
+ }
+ 
+ // Custom development data, content varies according to debugging needs
+ message CustomData {
+     MessageId custom_data_id     = 1;  // MessageId
+     fixed32   custom_data_0      = 2;  // Custom data word 0
+     fixed32   custom_data_1      = 3;  // Custom data word 1
+     fixed32   custom_data_2      = 4;  // Custom data word 2
+     fixed32   custom_data_3      = 5;  // Custom data word 3
+     fixed32   custom_data_4      = 6;  // Custom data word 4
+     fixed32   custom_data_5      = 7;  // Custom data word 5
+     fixed32   custom_data_6      = 8;  // Custom data word 6
+     fixed32   custom_data_7      = 9;  // Custom data word 7
+     fixed32   custom_data_8      = 10; // Custom data word 8
+     fixed32   custom_data_9      = 11; // Custom data word 9
+     fixed32   custom_data_10     = 12; // Custom data word 10
+     fixed32   custom_data_11     = 13; // Custom data word 11
+     fixed32   custom_data_12     = 14; // Custom data word 12
+     fixed32   custom_data_13     = 15; // Custom data word 13
+     fixed32   custom_data_14     = 16; // Custom data word 14
+     fixed32   custom_data_15     = 17; // Custom data word 15
+     oneof tool_customData {
+        Kinova.Api.GripperCyclic.CustomData gripper_custom_data = 18;
+    }
+ }
+ 
diff --git a/kortex_driver/protos/ProductConfiguration.proto b/kortex_driver/protos/ProductConfiguration.proto
new file mode 100644
index 0000000..9a840bb
--- /dev/null
+++ b/kortex_driver/protos/ProductConfiguration.proto
@@ -0,0 +1,97 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2019 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+package Kinova.Api.ProductConfiguration;
+
+import public "Common.proto";
+
+// Admissible model identification
+enum ModelId {
+   MODEL_ID_UNSPECIFIED = 0;           // Unspecified Model identification
+   MODEL_ID_L53 = 1;                   // Gen3 Ultra Lightweight Robot
+   MODEL_ID_L31 = 2;                   // PICO
+   MODEL_ID_HDK = 3;                   // Hardware Development Kit
+}
+
+// Admissible base types
+enum BaseType {
+   BASE_TYPE_UNSPECIFIED = 0;          // Unspecified base type
+   BASE_TYPE_L53_QUICK_CONNECT = 1;    // L53 (Gen3) Quick Connect Base
+   BASE_TYPE_L53_FIXED = 2;            // L53 (Gen3) Fixed Base
+   BASE_TYPE_L31_FIXED = 3;            // L31 (PICO) Fixed Base
+   BASE_TYPE_HDK_FIXED = 4;            // HDK Fixed Base
+}
+
+// Admissible end-effector modules
+enum EndEffectorType {
+   END_EFFECTOR_TYPE_UNSPECIFIED = 0;         // Unspecified end-effector type
+   END_EFFECTOR_TYPE_NOT_INSTALLED = 1;       // No gripper installed
+   END_EFFECTOR_TYPE_L31_GRIPPER_2F = 2;      // L31 (PICO) gripper, 2 fingers
+   END_EFFECTOR_TYPE_ROBOTIQ_2F_85 = 3;       // Robotiq 2F-85 gripper, 2 fingers
+   END_EFFECTOR_TYPE_ROBOTIQ_2F_140 = 4;      // Robotiq 2F-140 gripper, 2 fingers
+}
+
+// Admissible vision modules
+enum VisionModuleType {
+   VISION_MODULE_TYPE_UNSPECIFIED = 0;        // Unspecified vision module type
+   VISION_MODULE_TYPE_NOT_INSTALLED = 1;      // Not Applicable / Not Installed
+   VISION_MODULE_TYPE_L53_2D3D = 2;           // L53 (Gen3) Vision Module
+   VISION_MODULE_TYPE_L53_2D = 3;             // L53 (Gen3) Vision Module without 3D sensor
+   VISION_MODULE_TYPE_EOD = 4;                // EOD Vision Module
+}
+
+// Admissible interface modules
+enum InterfaceModuleType {
+   INTERFACE_MODULE_TYPE_UNSPECIFIED = 0;     // Unspecified interface module type
+   INTERFACE_MODULE_TYPE_NOT_INSTALLED = 1;   // Not Applicable / Not Installed
+   INTERFACE_MODULE_TYPE_L53 = 2;             // L53 (Gen3) Interface Module
+   INTERFACE_MODULE_TYPE_L31 = 3;             // L31 (PICO) Interface Module
+}
+
+// Admissible arm laterality
+enum ArmLaterality {
+   ARM_LATERALITY_UNSPECIFIED = 0;            // Unspecified arm laterality
+   ARM_LATERALITY_NOT_APPLICABLE = 1;         // Not Applicable
+   ARM_LATERALITY_LEFT = 2;                   // Left Laterality
+   ARM_LATERALITY_RIGHT = 3;                  // Right Laterality
+}
+
+// Admissible wrist types
+enum WristType {
+   WRIST_TYPE_UNSPECIFIED = 0;                // Unspecified wrist type
+   WRIST_TYPE_NOT_APPLICABLE = 1;             // Not Applicable
+   WRIST_TYPE_SPHERICAL = 2;                  // Spherical Wrist
+   WRIST_TYPE_CURVED = 3;                     // Curved Wrist
+}
+
+// Complete configuration for a given device
+message CompleteProductConfiguration {
+   string  kin = 1;                                           // Kinova Identification Number of the device
+   ModelId model = 2;                                         // Model of the device
+   Kinova.Api.Common.CountryCode  country_code = 3;           // Country code for the device
+   string  assembly_plant = 4;                                // Assembly plant of the device
+   string  model_year = 5;                                    // Year of the model
+   uint32  degree_of_freedom = 6;                             // Number of DOF for the device
+   BaseType base_type = 7;                                    // Type of base for the device
+   EndEffectorType end_effector_type = 8;                     // End-effector type of the device
+   VisionModuleType vision_module_type = 9;                   // Vision module type of the device
+   InterfaceModuleType interface_module_type = 10;            // Interface module type of the device
+   ArmLaterality arm_laterality = 11;                         // Arm laterality of the device
+   WristType wrist_type = 12;                                 // Wrist type of the device
+}
+
+// New end-effector installed on arm
+message ProductConfigurationEndEffectorType {
+   EndEffectorType end_effector_type = 1;   // New end-effector type
+}
+
diff --git a/kortex_driver/protos/VisionConfig.proto b/kortex_driver/protos/VisionConfig.proto
new file mode 100644
index 0000000..cc7a726
--- /dev/null
+++ b/kortex_driver/protos/VisionConfig.proto
@@ -0,0 +1,282 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2018 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+syntax = "proto3";
+ 
+import public "Common.proto";
+
+package Kinova.Api.VisionConfig;
+
+// Service to configure the Vision Module
+service VisionConfig {//@PROXY_ID=5 @ERROR=Kinova.Api.Error
+
+    // Sets sensor settings (resolution, frame rate, etc)
+    rpc SetSensorSettings (SensorSettings) returns (Kinova.Api.Common.Empty);//@RPC_ID=1
+
+    // Retrieves sensor settings (resolution, frame rate, etc)
+    rpc GetSensorSettings (SensorIdentifier) returns (SensorSettings);//@RPC_ID=2
+
+    // Retrieves option value from the sensor
+    rpc GetOptionValue (OptionIdentifier) returns (OptionValue);//@RPC_ID=3
+
+    // Writes new value to sensor option
+    rpc SetOptionValue (OptionValue) returns (Kinova.Api.Common.Empty);//@RPC_ID=4
+
+    // Retrieves option information from the sensor
+    rpc GetOptionInformation (OptionIdentifier) returns (OptionInformation);//@RPC_ID=5
+    
+    // Subscribes to Vision configuration notifications
+    rpc VisionTopic (Kinova.Api.Common.NotificationOptions) returns (Kinova.Api.Common.NotificationHandle);//@RPC_ID=6 @PUB_SUB=VisionNotification
+    
+    // Do a focus action
+    rpc DoSensorFocusAction (SensorFocusAction) returns (Kinova.Api.Common.Empty);//@RPC_ID=7
+
+    // Retrieves sensor intrinsic parameters
+    rpc GetIntrinsicParameters (SensorIdentifier) returns (IntrinsicParameters);//@RPC_ID=8
+
+    // Retrieves sensor intrinsic parameters for a specific profile
+    rpc GetIntrinsicParametersProfile (IntrinsicProfileIdentifier) returns (IntrinsicParameters);//@RPC_ID=9
+
+    // Sets sensor intrinsic parameters
+    rpc SetIntrinsicParameters (IntrinsicParameters) returns (Kinova.Api.Common.Empty);//@RPC_ID=10
+
+    // Retrieves sensor extrinsic parameters
+    rpc GetExtrinsicParameters (Kinova.Api.Common.Empty) returns (ExtrinsicParameters);//@RPC_ID=11
+
+    // Sets sensor extrinsic parameters
+    rpc SetExtrinsicParameters (ExtrinsicParameters) returns (Kinova.Api.Common.Empty);//@RPC_ID=12
+}
+
+// Identifies VisionConfig service current version
+enum ServiceVersion {
+    RESERVED_0 = 0;         // Reserved
+    CURRENT_VERSION = 1;    // Current version
+}
+
+// Main sensor settings - resolution, frame rate, bit rate - for the chosen sensor (color or depth).
+message SensorSettings {
+    Sensor sensor          = 1; // The sensor (color or depth)
+    Resolution resolution  = 2; // The resolution setting
+    FrameRate frame_rate   = 3; // Frame rate setting
+    BitRate bit_rate       = 4; // Maximum encoded bit rate
+}
+
+// Vision module sensor to configure
+enum Sensor {
+    SENSOR_UNSPECIFIED  = 0; // Unspecified Sensor
+    SENSOR_COLOR        = 1; // Select the Vision module color sensor
+    SENSOR_DEPTH        = 2; // Select the Vision module depth sensor
+}
+
+// Sensor resolution. Note that some settings are only for the color sensor and some are only for the depth sensor.
+enum Resolution {
+    RESOLUTION_UNSPECIFIED  = 0; // Unspecified resolution
+    RESOLUTION_320x240      = 1; // 320 x 240 pixels (supported on color sensor only)
+    RESOLUTION_424x240      = 2; // 424 x 240 pixels (supported on depth sensor only)
+    RESOLUTION_480x270      = 3; // 480 x 270 pixels (supported on depth sensor only)
+    RESOLUTION_640x480      = 4; // 640 x 480 pixels (supported on color sensor only)
+    RESOLUTION_1280x720     = 5; // 1280 x 720 pixels (HD) (supported on color sensor only)
+    RESOLUTION_1920x1080    = 6; // 1920 x 1080 pixels (full HD) (supported on color sensor only)
+}
+
+// Sensor frame rate 
+enum FrameRate {
+    FRAMERATE_UNSPECIFIED  = 0; // Unspecified frame rate
+    FRAMERATE_6_FPS        = 1; // 6 frames per second (supported on depth sensor only)
+    FRAMERATE_15_FPS       = 2; // 15 frames per second
+    FRAMERATE_30_FPS       = 3; // 30 frame per second
+}
+
+// Maximum encoded bit rate, in Mbps 
+enum BitRate {
+    BITRATE_UNSPECIFIED  = 0; // Unspecified bit rate (supported on depth sensor only)
+    BITRATE_10_MBPS      = 1; // 10 Mbps maximum bit rate (supported on color sensor only)
+    BITRATE_15_MBPS      = 2; // 15 Mbps maximum bit rate (supported on color sensor only)
+    BITRATE_20_MBPS      = 3; // 20 Mbps maximum bit rate (supported on color sensor only)
+    BITRATE_25_MBPS      = 4; // 25 Mbps maximum bit rate (supported on color sensor only)
+}
+
+// Sensor to configure
+message SensorIdentifier {
+    Sensor sensor  = 1; // Sensor
+}
+
+// Intrisic parameters profile to retrieve
+message IntrinsicProfileIdentifier {
+    Sensor sensor          = 1; // Sensor
+    Resolution resolution  = 2; // Resolution
+}
+
+// Sensor and the option to configure
+message OptionIdentifier {
+    Sensor sensor  = 1; // The sensor to configure
+    Option option  = 2; // The option to configure on the sensor
+}
+
+// Value of the particular option for the sensor
+message OptionValue {
+    Sensor sensor      = 1; // The sensor to configure (color or depth)
+    Option option      = 2; // The option to configure
+    float  value       = 3; // The desired value for the option
+}
+
+// Information about the optional settings for the chosen sensor
+message OptionInformation {
+    Sensor sensor        = 1; // The sensor (color or depth)
+    Option option        = 2; // The option
+    bool   supported     = 3; // Is the option supported by the chosen sensor?
+    bool   read_only     = 4; // Is the option read-only, or can it be changed?
+    float  minimum       = 5; // Minimum value for the option
+    float  maximum       = 6; // Maximum value for the option
+    float  step          = 7; // Step size for the option value (if it takes on discrete values)
+    float  default_value = 8; // Default value for the option
+}
+
+// Admissible vision module sensor options. Note that some options are only available for the color sensor and some are only available for the depth sensor.
+enum Option {
+    OPTION_UNSPECIFIED                = 0;  // Unspecifed Option 
+    OPTION_BACKLIGHT_COMPENSATION     = 1;  // Enable / disable color backlight compensation (unsupported)
+    OPTION_BRIGHTNESS                 = 2;  // Color image brightness (supported on color sensor only: -4.0 to 4.0, step 1.0)
+    OPTION_CONTRAST                   = 3;  // Color image contrast (supported on color sensor only: -4.0 to 4.0, step 1.0)
+    OPTION_EXPOSURE                   = 4;  // Controls exposure time of color camera. Setting any value will disable auto exposure (supported on depth sensor only: 20.0 to 166000.0, step 20.0)
+    OPTION_GAIN                       = 5;  // Color image gain (supported on depth sensor only: 16.0 to 248.0, step 1.0)
+    OPTION_GAMMA                      = 6;  // Color image gamma setting (unsupported)
+    OPTION_HUE                        = 7;  // Color image hue (unsupported)
+    OPTION_SATURATION                 = 8;  // Color image saturation setting (supported on color sensor only: -4.0 to 4.0, step 1.0)
+    OPTION_SHARPNESS                  = 9;  // Color image sharpness setting (unsupported)
+    OPTION_WHITE_BALANCE              = 10; // Controls white balance of color image. Setting any value will disable auto white balance (unsupported)
+    OPTION_ENABLE_AUTO_EXPOSURE       = 11; // Enable / disable color image auto-exposure (supported on depth sensor only: 0.0 to 1.0, step 1.0)
+    OPTION_ENABLE_AUTO_WHITE_BALANCE  = 12; // Enable / disable color image auto-white-balance (unsupported)
+    OPTION_VISUAL_PRESET              = 13; // Provide access to several recommend sets of option presets for the depth camera (supported on depth sensor only:  0.0 to 5.0, step 1.0)
+    OPTION_LASER_POWER                = 14; // Power of the projector, with 0 meaning projector off (unsupported)
+    OPTION_ACCURACY                   = 15; // Sets the number of patterns projected per frame. The higher the accuracy value the more patterns projected (unsupported)
+    OPTION_MOTION_RANGE               = 16; // Motion vs. Range trade-off, with lower values allowing for better motion sensitivity and higher values allowing for better depth range (unsupported)
+    OPTION_FILTER_OPTION              = 17; // Sets the filter to apply to each depth frame. Each one of the filter is optimized per the application requirements (unsupported)
+    OPTION_CONFIDENCE_THRESHOLD       = 18; // The confidence level threshold used by the Depth algorithm pipe to set whether a pixel will get a valid range or will be marked with invalid range (unsupported)
+    OPTION_EMITTER_ENABLED            = 19; // Laser Emitter enabled (unsupported)
+    OPTION_FRAMES_QUEUE_SIZE          = 20; // Number of frames the user is allowed to keep per stream. Trying to hold-on to more frames will cause frame-drops (supported on depth sensor only: 0.0 to 32.0, step 1.0)
+    OPTION_TOTAL_FRAME_DROPS          = 21; // Total number of detected frame drops from all streams (unsupported)
+    OPTION_AUTO_EXPOSURE_MODE         = 22; // Auto-Exposure modes: Static, Anti-Flicker and Hybrid (unsupported)
+    OPTION_POWER_LINE_FREQUENCY       = 23; // Power Line Frequency control for anti-flickering Off/50Hz/60Hz/Auto (unsupported)
+    OPTION_ASIC_TEMPERATURE           = 24; // Current Asic Temperature (supported on depth sensor only: Read Only -40.0 to 125.0)
+    OPTION_ERROR_POLLING_ENABLED      = 25; // Disable error handling (supported on depth sensor only: 0.0 to 1.0, step 1.0)
+    OPTION_PROJECTOR_TEMPERATURE      = 26; // Current Projector Temperature (unsupported)
+    OPTION_OUTPUT_TRIGGER_ENABLED     = 27; // Enable / disable trigger to be outputed from the camera to any external device on every depth frame (supported on depth sensor only: 0.0 to 1.0, step 1.0)
+    OPTION_MOTION_MODULE_TEMPERATURE  = 28; // Current Motion-Module Temperature (unsupported)
+    OPTION_DEPTH_UNITS                = 29; // Number of meters represented by a single depth unit (supported on depth sensor only: 0.0001 to 0.0100, step 0.000001)
+    OPTION_ENABLE_MOTION_CORRECTION   = 30; // Enable/Disable automatic correction of the motion data (unsupported)
+    OPTION_AUTO_EXPOSURE_PRIORITY     = 31; // Allows sensor to dynamically ajust the frame rate depending on lighting conditions (unsupported)
+    OPTION_COLOR_SCHEME               = 32; // Color scheme for data visualization (unsupported)
+    OPTION_HISTOGRAM_EQUALIZATION_ENABLED  = 33; // Perform histogram equalization post-processing on the depth data (unsupported)
+    OPTION_MIN_DISTANCE               = 34; // Minimal distance to the target (unsupported)
+    OPTION_MAX_DISTANCE               = 35; // Maximum distance to the target (unsupported)
+    OPTION_TEXTURE_SOURCE             = 36; // Texture mapping stream unique ID (unsupported)
+    OPTION_FILTER_MAGNITUDE           = 37; // The 2D-filter effect. The specific interpretation is given within the context of the filter (unsupported)
+    OPTION_FILTER_SMOOTH_ALPHA        = 38; // 2D-filter parameter controls the weight/radius for smoothing (unsupported)
+    OPTION_FILTER_SMOOTH_DELTA        = 39; // 2D-filter range/validity threshold (unsupported)
+    OPTION_HOLES_FILL                 = 40; // Enhance depth data post-processing with holes filling where appropriate (unsupported)
+    OPTION_STEREO_BASELINE            = 41; // The distance in mm between the first and the second imagers in stereo-based depth cameras (supported on depth sensor only: 55.241055 to 55.241055, step 0.0)
+    OPTION_AUTO_EXPOSURE_CONVERGE_STEP     = 42; // Allows dynamically ajust the converge step value of the target exposure in Auto-Exposure algorithm (unsupported)
+}
+
+// Focus action to perform for the specified sensor
+message SensorFocusAction {
+    Sensor sensor             = 1; // The sensor on which to perform the focus action
+    FocusAction focus_action  = 2; // The focus action to perform on the sensor
+    oneof action_parameters {
+        FocusPoint focus_point = 3; // The X-Y point on which to focus
+        ManualFocus manual_focus = 4; // The manual focus abstract value
+    }
+}
+
+// Focus action to perform (start/pause continuous, focus now, disable). Supported only with Color sensor.
+enum FocusAction {
+    FOCUSACTION_UNSPECIFIED             = 0; // Unspecified focus action
+    FOCUSACTION_START_CONTINUOUS_FOCUS  = 1; // Start continuous focus
+    FOCUSACTION_PAUSE_CONTINUOUS_FOCUS  = 2; // Pause continuous focus 
+    FOCUSACTION_FOCUS_NOW               = 3; // Focus now (single-shot)
+    FOCUSACTION_DISABLE_FOCUS           = 4; // Disable focus
+    FOCUSACTION_SET_FOCUS_POINT         = 5; // Set a focus point
+    FOCUSACTION_SET_MANUAL_FOCUS        = 6; // Set the manual focus distance
+}
+
+// Focus point in the X-Y coordinates of the image
+message FocusPoint {
+    uint32 x = 1; // Pixel value on the X axis, between 0 and the current resolution width - 1 
+    uint32 y = 2; // Pixel value on the Y axis, between 0 and the current resolution height - 1
+}
+
+// Abstract value that affects the focus distance
+message ManualFocus {
+    uint32 value = 1; // Abstract value allowing to change the focus distance, between 0 (infinity) and 1023 (close plane)
+}
+
+// Admissible Vision module events.
+enum VisionEvent {
+    UNSPECIFIED_VISION_EVENT = 0;   // Unspecified vision event
+    SENSOR_SETTINGS_CHANGED = 1;    // Sensor setting changed event
+    OPTION_VALUE_CHANGED = 2;       // Option value changed event
+}
+
+// Notification about a single vision module event
+message VisionNotification {
+    VisionEvent event = 1;  // Vision event
+    Sensor sensor  = 2;     // The sensor that caused the notification (if applicable)
+    Option option  = 3;     // The option that caused the notification (if applicable)
+}
+
+// Sensor intrinsic parameters
+message IntrinsicParameters {
+    Sensor sensor = 1; // The sensor for which the parameters apply to
+    Resolution resolution = 2; // The resolution for which the parameters apply to
+    float principal_point_x = 3; // Horizontal coordinate of the principal point of the image, as a pixel offset from the left edge
+    float principal_point_y = 4; // Vertical coordinate of the principal point of the image, as a pixel offset from the top edge
+    float focal_length_x = 5; // Focal length of the image plane, as a multiple of pixel width
+    float focal_length_y = 6; // Focal length of the image plane, as a multiple of pixel height
+    DistortionCoefficients distortion_coeffs = 7; // Distortion coefficients
+}
+
+// Distortion coefficients for sensor intrinsic parameters
+message DistortionCoefficients {
+    float k1 = 1; // First radial distortion coefficient
+    float k2 = 2; // Second radial distortion coefficient
+    float k3 = 3; // Third radial distortion coefficient
+    float p1 = 4; // First tangential distortion coefficient
+    float p2 = 5; // Second tangential distortion coefficient
+}
+
+// Sensor extrinsic parameters
+message ExtrinsicParameters {
+    RotationMatrix rotation = 1; // The rotation matrix from depth sensor reference frame to color sensor reference frame
+    TranslationVector translation = 2; // The translation vector from depth sensor reference frame to color sensor reference frame
+}
+
+// Representation of a 3x3 rotation matrix. To be a valid rotation matrix, the rows must be orthonormal (the rows must each have norm of 1 and the row vectors must be orthogonal to each other). The determinant must also be +1.
+message RotationMatrix {
+    RotationMatrixRow row1 = 1; // First rotation matrix row
+    RotationMatrixRow row2 = 2; // Second rotation matrix row
+    RotationMatrixRow row3 = 3; // Third rotation matrix row
+}
+
+// Single row of a 3x3 rotation matrix. To be a valid possible row of a rotation matrix, the norm of the row must be 1 (the sum of the squares of the row elements has to equal 1). 
+message RotationMatrixRow {
+    float column1 = 1; // Value between -1.0 and 1.0
+    float column2 = 2; // Value between -1.0 and 1.0
+    float column3 = 3; // Value between -1.0 and 1.0
+}
+
+// Provides a 3x1 translation vector configuration
+message TranslationVector {
+    float t_x = 1; // Translation in meters in the x axis
+    float t_y = 2; // Translation in meters in the y axis
+    float t_z = 3; // Translation in meters in the z axis
+}
diff --git a/kortex_driver/readme.md b/kortex_driver/readme.md
new file mode 100644
index 0000000..47351ff
--- /dev/null
+++ b/kortex_driver/readme.md
@@ -0,0 +1,311 @@
+<!-- 
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2018 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed
+* under the terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+* -->
+
+# Kortex Driver
+
+# **Note:** There have been many changes made between versions 1.1.7 and 2.0.0 of the ROS driver. You can view the changes and learn the steps to follow to adapt your code in [this section](#compatibility).
+
+<!-- MarkdownTOC -->
+## Table of contents
+
+1. [Overview](#overview)
+1. [Usage](#usage)
+1. [Topics](#topics)
+1. [Services](#services)
+1. [Compatibility break between v1.1.X and v2.0.X](#compatibility)
+1. [About Conan](#conan)
+1. [Support for multiple arms](#multiple)
+1. [Generation (advanced)](#generation)
+
+<!-- /MarkdownTOC -->
+
+<a id="overview"></a>
+## Overview
+This node allows communication between a ROS node and a Kinova Gen3 or Gen3 lite robot.
+
+### License
+
+The source code is released under a [BSD 3-Clause license](../LICENSE).
+
+**Author: Kinova inc.<br />
+Affiliation: [Kinova inc.](https://www.kinovarobotics.com/)<br />
+Maintainer: Kinova inc. support@kinovarobotics.com**
+
+This package has been tested under ROS Kinetic (Ubuntu 16.04) and ROS Melodic (Ubuntu 18.04).
+
+<a id="usage"></a>
+## Usage
+
+The `kortex_driver` node is the node responsible for the communication between the ROS network and the Kortex-compatible Kinova robots. It publishes topics that users can subscribe to. It also advertises services that users can call from the command line or from their own code to configure or control the robot arm or its sub-devices (actuators, vision module, interface module).  
+
+**Arguments**:
+- **arm** : Name of your robot arm model. See the `kortex_description/arms` folder to see the available robot models. The default value is **gen3**.
+- **dof** : Number of DOFs of your robot. The default value is for Gen3 is **7** and the default value for Gen3 lite is **6**. You will have to specify this value only if you have a Gen3 6DOF.
+- **vision** : Boolean value to indicate if your arm has a Vision Module. The default value is for Gen3 is **true** and the default value for Gen3 lite is **false**. You will have to specify this value only if you have a Gen3 6DOF without a Vision Module. This argument only affects the visual representation of the arm in RViz. 
+- **gripper** : Name of your robot arm's tool / gripper. See the `kortex_description/grippers` folder to see the available end effector models (or to add your own). The default value is **""**. For Gen3, you can also put **robotiq_2f_85** or **robotiq_2f_140**. For Gen3 lite, the default (and only) gripper is **gen3_lite_2f**.
+- **robot_name** : This is the namespace in which the driver will run. It defaults to **my_$(arg arm)** (so "my_gen3" for arm="gen3").
+- **prefix** : This is an optional prefix for all joint and link names in the kortex_description. It is used to allow differentiating between different arms in the same URDF. It defaults to **an empty string**. **Note** : Changing the prefix invalidates the MoveIt! configuration, and requires modifying said configuration, plus the .yaml files with harcoded joint names.
+- **ip_address** : The IP address of the robot you're connecting to. The default value is **192.168.1.10**.
+- **username** : The username for the robot connection. The default value is **admin**.
+- **password** : The password for the robot connection. The default value is **admin**.
+- **use_hard_limits** : [**Gen3 only**] If set to **true**, the arm's soft speed and acceleration limits are set to the hard limits and the MoveIt configuration uses those limits for the trajectories. If **false**, the default soft limit values are used. The default value for the parameter is **false**. **Be aware that setting this argument to true will set you arm's speed and acceleration limits to the maximum, so it will move way faster! Be cautious when using it for the first time as it may cause unwanted behaviour.**
+- **cyclic_data_publish_rate** : Publish rate of the *base_feedback* and *joint_state* topics, in Hz. The default value is **100** Hz.
+- **api_rpc_timeout_ms** : The default X-axis position of the robot in Gazebo. The default value is **0.0**.
+- **api_session_inactivity_timeout_ms** : The duration after which the robot will clean the client session if the client hangs up the connection brutally (should not happen with the ROS driver). The default value is **35000** ms and is not normally changed.
+- **api_connection_inactivity_timeout_ms** : The duration after which a connection is destroyed by the robot if no communication is detected between the client and the robot. The default value is **20000** ms and is not normally changed.
+- **start_rviz** : If this argument is true, RViz will be launched. The default value is **true**.
+- **start_moveit** : If this argument is true, a MoveIt! MoveGroup will be launched for the robot. The default value is **true**.
+
+- **default_goal_time_tolerance** : The default goal time tolerance for the `FollowJointTrajectory` action server, in seconds. This value is used if no default goal time tolerance is specified in the trajectory. The default value is **0.5** seconds.
+- **default_goal_tolerance** : The default goal tolerance for the `FollowJointTrajectory` action server, in radians. This value is used if no default goal tolerance is specified in the trajectory for the joint positions reached at the end of the trajectory. The default value is **0.005** radians.
+
+To launch it with default arguments, run the following command in a terminal : 
+
+`roslaunch kortex_driver kortex_driver.launch`
+
+To launch it with optional arguments, specify the argument name, then ":=", then the value you want. For example, : 
+
+`roslaunch kortex_driver kortex_driver.launch ip_address:=10.0.100.239 start_rviz:=false robot_name:=terminator`
+
+You can also have a look at the [roslaunch documentation](http://wiki.ros.org/roslaunch/Commandline%20Tools) for more details.
+
+If everything goes well, you will see a "**The Kortex driver has been initialized correctly!**" message. If you also start MoveIt!, the `kortex_driver` output may be flooded in the `move_group` output, so pay attention to the warning and error messages! If the node fails to start for any reason, you will get an error message followed by a "**process has died**" message.
+
+You will read below about the topics and services the driver offers. To read more about how to use those tools, [go to the kortex_examples documentation](../kortex_examples/readme.md). 
+
+<a id="topics"></a>
+## Topics
+
+### Robot control topics (in)
+
+You can publish on those topics for joint or Cartesian velocity control of the robot. You can also quickly stop its motion, apply the emergency stop (which will trigger a robot Fault state) and clear the Fault state with the corresponding topics.
+
+**Note: the robot's high level commands function at a rate of 40Hz. This will be improved in a future release.**
+
+* **`/your_robot_name/in/joint_velocity`**
+
+    Publishing joint velocities (radians/second) on this topic will move the arm until it reaches a limit, or until you send a zero-velocity command or a Stop. You can see the message description [here](msg/generated/base/JointSpeeds.msg).
+
+    From the command line, with your robot name being "my_gen3", you can publish a joint velocity to joint 0 to this topic like so:
+    ```
+    rostopic pub /my_gen3/in/joint_velocity kortex_driver/JointSpeeds "joint_speeds:
+    - joint_identifier: 0
+    value: 0.57
+    duration: 0" 
+    ```
+
+* **`/your_robot_name/in/cartesian_velocity`**
+
+    Publishing a Cartesian velocity (meters/second for linear, rad/second for angular) on this topic will move the arm until it reaches a limit, or until you send a zero-velocity command or a Stop. You can see the message description [here](msg/generated/base/TwistCommand.msg).
+
+    From the command line, with your robot name being "my_gen3", you can publish a twist to this topic like so:
+    ```
+    rostopic pub /my_gen3/in/cartesian_velocity kortex_driver/TwistCommand "reference_frame: 0
+    twist: {linear_x: 0.0, linear_y: 0.0, linear_z: 0.05, angular_x: 0.0, angular_y: 0.0,
+    angular_z: 0.0}
+    duration: 0"
+    ```
+
+* **`/your_robot_name/in/clear_faults`**
+
+    This clears the robot's fault state (if the faults are clearable).
+
+    From the command line, with your robot name being "my_gen3", you can publish to this topic like so:
+    ```
+    rostopic pub /my_gen3/in/clear_faults std_msgs/Empty "{}"
+    ```
+
+* **`/your_robot_name/in/stop`**
+
+    This stops the robot's motion smoothly.
+
+    From the command line, with your robot name being "my_gen3", you can publish to this topic like so:
+    ```
+    rostopic pub /my_gen3/in/stop std_msgs/Empty "{}"
+    ```
+
+* **`/your_robot_name/in/emergency_stop`**
+
+    This triggers a robot fault.
+
+    From the command line, with your robot name being "my_gen3", you can publish to this topic like so:
+    ```
+    rostopic pub /my_gen3/in/emergency_stop std_msgs/Empty "{}"
+    ```
+
+### Robot feedback topics (out)
+
+The robot feedback topics are always published by the `kortex_driver`. You don't have to activate them. 
+
+* **`/your_robot_name/kortex_error`**
+
+    Every Kortex error will be published here. You can see the message description [here](msg/non_generated/KortexError.msg).
+
+* **`/your_robot_name/base_feedback`**
+
+    The feedback from the robot is published on this topic at a rate of **cyclic_data_publish_rate**. You can see the message description [here](msg/generated/base_cyclic/BaseCyclic_Feedback.msg).
+
+* **`/your_robot_name/joint_state`**
+
+    The feedback from the robot is converted to a [sensor_msgs/JointState](http://docs.ros.org/kinetic/api/sensor_msgs/html/msg/JointState.html) and published on this topic at a rate of **cyclic_data_publish_rate**.
+
+### Notification topics (out)
+    
+The notification topics are only published by the `kortex_driver` if you activate them by first calling an activation service. Once activated, a notification topic will be activated until the node is shutdown. 
+
+Subscribing to all the notifications causes a heavy load on the robot CPU. That is why the notification topics were designed in such a way. The users also typically only use one or two notifications, if at all. 
+
+For example, if a user wants to subscribe to the **/my_robot_name/network_topic** (the message type is [NetworkNotification](msg/generated/base/NetworkNotification.msg)), he will have to: 
+1. Call the **/my_robot_name/base/activate_publishing_of_network_notification** service to enable the publishing of the topic
+2. Subscribe to the **/my_robot_name/network_topic** topic
+3. Process the notifications when he receives them in his code
+
+<a id="services"></a>
+## Services
+Most of the services supported by this node are generated from the [C++ Kortex API](https://github.com/Kinovarobotics/kortex). You can find the documentation [here](https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/doc/markdown/index.md).
+
+### Understanding packages
+
+The *.srv* files are generated in different sub-folders depending on the sub-module they affect. For example, all the RPC calls used to configure the vision module are generated in `srv/generated/vision_config` and all the RPC calls common to all devices are generated in `srv/generated/device_config`. Here is a list of the packages with a short explanation of the services they have to offer: 
+
+* **actuator_config** : This package contains the functions used to configure a single actuator. 
+**Note:** To choose the actuator you want to configure, you have to call the **/my_robot_name/actuator_config/set_device_id** service and specify the device identifier of the actuator you want to configure. You get the device identifiers of actuators when you launch the node, when you parse the output of the [ReadAllDevices](srv/generated/device_manager/ReadAllDevices.srv) service or in the Kinova Kortex *Web App*.
+
+* **base** : This package contains :
+    * Services to read and update the configuration of the robot
+    * Services to send high level commands to the robot
+    * Services to read and update the Product Configuration
+    * Services to activate the publishing of notifications
+    * Services to read and update the user-related information
+**Note:** The base high level commands are treated every 25 ms inside the robot. High level control cannot be achieved at a rate faster than 40 Hz for now.
+
+* **control_config** : This package contains the functions used to configure the control-related features on the robot. This includes : 
+    * Reading and setting the cartesian reference frame
+    * Reading and setting the gravity vector
+    * Reading and setting the payload information
+    * Reading and setting the tool configuration
+
+* **device_config** : This package contains the functions used to configure a generic Kortex device. This includes : 
+    * Reading and setting safety configurations
+    * Reading general information on the specified device (software versions, serial numbers, MAC address, IPv4 settings, etc.)
+**Note:** To choose the device you want to configure, you have to call the **/my_robot_name/device_config/set_device_id** service and specify the device identifier of the device you want to configure. You get the device identifiers when you launch the node, when you parse the output of the [ReadAllDevices](srv/generated/device_manager/ReadAllDevices.srv) service or in the WebApp.
+
+* **device_manager** : This package contains [ReadAllDevices](srv/generated/device_manager/ReadAllDevices.srv) service, which is used to get the list of connected device and various informations on each device. 
+
+* **interconnect_config** : This package contains the functions used to configure the interface module on the robot.
+**Note:** You don't have to call the `SetDeviceID` service before calling the **interconnect_config** services, because the `kortex_driver` node goes through the list of connected devices and automatically sets the correct device ID for the **interconnect_config** services.
+
+* **vision_config** : This package contains the functions used to configure the vision module on the robot.
+**Note:** You don't have to call the SetDeviceID service before calling the **vision_config** services, because the kortex_driver node goes through the list of connected devices and automatically sets the correct device ID for the **vision_config** services.
+
+<a id="compatibility"></a>
+## Compatibility break between v1.1.7 and v2.0.0
+
+Many things have been changed in the ros_kortex repository between versions 1.1.7 and 2.0.0 and you will have to modify your code if you don't want it to break.
+
+* The `kortex_actuator_driver`, `kortex_vision_config_driver` and `kortex_device_manager` packages were removed and only the `kortex_driver` package remains (one driver to rule them all).
+* Since we only have one driver and the ROS message generation does not deal with namespaces, the messages and services that are duplicated are now named differently. For example, the **Feedback** message exists within the `BaseCyclic`, `ActuatorCyclic`, `InterconnectCyclic` and `GripperCyclic` Protocol Buffers .proto files. In ROS, this is now translated as a "PackageName_" prefix before the message name. So, for the **Feedback** message, the **BaseCyclic_Feedback**, **ActuatorCyclic_Feedback**, **InterconnectCyclic_Feedback** and **GripperCyclic_Feedback** ROS messages have been automatically generated. You may encounter build errors (in C++) or runtime errors (in Python) because of this change. You can just go in the `msg/generated` folder and look for the problematic message to find its new name to change the occurrences in your code. 
+* The services are now all **lowercase_with_underscores** instead of **UpperCase**.
+* The services are now advertised in **/my_robot_name/my_package_name/desired_service** (see the [Services section](#services) to learn about the packages). You can also visualize it if you start the node and type `rosservice list` in a terminal.
+* The topics are now all **lowercase_with_underscores** instead of **UpperCase**.
+* The **/my_robot_name/base_feedback/joint_state** topic is now advertised as **/my_robot_name/joint_state**.
+* The [kortex_driver launch file](launch/kortex_driver.launch) is now located in the `kortex_driver` package instead of the `kortex_bringup` package, which was deleted. Some arguments were added to the file.
+
+<a id="conan"></a>
+## About Conan
+
+From release 2.2.0 onwards, the Kortex API is automatically downloaded from our Artifactory Conan server. The steps to install and setup Conan have been added to the root readme file. Conan downloads the binaries and header files in the Conan cache, by default situated in the `~/.conan/` directory.
+
+If you want to learn more about Conan, you can read about it [on their website](https://conan.io/).
+
+If you still want to download the ZIP files for the API, you can find the link in the [Kortex repository](https://github.com/Kinovarobotics/kortex).
+
+You will have to extract the API in the `kortex_api` folder as such:
+```sh
+kortex_api/  
+┬  
+├ include/
+└ lib/  
+```
+
+You will then have to build the catkin workspace and pass it the option to disable Conan so it links with your local API:
+```sh
+catkin_make -DUSE_CONAN=OFF
+```
+
+<a id="multiple"></a>
+## Support for multiple arms
+
+The [kortex_driver launch file](launch/kortex_driver.launch) is primarily used to define one-armed robots. 
+Having more than one arm requires prefixing the joints and links to protect against ambiguity when refering those. 
+To this end, a [kortex_dual_driver launch file](launch/kortex_dual_driver.launch) has been made to demonstrate running a two-armed robot. 
+The same pattern could be repeated to describe a robot with any number of arms.
+
+**Note**: This launch file is intended as a starting point showing how to launch a robot with two arms. When using this launch file for a specific robot, it should be modified to fit the robot's description. 
+
+The launch file uses the same parameters as the one-armed version, except that most parameters are to be defined individually for each arm (with the **left_** and **right_** prefixes).
+
+The prefixes used in the joints and links names can be changed using the following parameters:
+- `left_prefix`
+- `right_prefix`
+
+The following parameters are to be specified for each robot (using `left_` and `right_` prefixes):
+- `arm`
+- `dof`
+- `vision`
+- `gripper`
+- `ip_address`
+- `username`
+- `password`
+- `cyclic_data_publish_rate`
+- `api_rpc_timeout_ms`
+- `api_session_inactivity_timeout_ms`
+- `api_connection_inactivity_timeout_ms`
+- `default_goal_time_tolerance`
+- `default_goal_tolerance`
+
+
+The folowing parameters are **NOT** to be prefixed:
+- `robot_name`
+- `start_rviz`
+- `start_moveit`
+- `cyclic_data_publish_rate`
+
+These parameters are common to both arms.
+
+Example use : `roslaunch kortex_driver kortex_dual_driver.launch robot_name:=terminator left_ip_address:=192.168.1.11 left_arm:=gen3 left_gripper:=robotiq_2f_85 right_ip_address:=192.168.1.12 right_arm:=gen3 right_gripper:=robotiq_2f_85 start_moveit:=false`
+
+
+<a id="generation"></a>
+## Generation (**advanced**)
+
+Some source code as well as most of the .MSG and .SRV files in this package are automatically generated, but the generated files are given on GitHub so that users don't have to generate them. However, if you have a special version of the Kortex API and want to generate those files yourself, it is possible. You will first need to follow the instructions to install Protocol Buffers.
+
+The generation process is based on a custom `protoc` plugin. Basically, most of the generation process is in the [scripts/ros_kortex_generator.py](scripts/ros_kortex_generator.py). Before launching the generation ensure that you have the Python JINJA2 module installed.
+
+To launch the generation of this package:
+
+1. Open a terminal window.
+2. Browse the /scripts directory of this package
+3. Ensure that the generate_protobuf_wrapper_files.sh file can be executed. If not then run: <code>chmod +x generate_protobuf_wrapper_files.sh</code>
+4. Run the command: <code>./generate_protobuf_wrapper_files.sh</code>
+5. The result of the generation should be in the following folders:
+    * `/include/kortex_driver/generated`
+    * `/msg/generated`
+    * `/src/generated`
+    * `/srv/generated`
+
+### Protos files
+The **protos** directory contains the Protobuf files from which the MSG, SRV and source files are generated. The content of this folder should not be modified.
+
+### Template files
+The **templates** directory contains all the JINJA2 files needed by the `protoc` generator.
diff --git a/kortex_driver/scripts/generate_protobuf_wrapper_files.sh b/kortex_driver/scripts/generate_protobuf_wrapper_files.sh
new file mode 100755
index 0000000..4ef56cb
--- /dev/null
+++ b/kortex_driver/scripts/generate_protobuf_wrapper_files.sh
@@ -0,0 +1,6 @@
+#!/bin/sh
+
+export PYTHONUNBUFFERED=1
+mkdir build
+protoc --plugin=protoc-gen-custom=ros_kortex_generator.py -I../protos/ --custom_out=./build ../protos/*.proto
+rm -rf build
diff --git a/kortex_driver/scripts/ros_kortex_generator.py b/kortex_driver/scripts/ros_kortex_generator.py
new file mode 100755
index 0000000..8d46ad3
--- /dev/null
+++ b/kortex_driver/scripts/ros_kortex_generator.py
@@ -0,0 +1,599 @@
+#!/usr/bin/env python3
+###
+# KINOVA (R) KORTEX (TM)
+#
+# Copyright (c) 2019 Kinova inc. All rights reserved.
+#
+# This software may be modified and distributed 
+# under the terms of the BSD 3-Clause license.
+#
+# Refer to the LICENSE file for details.
+#
+###
+
+import sys
+
+from google.protobuf.compiler import plugin_pb2 as plugin
+from google.protobuf import json_format as json_f
+
+import jinja2
+
+import itertools
+import json
+import types
+import os
+import shutil
+import sys
+import re
+from pathlib import PurePath
+
+from enum import Enum
+from collections import OrderedDict
+
+from google.protobuf.descriptor_pb2 import DescriptorProto, EnumDescriptorProto, ServiceDescriptorProto, FieldDescriptorProto, OneofDescriptorProto
+from google.protobuf.descriptor import FieldDescriptor
+# Some names cause generation bugs and we have to hardcode them in here 
+# Reboot in Base.proto auto-generates the RebootRequest and RebootResponse classes, but RebootResponse RPC already exists in DeviceConfig.proto
+# Refresh* RPCs have to be called at exactly 1kHz and ROS 1 cannot achieve this so they are removed
+# RPCs for internal use have also been removed from the ROS driver
+FORBIDDEN_RPC_METHODS = ["Reboot", \
+                        "Refresh", "RefreshCommand", "RefreshCustomData", "RefreshFeedback", \
+                        "ReadTorqueCalibration", "WriteTorqueCalibration", "GetVectorDriveParameters", "SetVectorDriveParameters", "GetEncoderDerivativeParameters", "SetEncoderDerivativeParameters", "StartFrequencyResponse", "StopFrequencyResponse", "StartStepResponse", "StopStepResponse", "StartRampResponse", "StopRampResponse", \
+                        "ReadCapSenseRegister", "WriteCapSenseRegister"]
+
+# There are some packages we don't want to generate because the use of their RPC's as ROS services doesn't make sense at all and could cause some undefined behaviour
+NON_GENERATED_PACKAGES = ["Session"]
+PROTO_FILES_RELATIVE_PATH = PurePath("..", "protos")
+
+class DetailedOneOf:
+    '''
+    Class that holds a one_of and the fields in the one_of
+
+    Attributes : 
+    - name:  Name of the one_of [string]
+    - fields: Protobuf FieldDescriptor's that are in the one_of [list of FieldDescriptorProto]
+    - duplicated_fields: Names of the fields that are duplicated in the generation context (ex. Feedback) [list of strings] 
+
+    Usage : Create the DetailedOneOf with its name, then use the addField() method to populate the fields list (automatically populates the duplicated_fields list)
+    '''
+    def __init__(self, one_of_name = ""):
+        '''
+        Constructor for the DetailedOneOf
+
+        Arguments:
+        - one_of_name: Name of the one_of [string]
+        '''
+        self.name = one_of_name
+        self.fields = []
+        self.duplicated_fields = []
+
+    def addField(self, field, is_field_duplicated):
+        '''
+        Adds a field to the one_of
+        
+        Arguments: 
+        - field: Field to add [FieldDescriptor]
+        - is_field_duplicated: True if the field_type is duplicated in the generation context (ex. Feedback) [bool]
+        
+        Returns: None
+        '''
+        self.fields.append(field)
+        if is_field_duplicated:
+            self.duplicated_fields.append(field.type_name.split(".")[-1])
+
+class DetailedMessage:
+    '''
+    Class that holds a message or an enum (all but a ServiceDescriptorProto)
+
+    Attributes: 
+    - name:  Name of the message or enum [string]
+    - name_lowercase_with_underscores: Name of the message in lowercase with underscores (following the ROS convention) [string]
+    - message: Protobuf Descriptor [DescriptorProto]
+    - cpp_namespace: Full C++ namespace for the message (ex. Kinova::Api::Common) [string]
+    - full_proto_package_name: Full name of the Protobuf package with point delimiters (ex. Kinova.Api.Common) [string]
+    - duplicated_fields: Names of the fields that are duplicated in the generation context (ex. Feedback) [list of strings] 
+    - containing_folder: Name of the subfolder in which the msg file will be generated, determined with the C++ namespace (ex. "ActuatorCyclic/"). If the namespace is Kinova::Api, then subfolder is equal to an empty string. [string]
+    - prepend_message_name: If the message is duplicated in the generation context, this attribute is in the form of "ActuatorCyclic_". This is prepended to the message name to ensure there is no naming clash during the ROS message generation. [string]
+    - one_of_list: List of DetailedOneOf's present in the message fields. [list of DetailedOneOf]
+
+    Usage: Create the DetailedMessage, then use the addDetailedOneOf() method to populate the one_of_list attribute
+    '''
+    def __init__(self, message, package, is_message_duplicated, duplicatedFields=[]):
+        '''
+        Constructor for the DetailedMessage
+
+        Arguments:
+        - message: Protobuf object for the message [DescriptorProto]
+        - package: Full name of the message's package (ex. "Kinova.Api.Common") [string]
+        - is_message_duplicated: True if the message type is duplicated in the generation context (ex. Feedback) [bool]
+        - duplicated_fields: Names of the fields that are duplicated in the generation context (ex. Feedback) (empty by default) [list of strings] 
+        '''
+        self.name = message.name
+        self.name_lowercase_with_underscores = '_'.join(re.findall('[A-Z][^A-Z]*', self.name)).lower()
+        self.message = message
+
+        self.cpp_namespace = package.replace(".", "::")
+        self.full_proto_package_name = package
+
+        # Some fields's type may be duplicated messages
+        self.duplicated_fields = []
+        for df in duplicatedFields:
+            self.duplicated_fields.append(df.type_name.split(".")[-1])
+
+        # Sub-folder in which messages are generated
+        # Corresponds to the Protobuf Service they relate to
+        # Those without a service (Frame, Errors) are generated directly in /msg
+        self.containing_folder = "_".join(re.findall('[A-Z][^A-Z]*', package.split(".")[-1])).lower() + "/"
+        if self.containing_folder == "api/":
+            self.containing_folder = ""
+
+        # If it is a duplicated message, we prepend it with the Protobuf Service name (because ROS messages don't handle C++ namespaces)
+        if is_message_duplicated:
+            self.prepend_message_name = package.split(".")[-1] + "_"
+        else:
+            self.prepend_message_name = ""
+        
+        # List of all the DetailedOneof's in the message
+        self.one_of_list = []
+
+    # Method to add the DetailedOneOf's in the DetailedMessage
+    def addDetailedOneOf(self, one_of):
+        '''
+        Adds a DetailedOneOf to the message's one_of_list
+        
+        Arguments: 
+        - one_of: One_of to add to the message [DetailedOneOf]
+        
+        Returns: None
+        '''
+        self.one_of_list.append(one_of)
+
+    def isEnum(self):
+        '''
+        Returns True if the message is an enum (Protobuf message is of type EnumDescriptorProto)
+
+        Arguments: None
+
+        Returns: Boolean
+        '''
+        return isinstance(self.message, EnumDescriptorProto)
+
+# Class that holds a protobuf service and some other details needed by the generator(Jinja2 template)
+class DetailedPackage:
+    '''
+    Class that holds a Protobuf package
+
+    Attributes: 
+    - name: Name of the package delimited with points (ex. "Kinova.Api.Common") [string]
+    - short_name: Short name of the package (ex. "Common" for "Kinova.Api.Common") [string]
+    - short_name_lowercase_with_underscores: Short name of the package in lowercase with underscores (following the ROS convention) [string]
+    - cpp_namespace: Full C++ namespace for the package (ex. Kinova::Api::Common) [string]
+    - messages: List of messages in the package [list of DetailedMessage]
+    - methods: List of RPC methods in the package [list of DetailedRPC]
+    - enums: List of enums in the package [list of DetailedMessage]
+
+    Usage: Create the DetailedPackage, then add the messages, enums and RPC's with the corresponding methods.
+    '''
+    def __init__(self, package):
+        '''
+        Constructor for the DetailedPackage
+
+        Arguments:
+        - package: Full name of the message's package (ex. "Kinova.Api.Common") [string]
+        '''
+        self.name = package
+        self.short_name = self.name.split(".")[-1]
+        self.short_name_lowercase_with_underscores = '_'.join(re.findall('[A-Z][^A-Z]*', self.short_name)).lower()
+        self.cpp_namespace = self.name.replace(".", "::")
+        self.messages = [] # list of DetailedMessage
+        self.methods = []  # list of DetailedRPC
+        self.enums = []    # list of DetailedMessage
+    
+    def addMessage(self, detailed_message):
+        '''
+        Adds a message to the package's messages list
+        
+        Arguments: 
+        - detailed_message: Message to add to the package [DetailedMessage]
+        
+        Returns: None
+        '''
+        self.messages.append(detailed_message)
+
+    def addRPC(self, detailed_rpc):
+        '''
+        Adds a RPC to the package's methods list
+        
+        Arguments: 
+        - detailed_rpc: RPC to add to the package [DetailedRPC]
+        
+        Returns: None
+        '''
+        self.methods.append(detailed_rpc)
+
+    def addEnum(self, detailed_enum):
+        '''
+        Adds an enum to the package's enums list
+        
+        Arguments: 
+        - detailed_enum: Enum to add to the package [DetailedMessage]
+        
+        Returns: None
+        '''
+        self.enums.append(detailed_enum)
+
+class DetailedRPC:
+    '''
+    Class that holds a Protobuf RPC
+
+    Attributes: 
+    - name: Name of the RPC [string]
+    - name_lowercase_with_underscores: Name of the RPC in lowercase with underscores (following the ROS convention) [string]
+    - rpc: Protobuf object for the RPC [ServiceDescriptorProto]
+    - cpp_namespace: Full C++ namespace for the RPC (ex. Kinova::Api::BaseCyclic) [string]
+    - full_proto_package_name: Full name of the Protobuf package with point delimiters (ex. Kinova.Api.Common) [string]
+    - is_rpc_duplicated: True if the message type is duplicated in the generation context (ex. Feedback) [bool]
+    - prepend_rpc_package_name: If the RPC is duplicated in the generation context, this string will be populated with the RPC package's short name (ex. "BaseCyclic_" for Feedback RPC). Empty otherwise. [string]
+    
+    - is_input_type_duplicated: True if the input type of the RPC is duplicated in the generation context [bool]
+    - ros_service_input_name: Type of the ROS service input, modified according to the is_input_type_duplicated parameter [string]
+    - input_type_short_name: Short name of the input (ex. "Command" for "Kinova.Api.BaseCyclic.Command") [string]
+    - input_type_cpp_namespace: Full C++ namespace for the RPC (ex. Kinova::Api::BaseCyclic) [string]
+    
+    - is_output_type_duplicated: True if the output type of the RPC is duplicated in the generation context [bool]
+    - ros_service_output_name: Type of the ROS service output, modified according to the is_output_type_duplicated parameter [string]
+    - output_type_short_name: Short name of the output (ex. "Feedback" for "Kinova.Api.BaseCyclic.Feedback") [string]
+    - output_type_cpp_namespace: Full C++ namespace for the RPC (ex. Kinova::Api::BaseCyclic) [string]
+
+    - is_notification_rpc: True if the RPC is a Notification RPC (ends with "Topic")
+    - prepend_on_notification: If the RPC is a Notification RPC, is put to "OnNotification". Otherwise, it is empty [string]
+    - notification_message_cpp_namespace: Full C++ namespace of the message that corresponds to the Notification RPC ("SafetyNotification" for the RPC "SafetyTopic") [string]
+    '''
+    def __init__(self, rpc, package, is_rpc_duplicated, is_rpc_deprecated, is_input_type_duplicated, is_output_type_duplicated, notification_message=None):
+        '''
+        Constructor for the DetailedRPC
+
+        Arguments:
+        - rpc: Protobuf object for the RPC [ServiceDescriptorProto]
+        - package: Full name of the message's package (ex. "Kinova.Api.Common") [string]
+        - is_rpc_duplicated: True if the message type is duplicated in the generation context (ex. Feedback) [bool]
+        - is_rpc_deprecated: True if the message type is deprecated in the C++ Kortex API [bool]
+        - is_input_type_duplicated: True if the input type of the RPC is duplicated in the generation context [bool]
+        - is_output_type_duplicated: True if the output type of the RPC is duplicated in the generation context [bool]
+        - notification_message: Protobuf object for the Notification message that corresponds to the Notification RPC (optional) [DescrptorProto]
+        '''
+        self.name = rpc.name
+        self.name_lowercase_with_underscores = '_'.join(re.findall('[A-Z][^A-Z]*', self.name)).lower()
+        self.rpc = rpc
+        self.is_rpc_deprecated = is_rpc_deprecated
+
+        self.cpp_namespace = package.replace(".", "::")
+        self.full_proto_package_name = package
+
+        # If it is a duplicated RPC, we prepend it with the Protobuf Service name (because ROS services don't handle C++ namespaces)
+        if is_rpc_duplicated:
+            self.prepend_rpc_package_name = package.split(".")[-1] + "_"
+        else:
+            self.prepend_rpc_package_name = ""
+
+        # Helper variables for input and output types
+        if is_input_type_duplicated:
+            self.ros_service_input_name  = rpc.input_type.split(".")[-2] + "_" + rpc.input_type.split(".")[-1]
+        else:
+            self.ros_service_input_name  = rpc.input_type.split(".")[-1]
+
+
+        self.input_type_short_name = rpc.input_type.split(".")[-1]
+        self.input_type_cpp_namespace = "::".join(rpc.input_type.split(".")[:-1])[2:]
+
+        if is_output_type_duplicated:
+            self.ros_service_output_name  = rpc.output_type.split(".")[-2] + "_" + rpc.output_type.split(".")[-1]
+        else:
+            self.ros_service_output_name  = rpc.output_type.split(".")[-1]
+
+        self.output_type_short_name = rpc.output_type.split(".")[-1]
+        self.output_type_cpp_namespace = "::".join(rpc.output_type.split(".")[:-1])[2:]
+
+        # Notifications have the word 'Topic' at the end of the RPC name
+        self.is_notification_rpc = re.match(r"\w+Topic", rpc.name)
+        if self.is_notification_rpc:
+            self.prepend_on_notification = "OnNotification"
+            self.notification_message_cpp_namespace = notification_message[0].cpp_namespace
+        else:
+            self.prepend_on_notification = ""
+            self.notification_message_cpp_namespace = ""
+
+# Jinja2 function to render a file from a template
+def render(tpl_path, context):
+    path, filename = os.path.split(tpl_path)
+    return jinja2.Environment(loader=jinja2.FileSystemLoader(path or './')).get_template(filename).render(**context)
+
+# Main plugin function
+def generate_code(request, response):
+    
+    # MainFilePath = os.path.join(".", "src/main.cpp")
+    # Find all proto files
+    file_map = OrderedDict()
+    for proto_file in request.proto_file:
+        file_map[proto_file.name] = proto_file
+
+    # Create an ordered dictionary for all Protobuf packages 
+    packages_dict = OrderedDict()
+    
+    # Find the *Notification messages to add them to a list
+    notification_messages_list = []
+    
+    # Find Messages and RPC's that have the same name within the proto files because ROS doesn't handle namespaces
+    messages_unordered_set = set()
+    rpcs_unordered_set = set()
+    duplicated_messages_unordered_set = set()
+    duplicated_rpcs_unordered_set = set()
+    deprecated_rpcs_dict_of_lists = OrderedDict()
+    for filename, proto_file in file_map.items():
+        # Traverse proto files with the recursive calls
+        for item, package in traverse(proto_file):
+            
+            # Skip the packages we don't want to generate
+            if package.split(".")[-1] in NON_GENERATED_PACKAGES:
+                continue
+
+            packages_dict[package] = DetailedPackage(package)
+            # If the item is a message or an enum
+            if not isinstance(item, ServiceDescriptorProto):
+                if item.name not in messages_unordered_set:
+                    messages_unordered_set.add(item.name)
+                    # Add the notifications to a list to match them to their respective RPCs later (because there package may differ from the RPC's)
+                    if re.match(r"\w+Notification", item.name):
+                        notification_messages_list.append(DetailedMessage(item, package, False))
+                else:
+                    duplicated_messages_unordered_set.add(item.name)
+            # If the item is a Protobuf service (a collection of methods)
+            else: 
+                for method in item.method:
+                    if method.name not in rpcs_unordered_set:
+                        rpcs_unordered_set.add(method.name)
+                    else:
+                        duplicated_rpcs_unordered_set.add(method.name)
+
+        # Parse through the proto files to find deprecation tags that the recursive function cannot find
+        proto_file_reader = open(str(PurePath(PROTO_FILES_RELATIVE_PATH, filename)), encoding='utf8', mode='r')
+        filename_without_extension = filename.replace('.proto', '') 
+        deprecated_rpcs_dict_of_lists[filename_without_extension] = list()
+        RPC_REGULAR_EXPRESSION = r'.*rpc (\w*) * \((\S*)\) *returns* \((\S*)\).*'
+        text_line = "_"
+        while text_line != "":
+            text_line = proto_file_reader.readline()
+            if "rpc " in text_line:
+                if re.search(r'@DEPRECATED', text_line):
+                    rpc_name = re.sub(RPC_REGULAR_EXPRESSION, r'\1', text_line).strip()
+                    deprecated_rpcs_dict_of_lists[filename_without_extension].append(rpc_name)
+
+        # print (deprecated_rpcs_dict_of_lists.items())
+
+    # Remove old generated files and create new directories
+    for package in packages_dict.values():
+        for s in ['srv', 'msg']:
+            shutil.rmtree("../{}/generated/{}".format(s, package.short_name_lowercase_with_underscores), ignore_errors=True)
+            os.makedirs("../{}/generated/{}".format(s, package.short_name_lowercase_with_underscores))
+    shutil.rmtree("../src/generated", ignore_errors=True)
+    shutil.rmtree("../include/kortex_driver/generated", ignore_errors=True)
+    os.makedirs("../src/generated/robot")
+    os.makedirs("../src/generated/simulation")
+    os.makedirs("../include/kortex_driver/generated/interfaces")
+    os.makedirs("../include/kortex_driver/generated/robot")
+    os.makedirs("../include/kortex_driver/generated/simulation")
+
+    ###########################################
+    # Parse the proto files to add the messages and RPC's to the DetailedPackage's
+    for filename, proto_file in file_map.items():
+
+        # For every item in the current proto file
+        for item, package in traverse(proto_file):
+
+            # Skip the packages we don't want to generate
+            if package.split(".")[-1] in NON_GENERATED_PACKAGES:
+                continue
+            
+            current_package = packages_dict[package]
+
+            # If this is an enum
+            if isinstance(item, EnumDescriptorProto):
+                is_enum_duplicated = item.name in duplicated_messages_unordered_set
+                current_package.addEnum(DetailedMessage(item, package, is_enum_duplicated))
+                
+            # If this is a message
+            if isinstance(item, DescriptorProto):
+                is_message_duplicated = item.name in duplicated_messages_unordered_set
+                duplicated_fields = filter(lambda x : x.type_name.split(".")[-1] in duplicated_messages_unordered_set, item.field)
+                temp_message = DetailedMessage(item, package, is_message_duplicated, duplicated_fields)
+                # Find if the message contains oneof
+                message_contains_one_of = False
+                for member in item.field:
+                    # If a member is part of a one_of, it will have this additional field.
+                    if member.HasField("oneof_index"):
+                        message_contains_one_of = True
+                        break
+
+                # Register every one_of in the message
+                if message_contains_one_of:
+
+                    # Find the one_of names
+                    for one_of in item.ListFields()[-1][1]: # This is the very obscure way to get the one_of's name
+                        temp_message.one_of_list.append(DetailedOneOf(one_of.name))
+    
+                    # Find the fields and what one_of they belong to
+                    for member in item.field:
+                        # If a member is part of a one_of, add it to the DetailedOneOf it belongs to
+                        if member.HasField("oneof_index"):
+                            is_field_duplicated = member.type_name.split(".")[-1] in duplicated_messages_unordered_set
+                            temp_message.one_of_list[member.oneof_index].addField(member, is_field_duplicated)
+
+                current_package.addMessage(temp_message)
+
+            # If this is a Protobuf service (a group of RPC's)
+            if isinstance(item, ServiceDescriptorProto):
+                # Get sublist of all deprecated methods in this service
+                deprecated_rpcs_in_this_service = deprecated_rpcs_dict_of_lists[item.name]
+                # Register every RPC in the Protobuf service
+                for rpc in item.method:
+                    # Do not generate the services that cause generation bugs
+                    if rpc.name in FORBIDDEN_RPC_METHODS:
+                        continue
+                    is_rpc_duplicated = rpc.name in duplicated_rpcs_unordered_set
+                    is_input_type_duplicated = rpc.input_type.split(".")[-1] in duplicated_messages_unordered_set
+                    is_output_type_duplicated = rpc.output_type.split(".")[-1] in duplicated_messages_unordered_set
+                    notification_message = list(filter(lambda x: x.name == rpc.name.replace("Topic", "Notification") , notification_messages_list))
+
+                    # Find out if this RPC is deprecated
+                    is_rpc_deprecated = True if rpc.name in deprecated_rpcs_in_this_service else False
+
+                    temp_rpc = DetailedRPC(rpc, package, is_rpc_duplicated, is_rpc_deprecated, is_input_type_duplicated, is_output_type_duplicated, notification_message)
+                    current_package.addRPC(temp_rpc)
+
+    ###########################################
+    # Generate the include names with the packages that contain messages
+    packages_with_messages = filter(lambda x: len(x.messages) > 0 , packages_dict.values())
+    include_file_names = []
+    for p in packages_with_messages:
+        for s in ["proto", "ros"]:
+            include_file_names.append("kortex_driver/generated/robot/{}_{}_converter.h".format(p.short_name.lower(), s))
+
+    # Generate the ROS files for each package
+    for package in packages_dict.values():
+
+        # Generate the enums
+        for enum in package.enums:
+            this_enum_context = types.SimpleNamespace()
+            this_enum_context.item = enum
+            ros_enum_path = os.path.join("..", "msg/generated/{}{}{}.msg".format(enum.containing_folder, enum.prepend_message_name, enum.name))
+            with open(ros_enum_path, 'wt') as serviceFile:
+                serviceFile.write(render("../templates/ros_enum.msg.jinja2", this_enum_context.__dict__))
+        
+        # Generate the messages
+        for message in package.messages:
+            this_message_context = types.SimpleNamespace()
+            this_message_context.item = message
+            this_message_context.field_descriptor_class = FieldDescriptor
+            
+            # Generate the one_of's for the message
+            for detailed_one_of in message.one_of_list: # not empty
+                this_message_context.detailed_one_of = detailed_one_of
+                ros_oneofPath = os.path.join("..", "msg/generated/{}{}{}_{}.msg".format(message.containing_folder, message.prepend_message_name, message.name, detailed_one_of.name))
+                with open(ros_oneofPath, 'wt') as serviceFile:
+                    serviceFile.write(render("../templates/ros_oneof.msg.jinja2", this_message_context.__dict__))
+
+            # Generate the message
+            ros_messagePath = os.path.join("..", "msg/generated/{}{}{}.msg".format(message.containing_folder, message.prepend_message_name, message.name))                
+            with open(ros_messagePath, 'wt') as serviceFile:
+                serviceFile.write(render("../templates/ros_message.msg.jinja2", this_message_context.__dict__))
+
+        # Generate the RPC's
+        for rpc in package.methods:
+            this_rpc_context = types.SimpleNamespace()
+            this_rpc_context.item = rpc
+            ros_servicePath = os.path.join("..", "srv/generated/{}/{}{}{}.srv".format(package.short_name_lowercase_with_underscores, rpc.prepend_rpc_package_name, rpc.prepend_on_notification, rpc.name))
+            with open(ros_servicePath, 'wt') as serviceFile:  
+                serviceFile.write(render("../templates/ros_service.srv.jinja2", this_rpc_context.__dict__))
+
+        # Generate the Proto-ROS converters (C++ files)
+        this_package_context = types.SimpleNamespace()
+        this_package_context.package = package
+        
+        if package.messages: # package contains at least one message
+            # Proto converter header file
+            current_header_filename = "kortex_driver/generated/robot/{}_proto_converter.h".format(package.short_name.lower())
+            this_package_context.include_file_names = filter(lambda x : "proto_converter" in x and x != current_header_filename, include_file_names)
+            with open(os.path.join("..", "include/" + current_header_filename), 'wt') as converterFile:
+                converterFile.write(render("../templates/proto_converter.h.jinja2", this_package_context.__dict__))
+            # Proto converter cpp file
+            this_package_context.current_header_filename = current_header_filename
+            with open(os.path.join("..", "src/generated/robot/{}_proto_converter.cpp".format(package.short_name.lower())), 'wt') as converterFile:
+                converterFile.write(render("../templates/proto_converter.cpp.jinja2", this_package_context.__dict__))
+            # ROS converter header file
+            current_header_filename = "kortex_driver/generated/robot/{}_ros_converter.h".format(package.short_name.lower())
+            this_package_context.include_file_names = filter(lambda x : "ros_converter" in x and x != current_header_filename, include_file_names)
+            with open(os.path.join("..", "include/" + current_header_filename), 'wt') as converterFile:
+                converterFile.write(render("../templates/ros_converter.h.jinja2", this_package_context.__dict__))
+            # ROS converter cpp file
+            this_package_context.current_header_filename = current_header_filename
+            with open(os.path.join("..", "src/generated/robot/{}_ros_converter.cpp".format(package.short_name.lower())), 'wt') as converterFile:
+                converterFile.write(render("../templates/ros_converter.cpp.jinja2", this_package_context.__dict__))
+
+        # Generate the ServiceProxy's for every Kortex API method
+        if package.methods: # package contains at least one RPC
+            # Generate interface files
+            current_header_filename = "kortex_driver/generated/interfaces/{}_services_interface.h".format(package.short_name.lower())
+            current_interface_header_filename = current_header_filename
+            this_package_context.current_interface_header_filename = current_interface_header_filename
+            with open(os.path.join("..", "include/" + current_header_filename), 'wt') as services_file:  
+                services_file.write(render("../templates/services_interface.h.jinja2", this_package_context.__dict__))
+            
+            # Generate robot files
+            current_header_filename = "kortex_driver/generated/robot/{}_services.h".format(package.short_name.lower())
+            this_package_context.current_header_filename = current_header_filename
+            this_package_context.include_file_names = include_file_names
+            with open(os.path.join("..", "include/" + current_header_filename), 'wt') as services_file:  
+                services_file.write(render("../templates/services_robot.h.jinja2", this_package_context.__dict__))
+            with open(os.path.join("..", "src/generated/robot/{}_services.cpp".format(package.short_name.lower())), 'wt') as services_file:  
+                services_file.write(render("../templates/services_robot.cpp.jinja2", this_package_context.__dict__))
+
+            # Generate simulation files
+            current_header_filename = "kortex_driver/generated/simulation/{}_services.h".format(package.short_name.lower())
+            this_package_context.current_header_filename = current_header_filename
+            this_package_context.include_file_names = include_file_names
+            with open(os.path.join("..", "include/" + current_header_filename), 'wt') as services_file:  
+                services_file.write(render("../templates/services_simulation.h.jinja2", this_package_context.__dict__))
+            with open(os.path.join("..", "src/generated/simulation/{}_services.cpp".format(package.short_name.lower())), 'wt') as services_file:  
+                services_file.write(render("../templates/services_simulation.cpp.jinja2", this_package_context.__dict__))
+
+    # Delete unused folders we created for None
+    for package in packages_dict.values():
+        for s in ['srv', 'msg']:
+            if len(os.listdir('../{}/generated/{}'.format(s, package.short_name_lowercase_with_underscores))) == 0:
+                shutil.rmtree("../{}/generated/{}".format(s, package.short_name_lowercase_with_underscores))
+
+def traverse(proto_file):
+    # recursive function that browses a protobof item
+    def _traverse(package, items):
+        for item in items:
+            yield item, package
+            
+            if isinstance(item, DescriptorProto):
+                for enum in item.enum_type:
+                    yield enum, package
+
+                for nested in item.nested_type:
+                    nested_package = package + item.name
+
+                    for nested_item in _traverse(nested, nested_package):
+                        yield nested_item, nested_package
+            if isinstance(item, ServiceDescriptorProto):
+                for rpc in item.method:
+                    yield rpc, package
+
+    # returns a list of everything found in the proto file
+    return itertools.chain(
+      _traverse(proto_file.package, proto_file.enum_type),
+      _traverse(proto_file.package, proto_file.message_type),
+      _traverse(proto_file.package, proto_file.service),
+  )
+
+if __name__ == '__main__':
+    # reads request message from stdin
+    data = sys.stdin.buffer.read()
+
+    # parses request
+    request = plugin.CodeGeneratorRequest()
+    request.ParseFromString(data)
+
+    # creates response
+    response = plugin.CodeGeneratorResponse()
+
+    # generates code
+    generate_code(request, response)
+
+    # serialises response message
+    output = response.SerializeToString()
+
+    # writes to stdout
+    sys.stdout.buffer.write(output)
\ No newline at end of file
diff --git a/kortex_driver/scripts/source_and_build_workspace.bash b/kortex_driver/scripts/source_and_build_workspace.bash
new file mode 100755
index 0000000..0730101
--- /dev/null
+++ b/kortex_driver/scripts/source_and_build_workspace.bash
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+# This is a helper script that sources ROS, cleans and builds the catkin workspace
+# It is meant to be run from the root of the workspace
+# Can be used by end users, but mainly used because Docker (for CI) needs en executable file and cannot take multiple bash commands
+
+source /opt/ros/kinetic/setup.bash
+rm -rf devel/ build/ 
+catkin_make -DGENERATE_PROTO_ROS_WRAPPER=OFF
diff --git a/kortex_driver/scripts/tests/build_workspace_and_tests.bash b/kortex_driver/scripts/tests/build_workspace_and_tests.bash
new file mode 100755
index 0000000..98ab2ed
--- /dev/null
+++ b/kortex_driver/scripts/tests/build_workspace_and_tests.bash
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+# This is a helper script that sources ROS, cleans and builds the catkin workspace and the tests, and installs the missing rosdep
+# It is meant to be run from the root of the workspace
+rosdep update
+apt-get update
+rosdep -y install --from-paths src --ignore-src
+rm -rf devel/ build/ 
+catkin_make
+catkin_make tests
+echo 'Finished building the package!'
+exit 0
diff --git a/kortex_driver/scripts/tests/launch_test.py b/kortex_driver/scripts/tests/launch_test.py
new file mode 100644
index 0000000..4abdd9f
--- /dev/null
+++ b/kortex_driver/scripts/tests/launch_test.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+import argparse
+import subprocess
+import time
+import os
+import signal
+
+# Get arguments
+parser = argparse.ArgumentParser(description='Launch ROS examples or ROS driver automated tests for a given arm configuration.')
+parser.add_argument('--no-vision', action='store_true', help='Add this option if the arm doesn\'t have a vision module')
+parser.add_argument('ip', type = str, help='Arm IP address (enter \'none\' if testing Gazebo)')
+parser.add_argument('arm', choices = ['gen3', 'gen3_lite'], help='Arm type')
+parser.add_argument('dof', type = int, help='Number of DOF for the arm')
+parser.add_argument('gripper', choices = ['robotiq_2f_85', 'robotiq_2f_140', 'gen3_lite_2f', 'none'], help='Gripper type')
+parser.add_argument('test_case', choices = ['driver', 'examples', 'gazebo'], help='Test case to run')
+
+args = parser.parse_args()
+
+# Create the command for the driver
+command = []
+if args.test_case == 'driver' or args.test_case == 'examples':
+    if args.test_case == 'driver':
+        command.append("rostest")
+        command.append("--reuse-master")
+    elif args.test_case == 'examples':
+        command.append("roslaunch")
+    command.append("kortex_driver")
+    command.append("kortex_driver.launch")
+    command.append("ip_address:={}".format(args.ip))
+    command.append("start_moveit:=true")
+elif args.test_case == 'gazebo':
+    command.append("rostest")
+    command.append("--reuse-master")
+    command.append("kortex_gazebo")
+    command.append("spawn_kortex_robot.launch")
+    command.append("gazebo_gui:=false")
+    command.append("start_delay_seconds:=20") #longer load time for Gazebo in Docker
+command.append("start_rviz:=false")
+command.append("arm:={}".format(args.arm))
+command.append("dof:={}".format(args.dof))
+# Add vision option
+if args.no_vision:
+    command.append("vision:=false")
+else:
+    command.append("vision:=true")
+# Add gripper option
+if args.gripper != 'none':
+    command.append("gripper:={}".format(args.gripper))
+
+try:
+    ros_master_process = subprocess.Popen(['roscore'], stdout=subprocess.DEVNULL)
+    time.sleep(3)
+    # If we want to run the tests for the driver
+    if args.test_case == 'driver':
+        subprocess.run(command)
+    # If we want to test the examples
+    elif args.test_case == 'examples':
+        driver_roslaunch_process = subprocess.Popen(command, stdout=subprocess.DEVNULL)
+        print ("Starting the ROS Kortex driver...")
+        time.sleep(10)
+        examples_tests_process = subprocess.Popen(['rostest', '--reuse-master', 'kortex_examples', 'run_all_examples.launch', 'robot_name:=my_{}'.format(args.arm)])
+        examples_tests_process.wait()
+    elif args.test_case == 'gazebo':
+        subprocess.run(command)
+    
+finally:
+    os.killpg(os.getpid(), signal.SIGTERM)
diff --git a/kortex_driver/src/generated/robot/actuatorconfig_proto_converter.cpp b/kortex_driver/src/generated/robot/actuatorconfig_proto_converter.cpp
new file mode 100644
index 0000000..454a5fa
--- /dev/null
+++ b/kortex_driver/src/generated/robot/actuatorconfig_proto_converter.cpp
@@ -0,0 +1,189 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+
+int ToProtoData(kortex_driver::AxisPosition input, Kinova::Api::ActuatorConfig::AxisPosition *output)
+{
+	
+	output->set_position(input.position);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::AxisOffsets input, Kinova::Api::ActuatorConfig::AxisOffsets *output)
+{
+	
+	output->set_absolute_offset(input.absolute_offset);
+	output->set_relative_offset(input.relative_offset);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TorqueCalibration input, Kinova::Api::ActuatorConfig::TorqueCalibration *output)
+{
+	
+	output->set_global_gain(input.global_gain);
+	output->set_global_offset(input.global_offset);
+	output->clear_gain();
+	for(int i = 0; i < input.gain.size(); i++)
+	{
+		output->add_gain(input.gain[i]);
+	}
+	output->clear_offset();
+	for(int i = 0; i < input.offset.size(); i++)
+	{
+		output->add_offset(input.offset[i]);
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TorqueOffset input, Kinova::Api::ActuatorConfig::TorqueOffset *output)
+{
+	
+	output->set_torque_offset(input.torque_offset);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActuatorConfig_ControlModeInformation input, Kinova::Api::ActuatorConfig::ControlModeInformation *output)
+{
+	
+	output->set_control_mode((Kinova::Api::ActuatorConfig::ControlMode)input.control_mode);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControlLoop input, Kinova::Api::ActuatorConfig::ControlLoop *output)
+{
+	
+	output->set_control_loop(input.control_loop);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::LoopSelection input, Kinova::Api::ActuatorConfig::LoopSelection *output)
+{
+	
+	output->set_loop_selection((Kinova::Api::ActuatorConfig::ControlLoopSelection)input.loop_selection);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::VectorDriveParameters input, Kinova::Api::ActuatorConfig::VectorDriveParameters *output)
+{
+	
+	output->set_kpq(input.kpq);
+	output->set_kiq(input.kiq);
+	output->set_kpd(input.kpd);
+	output->set_kid(input.kid);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::EncoderDerivativeParameters input, Kinova::Api::ActuatorConfig::EncoderDerivativeParameters *output)
+{
+	
+	output->set_max_window_width(input.max_window_width);
+	output->set_min_angle(input.min_angle);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControlLoopParameters input, Kinova::Api::ActuatorConfig::ControlLoopParameters *output)
+{
+	
+	output->set_loop_selection((Kinova::Api::ActuatorConfig::ControlLoopSelection)input.loop_selection);
+	output->set_error_saturation(input.error_saturation);
+	output->set_output_saturation(input.output_saturation);
+	output->clear_kaz();
+	for(int i = 0; i < input.kAz.size(); i++)
+	{
+		output->add_kaz(input.kAz[i]);
+	}
+	output->clear_kbz();
+	for(int i = 0; i < input.kBz.size(); i++)
+	{
+		output->add_kbz(input.kBz[i]);
+	}
+	output->set_error_dead_band(input.error_dead_band);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::FrequencyResponse input, Kinova::Api::ActuatorConfig::FrequencyResponse *output)
+{
+	
+	output->set_loop_selection((Kinova::Api::ActuatorConfig::ControlLoopSelection)input.loop_selection);
+	output->set_min_frequency(input.min_frequency);
+	output->set_max_frequency(input.max_frequency);
+	output->set_amplitude(input.amplitude);
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::StepResponse input, Kinova::Api::ActuatorConfig::StepResponse *output)
+{
+	
+	output->set_loop_selection((Kinova::Api::ActuatorConfig::ControlLoopSelection)input.loop_selection);
+	output->set_amplitude(input.amplitude);
+	output->set_step_delay(input.step_delay);
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::RampResponse input, Kinova::Api::ActuatorConfig::RampResponse *output)
+{
+	
+	output->set_loop_selection((Kinova::Api::ActuatorConfig::ControlLoopSelection)input.loop_selection);
+	output->set_slope(input.slope);
+	output->set_ramp_delay(input.ramp_delay);
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CustomDataSelection input, Kinova::Api::ActuatorConfig::CustomDataSelection *output)
+{
+	 
+	output->clear_channel();
+	for(int i = 0; i < input.channel.size(); i++)
+	{
+		output->add_channel((Kinova::Api::ActuatorConfig::CustomDataIndex)input.channel[i]);
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CommandModeInformation input, Kinova::Api::ActuatorConfig::CommandModeInformation *output)
+{
+	
+	output->set_command_mode((Kinova::Api::ActuatorConfig::CommandMode)input.command_mode);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Servoing input, Kinova::Api::ActuatorConfig::Servoing *output)
+{
+	
+	output->set_enabled(input.enabled);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::PositionCommand input, Kinova::Api::ActuatorConfig::PositionCommand *output)
+{
+	
+	output->set_position(input.position);
+	output->set_velocity(input.velocity);
+	output->set_acceleration(input.acceleration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CoggingFeedforwardModeInformation input, Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation *output)
+{
+	
+	output->set_cogging_feedforward_mode((Kinova::Api::ActuatorConfig::CoggingFeedforwardMode)input.cogging_feedforward_mode);
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/actuatorconfig_ros_converter.cpp b/kortex_driver/src/generated/robot/actuatorconfig_ros_converter.cpp
new file mode 100644
index 0000000..d6fbfea
--- /dev/null
+++ b/kortex_driver/src/generated/robot/actuatorconfig_ros_converter.cpp
@@ -0,0 +1,225 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+
+int ToRosData(Kinova::Api::ActuatorConfig::AxisPosition input, kortex_driver::AxisPosition &output)
+{
+	
+	output.position = input.position();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::AxisOffsets input, kortex_driver::AxisOffsets &output)
+{
+	
+	output.absolute_offset = input.absolute_offset();
+	output.relative_offset = input.relative_offset();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::TorqueCalibration input, kortex_driver::TorqueCalibration &output)
+{
+	
+	output.global_gain = input.global_gain();
+	output.global_offset = input.global_offset();
+	output.gain.clear();
+	for(int i = 0; i < input.gain_size(); i++)
+	{
+		output.gain.push_back(input.gain(i));
+	}
+	output.offset.clear();
+	for(int i = 0; i < input.offset_size(); i++)
+	{
+		output.offset.push_back(input.offset(i));
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::TorqueOffset input, kortex_driver::TorqueOffset &output)
+{
+	
+	output.torque_offset = input.torque_offset();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::ControlModeInformation input, kortex_driver::ActuatorConfig_ControlModeInformation &output)
+{
+	
+	output.control_mode = input.control_mode();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::ControlLoop input, kortex_driver::ControlLoop &output)
+{
+	
+	output.control_loop = input.control_loop();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::LoopSelection input, kortex_driver::LoopSelection &output)
+{
+	
+	output.loop_selection = input.loop_selection();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::VectorDriveParameters input, kortex_driver::VectorDriveParameters &output)
+{
+	
+	output.kpq = input.kpq();
+	output.kiq = input.kiq();
+	output.kpd = input.kpd();
+	output.kid = input.kid();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::EncoderDerivativeParameters input, kortex_driver::EncoderDerivativeParameters &output)
+{
+	
+	output.max_window_width = input.max_window_width();
+	output.min_angle = input.min_angle();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::ControlLoopParameters input, kortex_driver::ControlLoopParameters &output)
+{
+	
+	output.loop_selection = input.loop_selection();
+	output.error_saturation = input.error_saturation();
+	output.output_saturation = input.output_saturation();
+	output.kAz.clear();
+	for(int i = 0; i < input.kaz_size(); i++)
+	{
+		output.kAz.push_back(input.kaz(i));
+	}
+	output.kBz.clear();
+	for(int i = 0; i < input.kbz_size(); i++)
+	{
+		output.kBz.push_back(input.kbz(i));
+	}
+	output.error_dead_band = input.error_dead_band();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::FrequencyResponse input, kortex_driver::FrequencyResponse &output)
+{
+	
+	output.loop_selection = input.loop_selection();
+	output.min_frequency = input.min_frequency();
+	output.max_frequency = input.max_frequency();
+	output.amplitude = input.amplitude();
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::StepResponse input, kortex_driver::StepResponse &output)
+{
+	
+	output.loop_selection = input.loop_selection();
+	output.amplitude = input.amplitude();
+	output.step_delay = input.step_delay();
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::RampResponse input, kortex_driver::RampResponse &output)
+{
+	
+	output.loop_selection = input.loop_selection();
+	output.slope = input.slope();
+	output.ramp_delay = input.ramp_delay();
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::CustomDataSelection input, kortex_driver::CustomDataSelection &output)
+{
+	
+	output.channel.clear();
+	for(int i = 0; i < input.channel_size(); i++)
+	{
+		output.channel.push_back(input.channel(i));
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::CommandModeInformation input, kortex_driver::CommandModeInformation &output)
+{
+	
+	output.command_mode = input.command_mode();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::Servoing input, kortex_driver::Servoing &output)
+{
+	
+	output.enabled = input.enabled();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::PositionCommand input, kortex_driver::PositionCommand &output)
+{
+	
+	output.position = input.position();
+	output.velocity = input.velocity();
+	output.acceleration = input.acceleration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation input, kortex_driver::CoggingFeedforwardModeInformation &output)
+{
+	
+	output.cogging_feedforward_mode = input.cogging_feedforward_mode();
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/actuatorconfig_services.cpp b/kortex_driver/src/generated/robot/actuatorconfig_services.cpp
new file mode 100644
index 0000000..e9a3971
--- /dev/null
+++ b/kortex_driver/src/generated/robot/actuatorconfig_services.cpp
@@ -0,0 +1,741 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_services.h"
+
+ActuatorConfigRobotServices::ActuatorConfigRobotServices(ros::NodeHandle& node_handle, Kinova::Api::ActuatorConfig::ActuatorConfigClient* actuatorconfig, uint32_t device_id, uint32_t timeout_ms): 
+	IActuatorConfigServices(node_handle),
+	m_actuatorconfig(actuatorconfig),
+	m_current_device_id(device_id)
+{
+	m_api_options.timeout_ms = timeout_ms;
+
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("actuator_config/set_device_id", &ActuatorConfigRobotServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("actuator_config/set_api_options", &ActuatorConfigRobotServices::SetApiOptions, this);
+
+	m_serviceGetAxisOffsets = m_node_handle.advertiseService("actuator_config/get_axis_offsets", &ActuatorConfigRobotServices::GetAxisOffsets, this);
+	m_serviceSetAxisOffsets = m_node_handle.advertiseService("actuator_config/set_axis_offsets", &ActuatorConfigRobotServices::SetAxisOffsets, this);
+	m_serviceSetTorqueOffset = m_node_handle.advertiseService("actuator_config/set_torque_offset", &ActuatorConfigRobotServices::SetTorqueOffset, this);
+	m_serviceActuatorConfig_GetControlMode = m_node_handle.advertiseService("actuator_config/get_control_mode", &ActuatorConfigRobotServices::ActuatorConfig_GetControlMode, this);
+	m_serviceSetControlMode = m_node_handle.advertiseService("actuator_config/set_control_mode", &ActuatorConfigRobotServices::SetControlMode, this);
+	m_serviceGetActivatedControlLoop = m_node_handle.advertiseService("actuator_config/get_activated_control_loop", &ActuatorConfigRobotServices::GetActivatedControlLoop, this);
+	m_serviceSetActivatedControlLoop = m_node_handle.advertiseService("actuator_config/set_activated_control_loop", &ActuatorConfigRobotServices::SetActivatedControlLoop, this);
+	m_serviceGetControlLoopParameters = m_node_handle.advertiseService("actuator_config/get_control_loop_parameters", &ActuatorConfigRobotServices::GetControlLoopParameters, this);
+	m_serviceSetControlLoopParameters = m_node_handle.advertiseService("actuator_config/set_control_loop_parameters", &ActuatorConfigRobotServices::SetControlLoopParameters, this);
+	m_serviceSelectCustomData = m_node_handle.advertiseService("actuator_config/select_custom_data", &ActuatorConfigRobotServices::SelectCustomData, this);
+	m_serviceGetSelectedCustomData = m_node_handle.advertiseService("actuator_config/get_selected_custom_data", &ActuatorConfigRobotServices::GetSelectedCustomData, this);
+	m_serviceSetCommandMode = m_node_handle.advertiseService("actuator_config/set_command_mode", &ActuatorConfigRobotServices::SetCommandMode, this);
+	m_serviceActuatorConfig_ClearFaults = m_node_handle.advertiseService("actuator_config/clear_faults", &ActuatorConfigRobotServices::ActuatorConfig_ClearFaults, this);
+	m_serviceSetServoing = m_node_handle.advertiseService("actuator_config/set_servoing", &ActuatorConfigRobotServices::SetServoing, this);
+	m_serviceMoveToPosition = m_node_handle.advertiseService("actuator_config/move_to_position", &ActuatorConfigRobotServices::MoveToPosition, this);
+	m_serviceGetCommandMode = m_node_handle.advertiseService("actuator_config/get_command_mode", &ActuatorConfigRobotServices::GetCommandMode, this);
+	m_serviceGetServoing = m_node_handle.advertiseService("actuator_config/get_servoing", &ActuatorConfigRobotServices::GetServoing, this);
+	m_serviceGetTorqueOffset = m_node_handle.advertiseService("actuator_config/get_torque_offset", &ActuatorConfigRobotServices::GetTorqueOffset, this);
+	m_serviceSetCoggingFeedforwardMode = m_node_handle.advertiseService("actuator_config/set_cogging_feedforward_mode", &ActuatorConfigRobotServices::SetCoggingFeedforwardMode, this);
+	m_serviceGetCoggingFeedforwardMode = m_node_handle.advertiseService("actuator_config/get_cogging_feedforward_mode", &ActuatorConfigRobotServices::GetCoggingFeedforwardMode, this);
+}
+
+bool ActuatorConfigRobotServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	m_current_device_id = req.device_id;
+
+	return true;
+}
+
+bool ActuatorConfigRobotServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	m_api_options.timeout_ms = req.input.timeout_ms;
+
+	return true;
+}
+
+
+bool ActuatorConfigRobotServices::GetAxisOffsets(kortex_driver::GetAxisOffsets::Request  &req, kortex_driver::GetAxisOffsets::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::AxisOffsets output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_actuatorconfig->GetAxisOffsets(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ActuatorConfigRobotServices::SetAxisOffsets(kortex_driver::SetAxisOffsets::Request  &req, kortex_driver::SetAxisOffsets::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::AxisPosition input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->SetAxisOffsets(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::SetTorqueOffset(kortex_driver::SetTorqueOffset::Request  &req, kortex_driver::SetTorqueOffset::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::TorqueOffset input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->SetTorqueOffset(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::ActuatorConfig_GetControlMode(kortex_driver::ActuatorConfig_GetControlMode::Request  &req, kortex_driver::ActuatorConfig_GetControlMode::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::ControlModeInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_actuatorconfig->GetControlMode(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ActuatorConfigRobotServices::SetControlMode(kortex_driver::SetControlMode::Request  &req, kortex_driver::SetControlMode::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::ControlModeInformation input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->SetControlMode(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::GetActivatedControlLoop(kortex_driver::GetActivatedControlLoop::Request  &req, kortex_driver::GetActivatedControlLoop::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::ControlLoop output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_actuatorconfig->GetActivatedControlLoop(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ActuatorConfigRobotServices::SetActivatedControlLoop(kortex_driver::SetActivatedControlLoop::Request  &req, kortex_driver::SetActivatedControlLoop::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::ControlLoop input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->SetActivatedControlLoop(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::GetControlLoopParameters(kortex_driver::GetControlLoopParameters::Request  &req, kortex_driver::GetControlLoopParameters::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::LoopSelection input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::ActuatorConfig::ControlLoopParameters output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_actuatorconfig->GetControlLoopParameters(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ActuatorConfigRobotServices::SetControlLoopParameters(kortex_driver::SetControlLoopParameters::Request  &req, kortex_driver::SetControlLoopParameters::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::ControlLoopParameters input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->SetControlLoopParameters(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::SelectCustomData(kortex_driver::SelectCustomData::Request  &req, kortex_driver::SelectCustomData::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::CustomDataSelection input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->SelectCustomData(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::GetSelectedCustomData(kortex_driver::GetSelectedCustomData::Request  &req, kortex_driver::GetSelectedCustomData::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::CustomDataSelection output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_actuatorconfig->GetSelectedCustomData(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ActuatorConfigRobotServices::SetCommandMode(kortex_driver::SetCommandMode::Request  &req, kortex_driver::SetCommandMode::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::CommandModeInformation input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->SetCommandMode(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::ActuatorConfig_ClearFaults(kortex_driver::ActuatorConfig_ClearFaults::Request  &req, kortex_driver::ActuatorConfig_ClearFaults::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->ClearFaults(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::SetServoing(kortex_driver::SetServoing::Request  &req, kortex_driver::SetServoing::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::Servoing input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->SetServoing(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::MoveToPosition(kortex_driver::MoveToPosition::Request  &req, kortex_driver::MoveToPosition::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::PositionCommand input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->MoveToPosition(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::GetCommandMode(kortex_driver::GetCommandMode::Request  &req, kortex_driver::GetCommandMode::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::CommandModeInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_actuatorconfig->GetCommandMode(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ActuatorConfigRobotServices::GetServoing(kortex_driver::GetServoing::Request  &req, kortex_driver::GetServoing::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::Servoing output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_actuatorconfig->GetServoing(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ActuatorConfigRobotServices::GetTorqueOffset(kortex_driver::GetTorqueOffset::Request  &req, kortex_driver::GetTorqueOffset::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::TorqueOffset output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_actuatorconfig->GetTorqueOffset(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ActuatorConfigRobotServices::SetCoggingFeedforwardMode(kortex_driver::SetCoggingFeedforwardMode::Request  &req, kortex_driver::SetCoggingFeedforwardMode::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_actuatorconfig->SetCoggingFeedforwardMode(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ActuatorConfigRobotServices::GetCoggingFeedforwardMode(kortex_driver::GetCoggingFeedforwardMode::Request  &req, kortex_driver::GetCoggingFeedforwardMode::Response &res)
+{
+	
+	Kinova::Api::ActuatorConfig::CoggingFeedforwardModeInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_actuatorconfig->GetCoggingFeedforwardMode(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
diff --git a/kortex_driver/src/generated/robot/actuatorcyclic_proto_converter.cpp b/kortex_driver/src/generated/robot/actuatorcyclic_proto_converter.cpp
new file mode 100644
index 0000000..6d7744f
--- /dev/null
+++ b/kortex_driver/src/generated/robot/actuatorcyclic_proto_converter.cpp
@@ -0,0 +1,80 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+
+int ToProtoData(kortex_driver::ActuatorCyclic_MessageId input, Kinova::Api::ActuatorCyclic::MessageId *output)
+{
+	
+	output->set_identifier(input.identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActuatorCyclic_Command input, Kinova::Api::ActuatorCyclic::Command *output)
+{
+	 
+	ToProtoData(input.command_id, output->mutable_command_id());
+	output->set_flags(input.flags);
+	output->set_position(input.position);
+	output->set_velocity(input.velocity);
+	output->set_torque_joint(input.torque_joint);
+	output->set_current_motor(input.current_motor);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActuatorCyclic_Feedback input, Kinova::Api::ActuatorCyclic::Feedback *output)
+{
+	 
+	ToProtoData(input.feedback_id, output->mutable_feedback_id());
+	output->set_status_flags(input.status_flags);
+	output->set_jitter_comm(input.jitter_comm);
+	output->set_position(input.position);
+	output->set_velocity(input.velocity);
+	output->set_torque(input.torque);
+	output->set_current_motor(input.current_motor);
+	output->set_voltage(input.voltage);
+	output->set_temperature_motor(input.temperature_motor);
+	output->set_temperature_core(input.temperature_core);
+	output->set_fault_bank_a(input.fault_bank_a);
+	output->set_fault_bank_b(input.fault_bank_b);
+	output->set_warning_bank_a(input.warning_bank_a);
+	output->set_warning_bank_b(input.warning_bank_b);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActuatorCyclic_CustomData input, Kinova::Api::ActuatorCyclic::CustomData *output)
+{
+	 
+	ToProtoData(input.custom_data_id, output->mutable_custom_data_id());
+	output->set_custom_data_0(input.custom_data_0);
+	output->set_custom_data_1(input.custom_data_1);
+	output->set_custom_data_2(input.custom_data_2);
+	output->set_custom_data_3(input.custom_data_3);
+	output->set_custom_data_4(input.custom_data_4);
+	output->set_custom_data_5(input.custom_data_5);
+	output->set_custom_data_6(input.custom_data_6);
+	output->set_custom_data_7(input.custom_data_7);
+	output->set_custom_data_8(input.custom_data_8);
+	output->set_custom_data_9(input.custom_data_9);
+	output->set_custom_data_10(input.custom_data_10);
+	output->set_custom_data_11(input.custom_data_11);
+	output->set_custom_data_12(input.custom_data_12);
+	output->set_custom_data_13(input.custom_data_13);
+	output->set_custom_data_14(input.custom_data_14);
+	output->set_custom_data_15(input.custom_data_15);
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/actuatorcyclic_ros_converter.cpp b/kortex_driver/src/generated/robot/actuatorcyclic_ros_converter.cpp
new file mode 100644
index 0000000..4e2e5ef
--- /dev/null
+++ b/kortex_driver/src/generated/robot/actuatorcyclic_ros_converter.cpp
@@ -0,0 +1,88 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+
+int ToRosData(Kinova::Api::ActuatorCyclic::MessageId input, kortex_driver::ActuatorCyclic_MessageId &output)
+{
+	
+	output.identifier = input.identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorCyclic::Command input, kortex_driver::ActuatorCyclic_Command &output)
+{
+	
+	ToRosData(input.command_id(), output.command_id);
+	output.flags = input.flags();
+	output.position = input.position();
+	output.velocity = input.velocity();
+	output.torque_joint = input.torque_joint();
+	output.current_motor = input.current_motor();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorCyclic::Feedback input, kortex_driver::ActuatorCyclic_Feedback &output)
+{
+	
+	ToRosData(input.feedback_id(), output.feedback_id);
+	output.status_flags = input.status_flags();
+	output.jitter_comm = input.jitter_comm();
+	output.position = input.position();
+	output.velocity = input.velocity();
+	output.torque = input.torque();
+	output.current_motor = input.current_motor();
+	output.voltage = input.voltage();
+	output.temperature_motor = input.temperature_motor();
+	output.temperature_core = input.temperature_core();
+	output.fault_bank_a = input.fault_bank_a();
+	output.fault_bank_b = input.fault_bank_b();
+	output.warning_bank_a = input.warning_bank_a();
+	output.warning_bank_b = input.warning_bank_b();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ActuatorCyclic::CustomData input, kortex_driver::ActuatorCyclic_CustomData &output)
+{
+	
+	ToRosData(input.custom_data_id(), output.custom_data_id);
+	output.custom_data_0 = input.custom_data_0();
+	output.custom_data_1 = input.custom_data_1();
+	output.custom_data_2 = input.custom_data_2();
+	output.custom_data_3 = input.custom_data_3();
+	output.custom_data_4 = input.custom_data_4();
+	output.custom_data_5 = input.custom_data_5();
+	output.custom_data_6 = input.custom_data_6();
+	output.custom_data_7 = input.custom_data_7();
+	output.custom_data_8 = input.custom_data_8();
+	output.custom_data_9 = input.custom_data_9();
+	output.custom_data_10 = input.custom_data_10();
+	output.custom_data_11 = input.custom_data_11();
+	output.custom_data_12 = input.custom_data_12();
+	output.custom_data_13 = input.custom_data_13();
+	output.custom_data_14 = input.custom_data_14();
+	output.custom_data_15 = input.custom_data_15();
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/base_proto_converter.cpp b/kortex_driver/src/generated/robot/base_proto_converter.cpp
new file mode 100644
index 0000000..1cefcb7
--- /dev/null
+++ b/kortex_driver/src/generated/robot/base_proto_converter.cpp
@@ -0,0 +1,1684 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+
+int ToProtoData(kortex_driver::FullUserProfile input, Kinova::Api::Base::FullUserProfile *output)
+{
+	 
+	ToProtoData(input.user_profile, output->mutable_user_profile());
+	output->set_password(input.password);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::UserProfile input, Kinova::Api::Base::UserProfile *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_username(input.username);
+	output->set_firstname(input.firstname);
+	output->set_lastname(input.lastname);
+	output->set_application_data(input.application_data);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::UserProfileList input, Kinova::Api::Base::UserProfileList *output)
+{
+	 
+	output->clear_user_profiles();
+	for(int i = 0; i < input.user_profiles.size(); i++)
+	{
+		ToProtoData(input.user_profiles[i], output->add_user_profiles());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::UserList input, Kinova::Api::Base::UserList *output)
+{
+	 
+	output->clear_user_handles();
+	for(int i = 0; i < input.user_handles.size(); i++)
+	{
+		ToProtoData(input.user_handles[i], output->add_user_handles());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::PasswordChange input, Kinova::Api::Base::PasswordChange *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_old_password(input.old_password);
+	output->set_new_password(input.new_password);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceHandle input, Kinova::Api::Base::SequenceHandle *output)
+{
+	
+	output->set_identifier(input.identifier);
+	output->set_permission(input.permission);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::AdvancedSequenceHandle input, Kinova::Api::Base::AdvancedSequenceHandle *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_in_loop(input.in_loop);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceTaskHandle input, Kinova::Api::Base::SequenceTaskHandle *output)
+{
+	 
+	ToProtoData(input.sequence_handle, output->mutable_sequence_handle());
+	output->set_task_index(input.task_index);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceTask input, Kinova::Api::Base::SequenceTask *output)
+{
+	
+	output->set_group_identifier(input.group_identifier); 
+	ToProtoData(input.action, output->mutable_action());
+	output->set_application_data(input.application_data);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceTasks input, Kinova::Api::Base::SequenceTasks *output)
+{
+	 
+	output->clear_sequence_tasks();
+	for(int i = 0; i < input.sequence_tasks.size(); i++)
+	{
+		ToProtoData(input.sequence_tasks[i], output->add_sequence_tasks());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceTasksConfiguration input, Kinova::Api::Base::SequenceTasksConfiguration *output)
+{
+	 
+	ToProtoData(input.sequence_task_handle, output->mutable_sequence_task_handle()); 
+	output->clear_sequence_tasks();
+	for(int i = 0; i < input.sequence_tasks.size(); i++)
+	{
+		ToProtoData(input.sequence_tasks[i], output->add_sequence_tasks());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceTaskConfiguration input, Kinova::Api::Base::SequenceTaskConfiguration *output)
+{
+	 
+	ToProtoData(input.sequence_task_handle, output->mutable_sequence_task_handle()); 
+	ToProtoData(input.sequence_task, output->mutable_sequence_task());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceTasksRange input, Kinova::Api::Base::SequenceTasksRange *output)
+{
+	
+	output->set_first_task_index(input.first_task_index);
+	output->set_second_task_index(input.second_task_index);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceTasksPair input, Kinova::Api::Base::SequenceTasksPair *output)
+{
+	 
+	ToProtoData(input.sequence_handle, output->mutable_sequence_handle());
+	output->set_first_task_index(input.first_task_index);
+	output->set_second_task_index(input.second_task_index);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Sequence input, Kinova::Api::Base::Sequence *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_name(input.name);
+	output->set_application_data(input.application_data); 
+	output->clear_tasks();
+	for(int i = 0; i < input.tasks.size(); i++)
+	{
+		ToProtoData(input.tasks[i], output->add_tasks());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceList input, Kinova::Api::Base::SequenceList *output)
+{
+	 
+	output->clear_sequence_list();
+	for(int i = 0; i < input.sequence_list.size(); i++)
+	{
+		ToProtoData(input.sequence_list[i], output->add_sequence_list());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::AppendActionInformation input, Kinova::Api::Base::AppendActionInformation *output)
+{
+	 
+	ToProtoData(input.sequence_handle, output->mutable_sequence_handle()); 
+	ToProtoData(input.action, output->mutable_action());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActionHandle input, Kinova::Api::Base::ActionHandle *output)
+{
+	
+	output->set_identifier(input.identifier);
+	output->set_action_type((Kinova::Api::Base::ActionType)input.action_type);
+	output->set_permission(input.permission);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::RequestedActionType input, Kinova::Api::Base::RequestedActionType *output)
+{
+	
+	output->set_action_type((Kinova::Api::Base::ActionType)input.action_type);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Action input, Kinova::Api::Base::Action *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_name(input.name);
+	output->set_application_data(input.application_data);
+	if(input.oneof_action_parameters.send_twist_command.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.send_twist_command[0], output->mutable_send_twist_command());
+	}
+	if(input.oneof_action_parameters.send_wrench_command.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.send_wrench_command[0], output->mutable_send_wrench_command());
+	}
+	if(input.oneof_action_parameters.send_joint_speeds.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.send_joint_speeds[0], output->mutable_send_joint_speeds());
+	}
+	if(input.oneof_action_parameters.reach_pose.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.reach_pose[0], output->mutable_reach_pose());
+	}
+	if(input.oneof_action_parameters.reach_joint_angles.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.reach_joint_angles[0], output->mutable_reach_joint_angles());
+	}
+	if(input.oneof_action_parameters.toggle_admittance_mode.size() > 0)
+	{
+		output->set_toggle_admittance_mode((Kinova::Api::Base::AdmittanceMode)input.oneof_action_parameters.toggle_admittance_mode[0]);
+	}
+	if(input.oneof_action_parameters.snapshot.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.snapshot[0], output->mutable_snapshot());
+	}
+	if(input.oneof_action_parameters.switch_control_mapping.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.switch_control_mapping[0], output->mutable_switch_control_mapping());
+	}
+	if(input.oneof_action_parameters.navigate_joints.size() > 0)
+	{
+		output->set_navigate_joints((Kinova::Api::Base::JointNavigationDirection)input.oneof_action_parameters.navigate_joints[0]);
+	}
+	if(input.oneof_action_parameters.navigate_mappings.size() > 0)
+	{
+		output->set_navigate_mappings((Kinova::Api::Base::NavigationDirection)input.oneof_action_parameters.navigate_mappings[0]);
+	}
+	if(input.oneof_action_parameters.change_twist.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.change_twist[0], output->mutable_change_twist());
+	}
+	if(input.oneof_action_parameters.change_joint_speeds.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.change_joint_speeds[0], output->mutable_change_joint_speeds());
+	}
+	if(input.oneof_action_parameters.change_wrench.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.change_wrench[0], output->mutable_change_wrench());
+	}
+	if(input.oneof_action_parameters.apply_emergency_stop.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.apply_emergency_stop[0], output->mutable_apply_emergency_stop());
+	}
+	if(input.oneof_action_parameters.clear_faults.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.clear_faults[0], output->mutable_clear_faults());
+	}
+	if(input.oneof_action_parameters.delay.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.delay[0], output->mutable_delay());
+	}
+	if(input.oneof_action_parameters.execute_action.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.execute_action[0], output->mutable_execute_action());
+	}
+	if(input.oneof_action_parameters.send_gripper_command.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.send_gripper_command[0], output->mutable_send_gripper_command());
+	}
+	if(input.oneof_action_parameters.stop_action.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.stop_action[0], output->mutable_stop_action());
+	}
+	if(input.oneof_action_parameters.play_pre_computed_trajectory.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.play_pre_computed_trajectory[0], output->mutable_play_pre_computed_trajectory());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Snapshot input, Kinova::Api::Base::Snapshot *output)
+{
+	
+	output->set_snapshot_type((Kinova::Api::Base::SnapshotType)input.snapshot_type);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SwitchControlMapping input, Kinova::Api::Base::SwitchControlMapping *output)
+{
+	
+	output->set_controller_identifier(input.controller_identifier); 
+	ToProtoData(input.map_group_handle, output->mutable_map_group_handle()); 
+	ToProtoData(input.map_handle, output->mutable_map_handle());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ChangeTwist input, Kinova::Api::Base::ChangeTwist *output)
+{
+	
+	output->set_linear(input.linear);
+	output->set_angular(input.angular);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ChangeJointSpeeds input, Kinova::Api::Base::ChangeJointSpeeds *output)
+{
+	 
+	ToProtoData(input.joint_speeds, output->mutable_joint_speeds());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ChangeWrench input, Kinova::Api::Base::ChangeWrench *output)
+{
+	
+	output->set_force(input.force);
+	output->set_torque(input.torque);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::EmergencyStop input, Kinova::Api::Base::EmergencyStop *output)
+{
+	
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Faults input, Kinova::Api::Base::Faults *output)
+{
+	
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Delay input, Kinova::Api::Base::Delay *output)
+{
+	
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Base_Stop input, Kinova::Api::Base::Stop *output)
+{
+	
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActionList input, Kinova::Api::Base::ActionList *output)
+{
+	 
+	output->clear_action_list();
+	for(int i = 0; i < input.action_list.size(); i++)
+	{
+		ToProtoData(input.action_list[i], output->add_action_list());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Timeout input, Kinova::Api::Base::Timeout *output)
+{
+	
+	output->set_value(input.value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Ssid input, Kinova::Api::Base::Ssid *output)
+{
+	
+	output->set_identifier(input.identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CommunicationInterfaceConfiguration input, Kinova::Api::Base::CommunicationInterfaceConfiguration *output)
+{
+	
+	output->set_type((Kinova::Api::Base::NetworkType)input.type);
+	output->set_enable(input.enable);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::NetworkHandle input, Kinova::Api::Base::NetworkHandle *output)
+{
+	
+	output->set_type((Kinova::Api::Base::NetworkType)input.type);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::IPv4Configuration input, Kinova::Api::Base::IPv4Configuration *output)
+{
+	
+	output->set_ip_address(input.ip_address);
+	output->set_subnet_mask(input.subnet_mask);
+	output->set_default_gateway(input.default_gateway);
+	output->set_dhcp_enabled(input.dhcp_enabled);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::IPv4Information input, Kinova::Api::Base::IPv4Information *output)
+{
+	
+	output->set_ip_address(input.ip_address);
+	output->set_subnet_mask(input.subnet_mask);
+	output->set_default_gateway(input.default_gateway);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::FullIPv4Configuration input, Kinova::Api::Base::FullIPv4Configuration *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle()); 
+	ToProtoData(input.ipv4_configuration, output->mutable_ipv4_configuration());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::WifiInformation input, Kinova::Api::Base::WifiInformation *output)
+{
+	 
+	ToProtoData(input.ssid, output->mutable_ssid());
+	output->set_security_type(input.security_type);
+	output->set_encryption_type(input.encryption_type);
+	output->set_signal_quality((Kinova::Api::Base::SignalQuality)input.signal_quality);
+	output->set_signal_strength(input.signal_strength);
+	output->set_frequency(input.frequency);
+	output->set_channel(input.channel);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::WifiInformationList input, Kinova::Api::Base::WifiInformationList *output)
+{
+	 
+	output->clear_wifi_information_list();
+	for(int i = 0; i < input.wifi_information_list.size(); i++)
+	{
+		ToProtoData(input.wifi_information_list[i], output->add_wifi_information_list());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::WifiConfiguration input, Kinova::Api::Base::WifiConfiguration *output)
+{
+	 
+	ToProtoData(input.ssid, output->mutable_ssid());
+	output->set_security_key(input.security_key);
+	output->set_connect_automatically(input.connect_automatically);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::WifiConfigurationList input, Kinova::Api::Base::WifiConfigurationList *output)
+{
+	 
+	output->clear_wifi_configuration_list();
+	for(int i = 0; i < input.wifi_configuration_list.size(); i++)
+	{
+		ToProtoData(input.wifi_configuration_list[i], output->add_wifi_configuration_list());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ProtectionZoneHandle input, Kinova::Api::Base::ProtectionZoneHandle *output)
+{
+	
+	output->set_identifier(input.identifier);
+	output->set_permission(input.permission);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Base_RotationMatrixRow input, Kinova::Api::Base::RotationMatrixRow *output)
+{
+	
+	output->set_column1(input.column1);
+	output->set_column2(input.column2);
+	output->set_column3(input.column3);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Base_RotationMatrix input, Kinova::Api::Base::RotationMatrix *output)
+{
+	 
+	ToProtoData(input.row1, output->mutable_row1()); 
+	ToProtoData(input.row2, output->mutable_row2()); 
+	ToProtoData(input.row3, output->mutable_row3());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Point input, Kinova::Api::Base::Point *output)
+{
+	
+	output->set_x(input.x);
+	output->set_y(input.y);
+	output->set_z(input.z);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ZoneShape input, Kinova::Api::Base::ZoneShape *output)
+{
+	
+	output->set_shape_type((Kinova::Api::Base::ShapeType)input.shape_type); 
+	ToProtoData(input.origin, output->mutable_origin()); 
+	ToProtoData(input.orientation, output->mutable_orientation());
+	output->clear_dimensions();
+	for(int i = 0; i < input.dimensions.size(); i++)
+	{
+		output->add_dimensions(input.dimensions[i]);
+	}
+	output->set_envelope_thickness(input.envelope_thickness);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ProtectionZone input, Kinova::Api::Base::ProtectionZone *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_name(input.name);
+	output->set_application_data(input.application_data);
+	output->set_is_enabled(input.is_enabled); 
+	ToProtoData(input.shape, output->mutable_shape()); 
+	output->clear_limitations();
+	for(int i = 0; i < input.limitations.size(); i++)
+	{
+		ToProtoData(input.limitations[i], output->add_limitations());
+	} 
+	output->clear_envelope_limitations();
+	for(int i = 0; i < input.envelope_limitations.size(); i++)
+	{
+		ToProtoData(input.envelope_limitations[i], output->add_envelope_limitations());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ProtectionZoneList input, Kinova::Api::Base::ProtectionZoneList *output)
+{
+	 
+	output->clear_protection_zones();
+	for(int i = 0; i < input.protection_zones.size(); i++)
+	{
+		ToProtoData(input.protection_zones[i], output->add_protection_zones());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CartesianLimitation input, Kinova::Api::Base::CartesianLimitation *output)
+{
+	
+	output->set_type((Kinova::Api::Base::LimitationType)input.type);
+	output->set_translation(input.translation);
+	output->set_orientation(input.orientation);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TwistLimitation input, Kinova::Api::Base::TwistLimitation *output)
+{
+	
+	output->set_linear(input.linear);
+	output->set_angular(input.angular);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::WrenchLimitation input, Kinova::Api::Base::WrenchLimitation *output)
+{
+	
+	output->set_force(input.force);
+	output->set_torque(input.torque);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CartesianLimitationList input, Kinova::Api::Base::CartesianLimitationList *output)
+{
+	 
+	output->clear_limitations();
+	for(int i = 0; i < input.limitations.size(); i++)
+	{
+		ToProtoData(input.limitations[i], output->add_limitations());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::JointLimitation input, Kinova::Api::Base::JointLimitation *output)
+{
+	
+	output->set_joint_identifier(input.joint_identifier);
+	output->set_type((Kinova::Api::Base::LimitationType)input.type);
+	output->set_value(input.value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::JointsLimitationsList input, Kinova::Api::Base::JointsLimitationsList *output)
+{
+	 
+	output->clear_joints_limitations();
+	for(int i = 0; i < input.joints_limitations.size(); i++)
+	{
+		ToProtoData(input.joints_limitations[i], output->add_joints_limitations());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Query input, Kinova::Api::Base::Query *output)
+{
+	 
+	ToProtoData(input.start_timestamp, output->mutable_start_timestamp()); 
+	ToProtoData(input.end_timestamp, output->mutable_end_timestamp());
+	output->set_username(input.username);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ConfigurationChangeNotification input, Kinova::Api::Base::ConfigurationChangeNotification *output)
+{
+	
+	output->set_event((Kinova::Api::Base::ConfigurationNotificationEvent)input.event); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	if(input.oneof_configuration_change.sequence_handle.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.sequence_handle[0], output->mutable_sequence_handle());
+	}
+	if(input.oneof_configuration_change.action_handle.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.action_handle[0], output->mutable_action_handle());
+	}
+	if(input.oneof_configuration_change.mapping_handle.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.mapping_handle[0], output->mutable_mapping_handle());
+	}
+	if(input.oneof_configuration_change.map_group_handle.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.map_group_handle[0], output->mutable_map_group_handle());
+	}
+	if(input.oneof_configuration_change.map_handle.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.map_handle[0], output->mutable_map_handle());
+	}
+	if(input.oneof_configuration_change.user_profile_handle.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.user_profile_handle[0], output->mutable_user_profile_handle());
+	}
+	if(input.oneof_configuration_change.protection_zone_handle.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.protection_zone_handle[0], output->mutable_protection_zone_handle());
+	}
+	if(input.oneof_configuration_change.safety_handle.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.safety_handle[0], output->mutable_safety_handle());
+	}
+	if(input.oneof_configuration_change.network_handle.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.network_handle[0], output->mutable_network_handle());
+	}
+	if(input.oneof_configuration_change.ssid.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.ssid[0], output->mutable_ssid());
+	}
+	if(input.oneof_configuration_change.controller_handle.size() > 0)
+	{
+		ToProtoData(input.oneof_configuration_change.controller_handle[0], output->mutable_controller_handle());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MappingInfoNotification input, Kinova::Api::Base::MappingInfoNotification *output)
+{
+	
+	output->set_controller_identifier(input.controller_identifier); 
+	ToProtoData(input.active_map_handle, output->mutable_active_map_handle()); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection()); 
+	ToProtoData(input.mapping_handle, output->mutable_mapping_handle());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Base_ControlModeInformation input, Kinova::Api::Base::ControlModeInformation *output)
+{
+	
+	output->set_mode((Kinova::Api::Base::ControlMode)input.mode);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControlModeNotification input, Kinova::Api::Base::ControlModeNotification *output)
+{
+	
+	output->set_control_mode((Kinova::Api::Base::ControlMode)input.control_mode); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ServoingModeInformation input, Kinova::Api::Base::ServoingModeInformation *output)
+{
+	
+	output->set_servoing_mode((Kinova::Api::Base::ServoingMode)input.servoing_mode);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::OperatingModeInformation input, Kinova::Api::Base::OperatingModeInformation *output)
+{
+	
+	output->set_operating_mode((Kinova::Api::Base::OperatingMode)input.operating_mode); 
+	ToProtoData(input.device_handle, output->mutable_device_handle());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::OperatingModeNotification input, Kinova::Api::Base::OperatingModeNotification *output)
+{
+	
+	output->set_operating_mode((Kinova::Api::Base::OperatingMode)input.operating_mode); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection()); 
+	ToProtoData(input.device_handle, output->mutable_device_handle());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ServoingModeNotification input, Kinova::Api::Base::ServoingModeNotification *output)
+{
+	
+	output->set_servoing_mode((Kinova::Api::Base::ServoingMode)input.servoing_mode); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceInfoNotification input, Kinova::Api::Base::SequenceInfoNotification *output)
+{
+	
+	output->set_event_identifier((Kinova::Api::Base::EventIdSequenceInfoNotification)input.event_identifier); 
+	ToProtoData(input.sequence_handle, output->mutable_sequence_handle());
+	output->set_task_index(input.task_index);
+	output->set_group_identifier(input.group_identifier); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle());
+	output->set_abort_details((Kinova::Api::SubErrorCodes)input.abort_details); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceInformation input, Kinova::Api::Base::SequenceInformation *output)
+{
+	
+	output->set_event_identifier((Kinova::Api::Base::EventIdSequenceInfoNotification)input.event_identifier);
+	output->set_task_index(input.task_index);
+	output->set_task_identifier(input.task_identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ProtectionZoneNotification input, Kinova::Api::Base::ProtectionZoneNotification *output)
+{
+	
+	output->set_event((Kinova::Api::Base::ProtectionZoneEvent)input.event); 
+	ToProtoData(input.handle, output->mutable_handle()); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ProtectionZoneInformation input, Kinova::Api::Base::ProtectionZoneInformation *output)
+{
+	
+	output->set_event((Kinova::Api::Base::ProtectionZoneEvent)input.event);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::UserNotification input, Kinova::Api::Base::UserNotification *output)
+{
+	
+	output->set_user_event((Kinova::Api::Base::UserEvent)input.user_event); 
+	ToProtoData(input.modified_user, output->mutable_modified_user()); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerHandle input, Kinova::Api::Base::ControllerHandle *output)
+{
+	
+	output->set_type((Kinova::Api::Base::ControllerType)input.type);
+	output->set_controller_identifier(input.controller_identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerElementHandle input, Kinova::Api::Base::ControllerElementHandle *output)
+{
+	 
+	ToProtoData(input.controller_handle, output->mutable_controller_handle());
+	if(input.oneof_identifier.button.size() > 0)
+	{
+		output->set_button(input.oneof_identifier.button[0]);
+	}
+	if(input.oneof_identifier.axis.size() > 0)
+	{
+		output->set_axis(input.oneof_identifier.axis[0]);
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerNotification input, Kinova::Api::Base::ControllerNotification *output)
+{
+	 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	if(input.oneof_state.controller_state.size() > 0)
+	{
+		ToProtoData(input.oneof_state.controller_state[0], output->mutable_controller_state());
+	}
+	if(input.oneof_state.controller_element.size() > 0)
+	{
+		ToProtoData(input.oneof_state.controller_element[0], output->mutable_controller_element());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerList input, Kinova::Api::Base::ControllerList *output)
+{
+	 
+	output->clear_handles();
+	for(int i = 0; i < input.handles.size(); i++)
+	{
+		ToProtoData(input.handles[i], output->add_handles());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerState input, Kinova::Api::Base::ControllerState *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_event_type((Kinova::Api::Base::ControllerEventType)input.event_type);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerElementState input, Kinova::Api::Base::ControllerElementState *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_event_type((Kinova::Api::Base::ControllerElementEventType)input.event_type);
+	output->set_axis_value(input.axis_value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActionNotification input, Kinova::Api::Base::ActionNotification *output)
+{
+	
+	output->set_action_event((Kinova::Api::Base::ActionEvent)input.action_event); 
+	ToProtoData(input.handle, output->mutable_handle()); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle());
+	output->set_abort_details((Kinova::Api::SubErrorCodes)input.abort_details); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActionExecutionState input, Kinova::Api::Base::ActionExecutionState *output)
+{
+	
+	output->set_action_event((Kinova::Api::Base::ActionEvent)input.action_event); 
+	ToProtoData(input.handle, output->mutable_handle());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::RobotEventNotification input, Kinova::Api::Base::RobotEventNotification *output)
+{
+	
+	output->set_event((Kinova::Api::Base::RobotEvent)input.event); 
+	ToProtoData(input.handle, output->mutable_handle()); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::FactoryNotification input, Kinova::Api::Base::FactoryNotification *output)
+{
+	
+	output->set_event((Kinova::Api::Base::FactoryEvent)input.event); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::NetworkNotification input, Kinova::Api::Base::NetworkNotification *output)
+{
+	
+	output->set_event((Kinova::Api::Base::NetworkEvent)input.event); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ConfigurationChangeNotificationList input, Kinova::Api::Base::ConfigurationChangeNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MappingInfoNotificationList input, Kinova::Api::Base::MappingInfoNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControlModeNotificationList input, Kinova::Api::Base::ControlModeNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::OperatingModeNotificationList input, Kinova::Api::Base::OperatingModeNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ServoingModeNotificationList input, Kinova::Api::Base::ServoingModeNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SequenceInfoNotificationList input, Kinova::Api::Base::SequenceInfoNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ProtectionZoneNotificationList input, Kinova::Api::Base::ProtectionZoneNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::UserNotificationList input, Kinova::Api::Base::UserNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyNotificationList input, Kinova::Api::Base::SafetyNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerNotificationList input, Kinova::Api::Base::ControllerNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActionNotificationList input, Kinova::Api::Base::ActionNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::RobotEventNotificationList input, Kinova::Api::Base::RobotEventNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::NetworkNotificationList input, Kinova::Api::Base::NetworkNotificationList *output)
+{
+	 
+	output->clear_notifications();
+	for(int i = 0; i < input.notifications.size(); i++)
+	{
+		ToProtoData(input.notifications[i], output->add_notifications());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MappingHandle input, Kinova::Api::Base::MappingHandle *output)
+{
+	
+	output->set_identifier(input.identifier);
+	output->set_permission(input.permission);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyEvent input, Kinova::Api::Base::SafetyEvent *output)
+{
+	 
+	ToProtoData(input.safety_handle, output->mutable_safety_handle());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerEvent input, Kinova::Api::Base::ControllerEvent *output)
+{
+	
+	output->set_input_type((Kinova::Api::Base::ControllerInputType)input.input_type);
+	output->set_behavior((Kinova::Api::Base::ControllerBehavior)input.behavior);
+	output->set_input_identifier(input.input_identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::GpioEvent input, Kinova::Api::Base::GpioEvent *output)
+{
+	
+	output->set_input_type((Kinova::Api::Base::ControllerInputType)input.input_type);
+	output->set_behavior((Kinova::Api::Base::GpioBehavior)input.behavior);
+	output->set_input_identifier(input.input_identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MapEvent input, Kinova::Api::Base::MapEvent *output)
+{
+	
+	output->set_name(input.name);
+	if(input.oneof_events.safety_event.size() > 0)
+	{
+		ToProtoData(input.oneof_events.safety_event[0], output->mutable_safety_event());
+	}
+	if(input.oneof_events.gpio_event.size() > 0)
+	{
+		ToProtoData(input.oneof_events.gpio_event[0], output->mutable_gpio_event());
+	}
+	if(input.oneof_events.controller_event.size() > 0)
+	{
+		ToProtoData(input.oneof_events.controller_event[0], output->mutable_controller_event());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MapElement input, Kinova::Api::Base::MapElement *output)
+{
+	 
+	ToProtoData(input.event, output->mutable_event()); 
+	ToProtoData(input.action, output->mutable_action());
+	output->set_name(input.name);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActivateMapHandle input, Kinova::Api::Base::ActivateMapHandle *output)
+{
+	 
+	ToProtoData(input.mapping_handle, output->mutable_mapping_handle()); 
+	ToProtoData(input.map_group_handle, output->mutable_map_group_handle()); 
+	ToProtoData(input.map_handle, output->mutable_map_handle());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Map input, Kinova::Api::Base::Map *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_name(input.name); 
+	output->clear_elements();
+	for(int i = 0; i < input.elements.size(); i++)
+	{
+		ToProtoData(input.elements[i], output->add_elements());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MapHandle input, Kinova::Api::Base::MapHandle *output)
+{
+	
+	output->set_identifier(input.identifier);
+	output->set_permission(input.permission);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MapList input, Kinova::Api::Base::MapList *output)
+{
+	 
+	output->clear_map_list();
+	for(int i = 0; i < input.map_list.size(); i++)
+	{
+		ToProtoData(input.map_list[i], output->add_map_list());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MapGroupHandle input, Kinova::Api::Base::MapGroupHandle *output)
+{
+	
+	output->set_identifier(input.identifier);
+	output->set_permission(input.permission);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MapGroup input, Kinova::Api::Base::MapGroup *output)
+{
+	 
+	ToProtoData(input.group_handle, output->mutable_group_handle());
+	output->set_name(input.name); 
+	ToProtoData(input.related_mapping_handle, output->mutable_related_mapping_handle()); 
+	ToProtoData(input.parent_group_handle, output->mutable_parent_group_handle()); 
+	output->clear_children_map_group_handles();
+	for(int i = 0; i < input.children_map_group_handles.size(); i++)
+	{
+		ToProtoData(input.children_map_group_handles[i], output->add_children_map_group_handles());
+	} 
+	output->clear_map_handles();
+	for(int i = 0; i < input.map_handles.size(); i++)
+	{
+		ToProtoData(input.map_handles[i], output->add_map_handles());
+	}
+	output->set_application_data(input.application_data);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MapGroupList input, Kinova::Api::Base::MapGroupList *output)
+{
+	 
+	output->clear_map_groups();
+	for(int i = 0; i < input.map_groups.size(); i++)
+	{
+		ToProtoData(input.map_groups[i], output->add_map_groups());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Mapping input, Kinova::Api::Base::Mapping *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_name(input.name);
+	output->set_controller_identifier(input.controller_identifier); 
+	ToProtoData(input.active_map_group_handle, output->mutable_active_map_group_handle()); 
+	output->clear_map_group_handles();
+	for(int i = 0; i < input.map_group_handles.size(); i++)
+	{
+		ToProtoData(input.map_group_handles[i], output->add_map_group_handles());
+	} 
+	ToProtoData(input.active_map_handle, output->mutable_active_map_handle()); 
+	output->clear_map_handles();
+	for(int i = 0; i < input.map_handles.size(); i++)
+	{
+		ToProtoData(input.map_handles[i], output->add_map_handles());
+	}
+	output->set_application_data(input.application_data);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MappingList input, Kinova::Api::Base::MappingList *output)
+{
+	 
+	output->clear_mappings();
+	for(int i = 0; i < input.mappings.size(); i++)
+	{
+		ToProtoData(input.mappings[i], output->add_mappings());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TransformationMatrix input, Kinova::Api::Base::TransformationMatrix *output)
+{
+	 
+	ToProtoData(input.r0, output->mutable_r0()); 
+	ToProtoData(input.r1, output->mutable_r1()); 
+	ToProtoData(input.r2, output->mutable_r2()); 
+	ToProtoData(input.r3, output->mutable_r3());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TransformationRow input, Kinova::Api::Base::TransformationRow *output)
+{
+	
+	output->set_c0(input.c0);
+	output->set_c1(input.c1);
+	output->set_c2(input.c2);
+	output->set_c3(input.c3);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Pose input, Kinova::Api::Base::Pose *output)
+{
+	
+	output->set_x(input.x);
+	output->set_y(input.y);
+	output->set_z(input.z);
+	output->set_theta_x(input.theta_x);
+	output->set_theta_y(input.theta_y);
+	output->set_theta_z(input.theta_z);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Base_Position input, Kinova::Api::Base::Position *output)
+{
+	
+	output->set_x(input.x);
+	output->set_y(input.y);
+	output->set_z(input.z);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Orientation input, Kinova::Api::Base::Orientation *output)
+{
+	
+	output->set_theta_x(input.theta_x);
+	output->set_theta_y(input.theta_y);
+	output->set_theta_z(input.theta_z);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CartesianSpeed input, Kinova::Api::Base::CartesianSpeed *output)
+{
+	
+	output->set_translation(input.translation);
+	output->set_orientation(input.orientation);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CartesianTrajectoryConstraint input, Kinova::Api::Base::CartesianTrajectoryConstraint *output)
+{
+	
+	if(input.oneof_type.speed.size() > 0)
+	{
+		ToProtoData(input.oneof_type.speed[0], output->mutable_speed());
+	}
+	if(input.oneof_type.duration.size() > 0)
+	{
+		output->set_duration(input.oneof_type.duration[0]);
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::JointTrajectoryConstraint input, Kinova::Api::Base::JointTrajectoryConstraint *output)
+{
+	
+	output->set_type((Kinova::Api::Base::JointTrajectoryConstraintType)input.type);
+	output->set_value(input.value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Wrench input, Kinova::Api::Base::Wrench *output)
+{
+	
+	output->set_force_x(input.force_x);
+	output->set_force_y(input.force_y);
+	output->set_force_z(input.force_z);
+	output->set_torque_x(input.torque_x);
+	output->set_torque_y(input.torque_y);
+	output->set_torque_z(input.torque_z);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Twist input, Kinova::Api::Base::Twist *output)
+{
+	
+	output->set_linear_x(input.linear_x);
+	output->set_linear_y(input.linear_y);
+	output->set_linear_z(input.linear_z);
+	output->set_angular_x(input.angular_x);
+	output->set_angular_y(input.angular_y);
+	output->set_angular_z(input.angular_z);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Admittance input, Kinova::Api::Base::Admittance *output)
+{
+	
+	output->set_admittance_mode((Kinova::Api::Base::AdmittanceMode)input.admittance_mode);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ConstrainedPose input, Kinova::Api::Base::ConstrainedPose *output)
+{
+	 
+	ToProtoData(input.target_pose, output->mutable_target_pose()); 
+	ToProtoData(input.constraint, output->mutable_constraint());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ConstrainedPosition input, Kinova::Api::Base::ConstrainedPosition *output)
+{
+	 
+	ToProtoData(input.target_position, output->mutable_target_position()); 
+	ToProtoData(input.constraint, output->mutable_constraint());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ConstrainedOrientation input, Kinova::Api::Base::ConstrainedOrientation *output)
+{
+	 
+	ToProtoData(input.target_orientation, output->mutable_target_orientation()); 
+	ToProtoData(input.constraint, output->mutable_constraint());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::WrenchCommand input, Kinova::Api::Base::WrenchCommand *output)
+{
+	
+	output->set_reference_frame((Kinova::Api::Common::CartesianReferenceFrame)input.reference_frame);
+	output->set_mode((Kinova::Api::Base::WrenchMode)input.mode); 
+	ToProtoData(input.wrench, output->mutable_wrench());
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TwistCommand input, Kinova::Api::Base::TwistCommand *output)
+{
+	
+	output->set_reference_frame((Kinova::Api::Common::CartesianReferenceFrame)input.reference_frame); 
+	ToProtoData(input.twist, output->mutable_twist());
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ConstrainedJointAngles input, Kinova::Api::Base::ConstrainedJointAngles *output)
+{
+	 
+	ToProtoData(input.joint_angles, output->mutable_joint_angles()); 
+	ToProtoData(input.constraint, output->mutable_constraint());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ConstrainedJointAngle input, Kinova::Api::Base::ConstrainedJointAngle *output)
+{
+	
+	output->set_joint_identifier(input.joint_identifier);
+	output->set_value(input.value); 
+	ToProtoData(input.constraint, output->mutable_constraint());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::JointAngles input, Kinova::Api::Base::JointAngles *output)
+{
+	 
+	output->clear_joint_angles();
+	for(int i = 0; i < input.joint_angles.size(); i++)
+	{
+		ToProtoData(input.joint_angles[i], output->add_joint_angles());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::JointAngle input, Kinova::Api::Base::JointAngle *output)
+{
+	
+	output->set_joint_identifier(input.joint_identifier);
+	output->set_value(input.value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Base_JointSpeeds input, Kinova::Api::Base::JointSpeeds *output)
+{
+	 
+	output->clear_joint_speeds();
+	for(int i = 0; i < input.joint_speeds.size(); i++)
+	{
+		ToProtoData(input.joint_speeds[i], output->add_joint_speeds());
+	}
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::JointSpeed input, Kinova::Api::Base::JointSpeed *output)
+{
+	
+	output->set_joint_identifier(input.joint_identifier);
+	output->set_value(input.value);
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::JointTorques input, Kinova::Api::Base::JointTorques *output)
+{
+	 
+	output->clear_joint_torques();
+	for(int i = 0; i < input.joint_torques.size(); i++)
+	{
+		ToProtoData(input.joint_torques[i], output->add_joint_torques());
+	}
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::JointTorque input, Kinova::Api::Base::JointTorque *output)
+{
+	
+	output->set_joint_identifier(input.joint_identifier);
+	output->set_value(input.value);
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::GripperCommand input, Kinova::Api::Base::GripperCommand *output)
+{
+	
+	output->set_mode((Kinova::Api::Base::GripperMode)input.mode); 
+	ToProtoData(input.gripper, output->mutable_gripper());
+	output->set_duration(input.duration);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::GripperRequest input, Kinova::Api::Base::GripperRequest *output)
+{
+	
+	output->set_mode((Kinova::Api::Base::GripperMode)input.mode);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Gripper input, Kinova::Api::Base::Gripper *output)
+{
+	 
+	output->clear_finger();
+	for(int i = 0; i < input.finger.size(); i++)
+	{
+		ToProtoData(input.finger[i], output->add_finger());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Finger input, Kinova::Api::Base::Finger *output)
+{
+	
+	output->set_finger_identifier(input.finger_identifier);
+	output->set_value(input.value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SystemTime input, Kinova::Api::Base::SystemTime *output)
+{
+	
+	output->set_sec(input.sec);
+	output->set_min(input.min);
+	output->set_hour(input.hour);
+	output->set_mday(input.mday);
+	output->set_mon(input.mon);
+	output->set_year(input.year);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerConfigurationMode input, Kinova::Api::Base::ControllerConfigurationMode *output)
+{
+	
+	output->set_enable(input.enable);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerConfiguration input, Kinova::Api::Base::ControllerConfiguration *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_name(input.name); 
+	ToProtoData(input.active_mapping_handle, output->mutable_active_mapping_handle());
+	output->set_analog_input_identifier_enum(input.analog_input_identifier_enum);
+	output->set_digital_input_identifier_enum(input.digital_input_identifier_enum);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControllerConfigurationList input, Kinova::Api::Base::ControllerConfigurationList *output)
+{
+	 
+	output->clear_controller_configurations();
+	for(int i = 0; i < input.controller_configurations.size(); i++)
+	{
+		ToProtoData(input.controller_configurations[i], output->add_controller_configurations());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActuatorInformation input, Kinova::Api::Base::ActuatorInformation *output)
+{
+	
+	output->set_count(input.count);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ArmStateInformation input, Kinova::Api::Base::ArmStateInformation *output)
+{
+	
+	output->set_active_state((Kinova::Api::Common::ArmState)input.active_state); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ArmStateNotification input, Kinova::Api::Base::ArmStateNotification *output)
+{
+	
+	output->set_active_state((Kinova::Api::Common::ArmState)input.active_state); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Base_CapSenseConfig input, Kinova::Api::Base::CapSenseConfig *output)
+{
+	
+	output->set_identifier(input.identifier);
+	output->set_mode((Kinova::Api::Base::CapSenseMode)input.mode);
+	output->set_threshold_a(input.threshold_a);
+	output->set_threshold_b(input.threshold_b);
+	output->set_sensitivity_a(input.sensitivity_a);
+	output->set_sensitivity_b(input.sensitivity_b);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::BridgeList input, Kinova::Api::Base::BridgeList *output)
+{
+	 
+	output->clear_bridgeconfig();
+	for(int i = 0; i < input.bridgeConfig.size(); i++)
+	{
+		ToProtoData(input.bridgeConfig[i], output->add_bridgeconfig());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::BridgeResult input, Kinova::Api::Base::BridgeResult *output)
+{
+	 
+	ToProtoData(input.bridge_id, output->mutable_bridge_id());
+	output->set_status((Kinova::Api::Base::BridgeStatus)input.status);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::BridgeIdentifier input, Kinova::Api::Base::BridgeIdentifier *output)
+{
+	
+	output->set_bridge_id(input.bridge_id);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::BridgeConfig input, Kinova::Api::Base::BridgeConfig *output)
+{
+	
+	output->set_device_identifier(input.device_identifier);
+	output->set_bridgetype((Kinova::Api::Base::BridgeType)input.bridgetype); 
+	ToProtoData(input.port_config, output->mutable_port_config()); 
+	ToProtoData(input.bridge_id, output->mutable_bridge_id());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::BridgePortConfig input, Kinova::Api::Base::BridgePortConfig *output)
+{
+	
+	output->set_target_port(input.target_port);
+	output->set_out_port(input.out_port);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::PreComputedJointTrajectory input, Kinova::Api::Base::PreComputedJointTrajectory *output)
+{
+	
+	output->set_mode((Kinova::Api::Base::TrajectoryContinuityMode)input.mode); 
+	output->clear_trajectory_elements();
+	for(int i = 0; i < input.trajectory_elements.size(); i++)
+	{
+		ToProtoData(input.trajectory_elements[i], output->add_trajectory_elements());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::PreComputedJointTrajectoryElement input, Kinova::Api::Base::PreComputedJointTrajectoryElement *output)
+{
+	
+	output->clear_joint_angles();
+	for(int i = 0; i < input.joint_angles.size(); i++)
+	{
+		output->add_joint_angles(input.joint_angles[i]);
+	}
+	output->clear_joint_speeds();
+	for(int i = 0; i < input.joint_speeds.size(); i++)
+	{
+		output->add_joint_speeds(input.joint_speeds[i]);
+	}
+	output->clear_joint_accelerations();
+	for(int i = 0; i < input.joint_accelerations.size(); i++)
+	{
+		output->add_joint_accelerations(input.joint_accelerations[i]);
+	}
+	output->set_time_from_start(input.time_from_start);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TrajectoryErrorElement input, Kinova::Api::Base::TrajectoryErrorElement *output)
+{
+	
+	output->set_error_type((Kinova::Api::Base::TrajectoryErrorType)input.error_type);
+	output->set_error_identifier((Kinova::Api::Base::TrajectoryErrorIdentifier)input.error_identifier);
+	output->set_error_value(input.error_value);
+	output->set_min_value(input.min_value);
+	output->set_max_value(input.max_value);
+	output->set_index(input.index);
+	output->set_message(input.message);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TrajectoryErrorReport input, Kinova::Api::Base::TrajectoryErrorReport *output)
+{
+	 
+	output->clear_trajectory_error_elements();
+	for(int i = 0; i < input.trajectory_error_elements.size(); i++)
+	{
+		ToProtoData(input.trajectory_error_elements[i], output->add_trajectory_error_elements());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::FirmwareBundleVersions input, Kinova::Api::Base::FirmwareBundleVersions *output)
+{
+	
+	output->set_main_bundle_version(input.main_bundle_version); 
+	output->clear_components_versions();
+	for(int i = 0; i < input.components_versions.size(); i++)
+	{
+		ToProtoData(input.components_versions[i], output->add_components_versions());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::FirmwareComponentVersion input, Kinova::Api::Base::FirmwareComponentVersion *output)
+{
+	
+	output->set_name(input.name);
+	output->set_version(input.version);
+	output->set_device_id(input.device_id);
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/base_ros_converter.cpp b/kortex_driver/src/generated/robot/base_ros_converter.cpp
new file mode 100644
index 0000000..6ac426c
--- /dev/null
+++ b/kortex_driver/src/generated/robot/base_ros_converter.cpp
@@ -0,0 +1,2248 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+
+int ToRosData(Kinova::Api::Base::FullUserProfile input, kortex_driver::FullUserProfile &output)
+{
+	
+	ToRosData(input.user_profile(), output.user_profile);
+	output.password = input.password();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::UserProfile input, kortex_driver::UserProfile &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.username = input.username();
+	output.firstname = input.firstname();
+	output.lastname = input.lastname();
+	output.application_data = input.application_data();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::UserProfileList input, kortex_driver::UserProfileList &output)
+{
+	
+	output.user_profiles.clear();
+	for(int i = 0; i < input.user_profiles_size(); i++)
+	{
+		kortex_driver::UserProfile temp;
+		ToRosData(input.user_profiles(i), temp);
+		output.user_profiles.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::UserList input, kortex_driver::UserList &output)
+{
+	
+	output.user_handles.clear();
+	for(int i = 0; i < input.user_handles_size(); i++)
+	{
+		kortex_driver::UserProfileHandle temp;
+		ToRosData(input.user_handles(i), temp);
+		output.user_handles.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::PasswordChange input, kortex_driver::PasswordChange &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.old_password = input.old_password();
+	output.new_password = input.new_password();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceHandle input, kortex_driver::SequenceHandle &output)
+{
+	
+	output.identifier = input.identifier();
+	output.permission = input.permission();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::AdvancedSequenceHandle input, kortex_driver::AdvancedSequenceHandle &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.in_loop = input.in_loop();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceTaskHandle input, kortex_driver::SequenceTaskHandle &output)
+{
+	
+	ToRosData(input.sequence_handle(), output.sequence_handle);
+	output.task_index = input.task_index();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceTask input, kortex_driver::SequenceTask &output)
+{
+	
+	output.group_identifier = input.group_identifier();
+	ToRosData(input.action(), output.action);
+	output.application_data = input.application_data();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceTasks input, kortex_driver::SequenceTasks &output)
+{
+	
+	output.sequence_tasks.clear();
+	for(int i = 0; i < input.sequence_tasks_size(); i++)
+	{
+		kortex_driver::SequenceTask temp;
+		ToRosData(input.sequence_tasks(i), temp);
+		output.sequence_tasks.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceTasksConfiguration input, kortex_driver::SequenceTasksConfiguration &output)
+{
+	
+	ToRosData(input.sequence_task_handle(), output.sequence_task_handle);
+	output.sequence_tasks.clear();
+	for(int i = 0; i < input.sequence_tasks_size(); i++)
+	{
+		kortex_driver::SequenceTask temp;
+		ToRosData(input.sequence_tasks(i), temp);
+		output.sequence_tasks.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceTaskConfiguration input, kortex_driver::SequenceTaskConfiguration &output)
+{
+	
+	ToRosData(input.sequence_task_handle(), output.sequence_task_handle);
+	ToRosData(input.sequence_task(), output.sequence_task);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceTasksRange input, kortex_driver::SequenceTasksRange &output)
+{
+	
+	output.first_task_index = input.first_task_index();
+	output.second_task_index = input.second_task_index();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceTasksPair input, kortex_driver::SequenceTasksPair &output)
+{
+	
+	ToRosData(input.sequence_handle(), output.sequence_handle);
+	output.first_task_index = input.first_task_index();
+	output.second_task_index = input.second_task_index();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Sequence input, kortex_driver::Sequence &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.name = input.name();
+	output.application_data = input.application_data();
+	output.tasks.clear();
+	for(int i = 0; i < input.tasks_size(); i++)
+	{
+		kortex_driver::SequenceTask temp;
+		ToRosData(input.tasks(i), temp);
+		output.tasks.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceList input, kortex_driver::SequenceList &output)
+{
+	
+	output.sequence_list.clear();
+	for(int i = 0; i < input.sequence_list_size(); i++)
+	{
+		kortex_driver::Sequence temp;
+		ToRosData(input.sequence_list(i), temp);
+		output.sequence_list.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::AppendActionInformation input, kortex_driver::AppendActionInformation &output)
+{
+	
+	ToRosData(input.sequence_handle(), output.sequence_handle);
+	ToRosData(input.action(), output.action);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ActionHandle input, kortex_driver::ActionHandle &output)
+{
+	
+	output.identifier = input.identifier();
+	output.action_type = input.action_type();
+	output.permission = input.permission();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::RequestedActionType input, kortex_driver::RequestedActionType &output)
+{
+	
+	output.action_type = input.action_type();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Action input, kortex_driver::Action &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.name = input.name();
+	output.application_data = input.application_data();
+
+	
+	auto oneof_type_action_parameters = input.action_parameters_case();
+	switch(oneof_type_action_parameters)
+	{ 
+	
+		case Kinova::Api::Base::Action::kSendTwistCommand:
+		{
+			decltype(output.oneof_action_parameters.send_twist_command)::value_type temp;
+			ToRosData(input.send_twist_command(), temp);
+			output.oneof_action_parameters.send_twist_command.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kSendWrenchCommand:
+		{
+			decltype(output.oneof_action_parameters.send_wrench_command)::value_type temp;
+			ToRosData(input.send_wrench_command(), temp);
+			output.oneof_action_parameters.send_wrench_command.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kSendJointSpeeds:
+		{
+			decltype(output.oneof_action_parameters.send_joint_speeds)::value_type temp;
+			ToRosData(input.send_joint_speeds(), temp);
+			output.oneof_action_parameters.send_joint_speeds.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kReachPose:
+		{
+			decltype(output.oneof_action_parameters.reach_pose)::value_type temp;
+			ToRosData(input.reach_pose(), temp);
+			output.oneof_action_parameters.reach_pose.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kReachJointAngles:
+		{
+			decltype(output.oneof_action_parameters.reach_joint_angles)::value_type temp;
+			ToRosData(input.reach_joint_angles(), temp);
+			output.oneof_action_parameters.reach_joint_angles.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kToggleAdmittanceMode:
+		{
+			output.oneof_action_parameters.toggle_admittance_mode.push_back(input.toggle_admittance_mode());
+	
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kSnapshot:
+		{
+			decltype(output.oneof_action_parameters.snapshot)::value_type temp;
+			ToRosData(input.snapshot(), temp);
+			output.oneof_action_parameters.snapshot.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kSwitchControlMapping:
+		{
+			decltype(output.oneof_action_parameters.switch_control_mapping)::value_type temp;
+			ToRosData(input.switch_control_mapping(), temp);
+			output.oneof_action_parameters.switch_control_mapping.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kNavigateJoints:
+		{
+			output.oneof_action_parameters.navigate_joints.push_back(input.navigate_joints());
+	
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kNavigateMappings:
+		{
+			output.oneof_action_parameters.navigate_mappings.push_back(input.navigate_mappings());
+	
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kChangeTwist:
+		{
+			decltype(output.oneof_action_parameters.change_twist)::value_type temp;
+			ToRosData(input.change_twist(), temp);
+			output.oneof_action_parameters.change_twist.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kChangeJointSpeeds:
+		{
+			decltype(output.oneof_action_parameters.change_joint_speeds)::value_type temp;
+			ToRosData(input.change_joint_speeds(), temp);
+			output.oneof_action_parameters.change_joint_speeds.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kChangeWrench:
+		{
+			decltype(output.oneof_action_parameters.change_wrench)::value_type temp;
+			ToRosData(input.change_wrench(), temp);
+			output.oneof_action_parameters.change_wrench.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kApplyEmergencyStop:
+		{
+			decltype(output.oneof_action_parameters.apply_emergency_stop)::value_type temp;
+			ToRosData(input.apply_emergency_stop(), temp);
+			output.oneof_action_parameters.apply_emergency_stop.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kClearFaults:
+		{
+			decltype(output.oneof_action_parameters.clear_faults)::value_type temp;
+			ToRosData(input.clear_faults(), temp);
+			output.oneof_action_parameters.clear_faults.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kDelay:
+		{
+			decltype(output.oneof_action_parameters.delay)::value_type temp;
+			ToRosData(input.delay(), temp);
+			output.oneof_action_parameters.delay.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kExecuteAction:
+		{
+			decltype(output.oneof_action_parameters.execute_action)::value_type temp;
+			ToRosData(input.execute_action(), temp);
+			output.oneof_action_parameters.execute_action.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kSendGripperCommand:
+		{
+			decltype(output.oneof_action_parameters.send_gripper_command)::value_type temp;
+			ToRosData(input.send_gripper_command(), temp);
+			output.oneof_action_parameters.send_gripper_command.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kStopAction:
+		{
+			decltype(output.oneof_action_parameters.stop_action)::value_type temp;
+			ToRosData(input.stop_action(), temp);
+			output.oneof_action_parameters.stop_action.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::Action::kPlayPreComputedTrajectory:
+		{
+			decltype(output.oneof_action_parameters.play_pre_computed_trajectory)::value_type temp;
+			ToRosData(input.play_pre_computed_trajectory(), temp);
+			output.oneof_action_parameters.play_pre_computed_trajectory.push_back(temp);
+			break;
+		}}
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Snapshot input, kortex_driver::Snapshot &output)
+{
+	
+	output.snapshot_type = input.snapshot_type();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SwitchControlMapping input, kortex_driver::SwitchControlMapping &output)
+{
+	
+	output.controller_identifier = input.controller_identifier();
+	ToRosData(input.map_group_handle(), output.map_group_handle);
+	ToRosData(input.map_handle(), output.map_handle);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ChangeTwist input, kortex_driver::ChangeTwist &output)
+{
+	
+	output.linear = input.linear();
+	output.angular = input.angular();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ChangeJointSpeeds input, kortex_driver::ChangeJointSpeeds &output)
+{
+	
+	ToRosData(input.joint_speeds(), output.joint_speeds);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ChangeWrench input, kortex_driver::ChangeWrench &output)
+{
+	
+	output.force = input.force();
+	output.torque = input.torque();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::EmergencyStop input, kortex_driver::EmergencyStop &output)
+{
+	
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Faults input, kortex_driver::Faults &output)
+{
+	
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Delay input, kortex_driver::Delay &output)
+{
+	
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Stop input, kortex_driver::Base_Stop &output)
+{
+	
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ActionList input, kortex_driver::ActionList &output)
+{
+	
+	output.action_list.clear();
+	for(int i = 0; i < input.action_list_size(); i++)
+	{
+		kortex_driver::Action temp;
+		ToRosData(input.action_list(i), temp);
+		output.action_list.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Timeout input, kortex_driver::Timeout &output)
+{
+	
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Ssid input, kortex_driver::Ssid &output)
+{
+	
+	output.identifier = input.identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::CommunicationInterfaceConfiguration input, kortex_driver::CommunicationInterfaceConfiguration &output)
+{
+	
+	output.type = input.type();
+	output.enable = input.enable();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::NetworkHandle input, kortex_driver::NetworkHandle &output)
+{
+	
+	output.type = input.type();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::IPv4Configuration input, kortex_driver::IPv4Configuration &output)
+{
+	
+	output.ip_address = input.ip_address();
+	output.subnet_mask = input.subnet_mask();
+	output.default_gateway = input.default_gateway();
+	output.dhcp_enabled = input.dhcp_enabled();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::IPv4Information input, kortex_driver::IPv4Information &output)
+{
+	
+	output.ip_address = input.ip_address();
+	output.subnet_mask = input.subnet_mask();
+	output.default_gateway = input.default_gateway();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::FullIPv4Configuration input, kortex_driver::FullIPv4Configuration &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	ToRosData(input.ipv4_configuration(), output.ipv4_configuration);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::WifiInformation input, kortex_driver::WifiInformation &output)
+{
+	
+	ToRosData(input.ssid(), output.ssid);
+	output.security_type = input.security_type();
+	output.encryption_type = input.encryption_type();
+	output.signal_quality = input.signal_quality();
+	output.signal_strength = input.signal_strength();
+	output.frequency = input.frequency();
+	output.channel = input.channel();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::WifiInformationList input, kortex_driver::WifiInformationList &output)
+{
+	
+	output.wifi_information_list.clear();
+	for(int i = 0; i < input.wifi_information_list_size(); i++)
+	{
+		kortex_driver::WifiInformation temp;
+		ToRosData(input.wifi_information_list(i), temp);
+		output.wifi_information_list.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::WifiConfiguration input, kortex_driver::WifiConfiguration &output)
+{
+	
+	ToRosData(input.ssid(), output.ssid);
+	output.security_key = input.security_key();
+	output.connect_automatically = input.connect_automatically();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::WifiConfigurationList input, kortex_driver::WifiConfigurationList &output)
+{
+	
+	output.wifi_configuration_list.clear();
+	for(int i = 0; i < input.wifi_configuration_list_size(); i++)
+	{
+		kortex_driver::WifiConfiguration temp;
+		ToRosData(input.wifi_configuration_list(i), temp);
+		output.wifi_configuration_list.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ProtectionZoneHandle input, kortex_driver::ProtectionZoneHandle &output)
+{
+	
+	output.identifier = input.identifier();
+	output.permission = input.permission();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::RotationMatrixRow input, kortex_driver::Base_RotationMatrixRow &output)
+{
+	
+	output.column1 = input.column1();
+	output.column2 = input.column2();
+	output.column3 = input.column3();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::RotationMatrix input, kortex_driver::Base_RotationMatrix &output)
+{
+	
+	ToRosData(input.row1(), output.row1);
+	ToRosData(input.row2(), output.row2);
+	ToRosData(input.row3(), output.row3);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Point input, kortex_driver::Point &output)
+{
+	
+	output.x = input.x();
+	output.y = input.y();
+	output.z = input.z();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ZoneShape input, kortex_driver::ZoneShape &output)
+{
+	
+	output.shape_type = input.shape_type();
+	ToRosData(input.origin(), output.origin);
+	ToRosData(input.orientation(), output.orientation);
+	output.dimensions.clear();
+	for(int i = 0; i < input.dimensions_size(); i++)
+	{
+		output.dimensions.push_back(input.dimensions(i));
+	}
+	output.envelope_thickness = input.envelope_thickness();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ProtectionZone input, kortex_driver::ProtectionZone &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.name = input.name();
+	output.application_data = input.application_data();
+	output.is_enabled = input.is_enabled();
+	ToRosData(input.shape(), output.shape);
+	output.limitations.clear();
+	for(int i = 0; i < input.limitations_size(); i++)
+	{
+		kortex_driver::CartesianLimitation temp;
+		ToRosData(input.limitations(i), temp);
+		output.limitations.push_back(temp);
+	}
+	output.envelope_limitations.clear();
+	for(int i = 0; i < input.envelope_limitations_size(); i++)
+	{
+		kortex_driver::CartesianLimitation temp;
+		ToRosData(input.envelope_limitations(i), temp);
+		output.envelope_limitations.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ProtectionZoneList input, kortex_driver::ProtectionZoneList &output)
+{
+	
+	output.protection_zones.clear();
+	for(int i = 0; i < input.protection_zones_size(); i++)
+	{
+		kortex_driver::ProtectionZone temp;
+		ToRosData(input.protection_zones(i), temp);
+		output.protection_zones.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::CartesianLimitation input, kortex_driver::CartesianLimitation &output)
+{
+	
+	output.type = input.type();
+	output.translation = input.translation();
+	output.orientation = input.orientation();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::TwistLimitation input, kortex_driver::TwistLimitation &output)
+{
+	
+	output.linear = input.linear();
+	output.angular = input.angular();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::WrenchLimitation input, kortex_driver::WrenchLimitation &output)
+{
+	
+	output.force = input.force();
+	output.torque = input.torque();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::CartesianLimitationList input, kortex_driver::CartesianLimitationList &output)
+{
+	
+	output.limitations.clear();
+	for(int i = 0; i < input.limitations_size(); i++)
+	{
+		kortex_driver::CartesianLimitation temp;
+		ToRosData(input.limitations(i), temp);
+		output.limitations.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::JointLimitation input, kortex_driver::JointLimitation &output)
+{
+	
+	output.joint_identifier = input.joint_identifier();
+	output.type = input.type();
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::JointsLimitationsList input, kortex_driver::JointsLimitationsList &output)
+{
+	
+	output.joints_limitations.clear();
+	for(int i = 0; i < input.joints_limitations_size(); i++)
+	{
+		kortex_driver::JointLimitation temp;
+		ToRosData(input.joints_limitations(i), temp);
+		output.joints_limitations.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Query input, kortex_driver::Query &output)
+{
+	
+	ToRosData(input.start_timestamp(), output.start_timestamp);
+	ToRosData(input.end_timestamp(), output.end_timestamp);
+	output.username = input.username();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ConfigurationChangeNotification input, kortex_driver::ConfigurationChangeNotification &output)
+{
+	
+	output.event = input.event();
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	auto oneof_type_configuration_change = input.configuration_change_case();
+	switch(oneof_type_configuration_change)
+	{ 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kSequenceHandle:
+		{
+			decltype(output.oneof_configuration_change.sequence_handle)::value_type temp;
+			ToRosData(input.sequence_handle(), temp);
+			output.oneof_configuration_change.sequence_handle.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kActionHandle:
+		{
+			decltype(output.oneof_configuration_change.action_handle)::value_type temp;
+			ToRosData(input.action_handle(), temp);
+			output.oneof_configuration_change.action_handle.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kMappingHandle:
+		{
+			decltype(output.oneof_configuration_change.mapping_handle)::value_type temp;
+			ToRosData(input.mapping_handle(), temp);
+			output.oneof_configuration_change.mapping_handle.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kMapGroupHandle:
+		{
+			decltype(output.oneof_configuration_change.map_group_handle)::value_type temp;
+			ToRosData(input.map_group_handle(), temp);
+			output.oneof_configuration_change.map_group_handle.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kMapHandle:
+		{
+			decltype(output.oneof_configuration_change.map_handle)::value_type temp;
+			ToRosData(input.map_handle(), temp);
+			output.oneof_configuration_change.map_handle.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kUserProfileHandle:
+		{
+			decltype(output.oneof_configuration_change.user_profile_handle)::value_type temp;
+			ToRosData(input.user_profile_handle(), temp);
+			output.oneof_configuration_change.user_profile_handle.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kProtectionZoneHandle:
+		{
+			decltype(output.oneof_configuration_change.protection_zone_handle)::value_type temp;
+			ToRosData(input.protection_zone_handle(), temp);
+			output.oneof_configuration_change.protection_zone_handle.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kSafetyHandle:
+		{
+			decltype(output.oneof_configuration_change.safety_handle)::value_type temp;
+			ToRosData(input.safety_handle(), temp);
+			output.oneof_configuration_change.safety_handle.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kNetworkHandle:
+		{
+			decltype(output.oneof_configuration_change.network_handle)::value_type temp;
+			ToRosData(input.network_handle(), temp);
+			output.oneof_configuration_change.network_handle.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kSsid:
+		{
+			decltype(output.oneof_configuration_change.ssid)::value_type temp;
+			ToRosData(input.ssid(), temp);
+			output.oneof_configuration_change.ssid.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ConfigurationChangeNotification::kControllerHandle:
+		{
+			decltype(output.oneof_configuration_change.controller_handle)::value_type temp;
+			ToRosData(input.controller_handle(), temp);
+			output.oneof_configuration_change.controller_handle.push_back(temp);
+			break;
+		}}
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MappingInfoNotification input, kortex_driver::MappingInfoNotification &output)
+{
+	
+	output.controller_identifier = input.controller_identifier();
+	ToRosData(input.active_map_handle(), output.active_map_handle);
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+	ToRosData(input.mapping_handle(), output.mapping_handle);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControlModeInformation input, kortex_driver::Base_ControlModeInformation &output)
+{
+	
+	output.mode = input.mode();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControlModeNotification input, kortex_driver::ControlModeNotification &output)
+{
+	
+	output.control_mode = input.control_mode();
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ServoingModeInformation input, kortex_driver::ServoingModeInformation &output)
+{
+	
+	output.servoing_mode = input.servoing_mode();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::OperatingModeInformation input, kortex_driver::OperatingModeInformation &output)
+{
+	
+	output.operating_mode = input.operating_mode();
+	ToRosData(input.device_handle(), output.device_handle);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::OperatingModeNotification input, kortex_driver::OperatingModeNotification &output)
+{
+	
+	output.operating_mode = input.operating_mode();
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+	ToRosData(input.device_handle(), output.device_handle);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ServoingModeNotification input, kortex_driver::ServoingModeNotification &output)
+{
+	
+	output.servoing_mode = input.servoing_mode();
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceInfoNotification input, kortex_driver::SequenceInfoNotification &output)
+{
+	
+	output.event_identifier = input.event_identifier();
+	ToRosData(input.sequence_handle(), output.sequence_handle);
+	output.task_index = input.task_index();
+	output.group_identifier = input.group_identifier();
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	output.abort_details = input.abort_details();
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceInformation input, kortex_driver::SequenceInformation &output)
+{
+	
+	output.event_identifier = input.event_identifier();
+	output.task_index = input.task_index();
+	output.task_identifier = input.task_identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ProtectionZoneNotification input, kortex_driver::ProtectionZoneNotification &output)
+{
+	
+	output.event = input.event();
+	ToRosData(input.handle(), output.handle);
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ProtectionZoneInformation input, kortex_driver::ProtectionZoneInformation &output)
+{
+	
+	output.event = input.event();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::UserNotification input, kortex_driver::UserNotification &output)
+{
+	
+	output.user_event = input.user_event();
+	ToRosData(input.modified_user(), output.modified_user);
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerHandle input, kortex_driver::ControllerHandle &output)
+{
+	
+	output.type = input.type();
+	output.controller_identifier = input.controller_identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerElementHandle input, kortex_driver::ControllerElementHandle &output)
+{
+	
+	ToRosData(input.controller_handle(), output.controller_handle);
+
+	
+	auto oneof_type_identifier = input.identifier_case();
+	switch(oneof_type_identifier)
+	{ 
+	
+		case Kinova::Api::Base::ControllerElementHandle::kButton:
+		{
+			break;
+		} 
+	
+		case Kinova::Api::Base::ControllerElementHandle::kAxis:
+		{
+			break;
+		}}
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerNotification input, kortex_driver::ControllerNotification &output)
+{
+	
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	auto oneof_type_state = input.state_case();
+	switch(oneof_type_state)
+	{ 
+	
+		case Kinova::Api::Base::ControllerNotification::kControllerState:
+		{
+			decltype(output.oneof_state.controller_state)::value_type temp;
+			ToRosData(input.controller_state(), temp);
+			output.oneof_state.controller_state.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::ControllerNotification::kControllerElement:
+		{
+			decltype(output.oneof_state.controller_element)::value_type temp;
+			ToRosData(input.controller_element(), temp);
+			output.oneof_state.controller_element.push_back(temp);
+			break;
+		}}
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerList input, kortex_driver::ControllerList &output)
+{
+	
+	output.handles.clear();
+	for(int i = 0; i < input.handles_size(); i++)
+	{
+		kortex_driver::ControllerHandle temp;
+		ToRosData(input.handles(i), temp);
+		output.handles.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerState input, kortex_driver::ControllerState &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.event_type = input.event_type();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerElementState input, kortex_driver::ControllerElementState &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.event_type = input.event_type();
+	output.axis_value = input.axis_value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ActionNotification input, kortex_driver::ActionNotification &output)
+{
+	
+	output.action_event = input.action_event();
+	ToRosData(input.handle(), output.handle);
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	output.abort_details = input.abort_details();
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ActionExecutionState input, kortex_driver::ActionExecutionState &output)
+{
+	
+	output.action_event = input.action_event();
+	ToRosData(input.handle(), output.handle);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::RobotEventNotification input, kortex_driver::RobotEventNotification &output)
+{
+	
+	output.event = input.event();
+	ToRosData(input.handle(), output.handle);
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::FactoryNotification input, kortex_driver::FactoryNotification &output)
+{
+	
+	output.event = input.event();
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::NetworkNotification input, kortex_driver::NetworkNotification &output)
+{
+	
+	output.event = input.event();
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ConfigurationChangeNotificationList input, kortex_driver::ConfigurationChangeNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::ConfigurationChangeNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MappingInfoNotificationList input, kortex_driver::MappingInfoNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::MappingInfoNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControlModeNotificationList input, kortex_driver::ControlModeNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::ControlModeNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::OperatingModeNotificationList input, kortex_driver::OperatingModeNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::OperatingModeNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ServoingModeNotificationList input, kortex_driver::ServoingModeNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::ServoingModeNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SequenceInfoNotificationList input, kortex_driver::SequenceInfoNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::SequenceInfoNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ProtectionZoneNotificationList input, kortex_driver::ProtectionZoneNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::ProtectionZoneNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::UserNotificationList input, kortex_driver::UserNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::UserNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SafetyNotificationList input, kortex_driver::SafetyNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::SafetyNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerNotificationList input, kortex_driver::ControllerNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::ControllerNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ActionNotificationList input, kortex_driver::ActionNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::ActionNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::RobotEventNotificationList input, kortex_driver::RobotEventNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::RobotEventNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::NetworkNotificationList input, kortex_driver::NetworkNotificationList &output)
+{
+	
+	output.notifications.clear();
+	for(int i = 0; i < input.notifications_size(); i++)
+	{
+		kortex_driver::NetworkNotification temp;
+		ToRosData(input.notifications(i), temp);
+		output.notifications.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MappingHandle input, kortex_driver::MappingHandle &output)
+{
+	
+	output.identifier = input.identifier();
+	output.permission = input.permission();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SafetyEvent input, kortex_driver::SafetyEvent &output)
+{
+	
+	ToRosData(input.safety_handle(), output.safety_handle);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerEvent input, kortex_driver::ControllerEvent &output)
+{
+	
+	output.input_type = input.input_type();
+	output.behavior = input.behavior();
+	output.input_identifier = input.input_identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::GpioEvent input, kortex_driver::GpioEvent &output)
+{
+	
+	output.input_type = input.input_type();
+	output.behavior = input.behavior();
+	output.input_identifier = input.input_identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MapEvent input, kortex_driver::MapEvent &output)
+{
+	
+	output.name = input.name();
+
+	
+	auto oneof_type_events = input.events_case();
+	switch(oneof_type_events)
+	{ 
+	
+		case Kinova::Api::Base::MapEvent::kSafetyEvent:
+		{
+			decltype(output.oneof_events.safety_event)::value_type temp;
+			ToRosData(input.safety_event(), temp);
+			output.oneof_events.safety_event.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::MapEvent::kGpioEvent:
+		{
+			decltype(output.oneof_events.gpio_event)::value_type temp;
+			ToRosData(input.gpio_event(), temp);
+			output.oneof_events.gpio_event.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::MapEvent::kControllerEvent:
+		{
+			decltype(output.oneof_events.controller_event)::value_type temp;
+			ToRosData(input.controller_event(), temp);
+			output.oneof_events.controller_event.push_back(temp);
+			break;
+		}}
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MapElement input, kortex_driver::MapElement &output)
+{
+	
+	ToRosData(input.event(), output.event);
+	ToRosData(input.action(), output.action);
+	output.name = input.name();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ActivateMapHandle input, kortex_driver::ActivateMapHandle &output)
+{
+	
+	ToRosData(input.mapping_handle(), output.mapping_handle);
+	ToRosData(input.map_group_handle(), output.map_group_handle);
+	ToRosData(input.map_handle(), output.map_handle);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Map input, kortex_driver::Map &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.name = input.name();
+	output.elements.clear();
+	for(int i = 0; i < input.elements_size(); i++)
+	{
+		kortex_driver::MapElement temp;
+		ToRosData(input.elements(i), temp);
+		output.elements.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MapHandle input, kortex_driver::MapHandle &output)
+{
+	
+	output.identifier = input.identifier();
+	output.permission = input.permission();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MapList input, kortex_driver::MapList &output)
+{
+	
+	output.map_list.clear();
+	for(int i = 0; i < input.map_list_size(); i++)
+	{
+		kortex_driver::Map temp;
+		ToRosData(input.map_list(i), temp);
+		output.map_list.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MapGroupHandle input, kortex_driver::MapGroupHandle &output)
+{
+	
+	output.identifier = input.identifier();
+	output.permission = input.permission();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MapGroup input, kortex_driver::MapGroup &output)
+{
+	
+	ToRosData(input.group_handle(), output.group_handle);
+	output.name = input.name();
+	ToRosData(input.related_mapping_handle(), output.related_mapping_handle);
+	ToRosData(input.parent_group_handle(), output.parent_group_handle);
+	output.children_map_group_handles.clear();
+	for(int i = 0; i < input.children_map_group_handles_size(); i++)
+	{
+		kortex_driver::MapGroupHandle temp;
+		ToRosData(input.children_map_group_handles(i), temp);
+		output.children_map_group_handles.push_back(temp);
+	}
+	output.map_handles.clear();
+	for(int i = 0; i < input.map_handles_size(); i++)
+	{
+		kortex_driver::MapHandle temp;
+		ToRosData(input.map_handles(i), temp);
+		output.map_handles.push_back(temp);
+	}
+	output.application_data = input.application_data();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MapGroupList input, kortex_driver::MapGroupList &output)
+{
+	
+	output.map_groups.clear();
+	for(int i = 0; i < input.map_groups_size(); i++)
+	{
+		kortex_driver::MapGroup temp;
+		ToRosData(input.map_groups(i), temp);
+		output.map_groups.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Mapping input, kortex_driver::Mapping &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.name = input.name();
+	output.controller_identifier = input.controller_identifier();
+	ToRosData(input.active_map_group_handle(), output.active_map_group_handle);
+	output.map_group_handles.clear();
+	for(int i = 0; i < input.map_group_handles_size(); i++)
+	{
+		kortex_driver::MapGroupHandle temp;
+		ToRosData(input.map_group_handles(i), temp);
+		output.map_group_handles.push_back(temp);
+	}
+	ToRosData(input.active_map_handle(), output.active_map_handle);
+	output.map_handles.clear();
+	for(int i = 0; i < input.map_handles_size(); i++)
+	{
+		kortex_driver::MapHandle temp;
+		ToRosData(input.map_handles(i), temp);
+		output.map_handles.push_back(temp);
+	}
+	output.application_data = input.application_data();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::MappingList input, kortex_driver::MappingList &output)
+{
+	
+	output.mappings.clear();
+	for(int i = 0; i < input.mappings_size(); i++)
+	{
+		kortex_driver::Mapping temp;
+		ToRosData(input.mappings(i), temp);
+		output.mappings.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::TransformationMatrix input, kortex_driver::TransformationMatrix &output)
+{
+	
+	ToRosData(input.r0(), output.r0);
+	ToRosData(input.r1(), output.r1);
+	ToRosData(input.r2(), output.r2);
+	ToRosData(input.r3(), output.r3);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::TransformationRow input, kortex_driver::TransformationRow &output)
+{
+	
+	output.c0 = input.c0();
+	output.c1 = input.c1();
+	output.c2 = input.c2();
+	output.c3 = input.c3();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Pose input, kortex_driver::Pose &output)
+{
+	
+	output.x = input.x();
+	output.y = input.y();
+	output.z = input.z();
+	output.theta_x = input.theta_x();
+	output.theta_y = input.theta_y();
+	output.theta_z = input.theta_z();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Position input, kortex_driver::Base_Position &output)
+{
+	
+	output.x = input.x();
+	output.y = input.y();
+	output.z = input.z();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Orientation input, kortex_driver::Orientation &output)
+{
+	
+	output.theta_x = input.theta_x();
+	output.theta_y = input.theta_y();
+	output.theta_z = input.theta_z();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::CartesianSpeed input, kortex_driver::CartesianSpeed &output)
+{
+	
+	output.translation = input.translation();
+	output.orientation = input.orientation();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::CartesianTrajectoryConstraint input, kortex_driver::CartesianTrajectoryConstraint &output)
+{
+	
+
+	
+	auto oneof_type_type = input.type_case();
+	switch(oneof_type_type)
+	{ 
+	
+		case Kinova::Api::Base::CartesianTrajectoryConstraint::kSpeed:
+		{
+			decltype(output.oneof_type.speed)::value_type temp;
+			ToRosData(input.speed(), temp);
+			output.oneof_type.speed.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::Base::CartesianTrajectoryConstraint::kDuration:
+		{
+			break;
+		}}
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::JointTrajectoryConstraint input, kortex_driver::JointTrajectoryConstraint &output)
+{
+	
+	output.type = input.type();
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Wrench input, kortex_driver::Wrench &output)
+{
+	
+	output.force_x = input.force_x();
+	output.force_y = input.force_y();
+	output.force_z = input.force_z();
+	output.torque_x = input.torque_x();
+	output.torque_y = input.torque_y();
+	output.torque_z = input.torque_z();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Twist input, kortex_driver::Twist &output)
+{
+	
+	output.linear_x = input.linear_x();
+	output.linear_y = input.linear_y();
+	output.linear_z = input.linear_z();
+	output.angular_x = input.angular_x();
+	output.angular_y = input.angular_y();
+	output.angular_z = input.angular_z();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Admittance input, kortex_driver::Admittance &output)
+{
+	
+	output.admittance_mode = input.admittance_mode();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ConstrainedPose input, kortex_driver::ConstrainedPose &output)
+{
+	
+	ToRosData(input.target_pose(), output.target_pose);
+	ToRosData(input.constraint(), output.constraint);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ConstrainedPosition input, kortex_driver::ConstrainedPosition &output)
+{
+	
+	ToRosData(input.target_position(), output.target_position);
+	ToRosData(input.constraint(), output.constraint);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ConstrainedOrientation input, kortex_driver::ConstrainedOrientation &output)
+{
+	
+	ToRosData(input.target_orientation(), output.target_orientation);
+	ToRosData(input.constraint(), output.constraint);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::WrenchCommand input, kortex_driver::WrenchCommand &output)
+{
+	
+	output.reference_frame = input.reference_frame();
+	output.mode = input.mode();
+	ToRosData(input.wrench(), output.wrench);
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::TwistCommand input, kortex_driver::TwistCommand &output)
+{
+	
+	output.reference_frame = input.reference_frame();
+	ToRosData(input.twist(), output.twist);
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ConstrainedJointAngles input, kortex_driver::ConstrainedJointAngles &output)
+{
+	
+	ToRosData(input.joint_angles(), output.joint_angles);
+	ToRosData(input.constraint(), output.constraint);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ConstrainedJointAngle input, kortex_driver::ConstrainedJointAngle &output)
+{
+	
+	output.joint_identifier = input.joint_identifier();
+	output.value = input.value();
+	ToRosData(input.constraint(), output.constraint);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::JointAngles input, kortex_driver::JointAngles &output)
+{
+	
+	output.joint_angles.clear();
+	for(int i = 0; i < input.joint_angles_size(); i++)
+	{
+		kortex_driver::JointAngle temp;
+		ToRosData(input.joint_angles(i), temp);
+		output.joint_angles.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::JointAngle input, kortex_driver::JointAngle &output)
+{
+	
+	output.joint_identifier = input.joint_identifier();
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::JointSpeeds input, kortex_driver::Base_JointSpeeds &output)
+{
+	
+	output.joint_speeds.clear();
+	for(int i = 0; i < input.joint_speeds_size(); i++)
+	{
+		kortex_driver::JointSpeed temp;
+		ToRosData(input.joint_speeds(i), temp);
+		output.joint_speeds.push_back(temp);
+	}
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::JointSpeed input, kortex_driver::JointSpeed &output)
+{
+	
+	output.joint_identifier = input.joint_identifier();
+	output.value = input.value();
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::JointTorques input, kortex_driver::JointTorques &output)
+{
+	
+	output.joint_torques.clear();
+	for(int i = 0; i < input.joint_torques_size(); i++)
+	{
+		kortex_driver::JointTorque temp;
+		ToRosData(input.joint_torques(i), temp);
+		output.joint_torques.push_back(temp);
+	}
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::JointTorque input, kortex_driver::JointTorque &output)
+{
+	
+	output.joint_identifier = input.joint_identifier();
+	output.value = input.value();
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::GripperCommand input, kortex_driver::GripperCommand &output)
+{
+	
+	output.mode = input.mode();
+	ToRosData(input.gripper(), output.gripper);
+	output.duration = input.duration();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::GripperRequest input, kortex_driver::GripperRequest &output)
+{
+	
+	output.mode = input.mode();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Gripper input, kortex_driver::Gripper &output)
+{
+	
+	output.finger.clear();
+	for(int i = 0; i < input.finger_size(); i++)
+	{
+		kortex_driver::Finger temp;
+		ToRosData(input.finger(i), temp);
+		output.finger.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::Finger input, kortex_driver::Finger &output)
+{
+	
+	output.finger_identifier = input.finger_identifier();
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::SystemTime input, kortex_driver::SystemTime &output)
+{
+	
+	output.sec = input.sec();
+	output.min = input.min();
+	output.hour = input.hour();
+	output.mday = input.mday();
+	output.mon = input.mon();
+	output.year = input.year();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerConfigurationMode input, kortex_driver::ControllerConfigurationMode &output)
+{
+	
+	output.enable = input.enable();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerConfiguration input, kortex_driver::ControllerConfiguration &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.name = input.name();
+	ToRosData(input.active_mapping_handle(), output.active_mapping_handle);
+	output.analog_input_identifier_enum = input.analog_input_identifier_enum();
+	output.digital_input_identifier_enum = input.digital_input_identifier_enum();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ControllerConfigurationList input, kortex_driver::ControllerConfigurationList &output)
+{
+	
+	output.controller_configurations.clear();
+	for(int i = 0; i < input.controller_configurations_size(); i++)
+	{
+		kortex_driver::ControllerConfiguration temp;
+		ToRosData(input.controller_configurations(i), temp);
+		output.controller_configurations.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ActuatorInformation input, kortex_driver::ActuatorInformation &output)
+{
+	
+	output.count = input.count();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ArmStateInformation input, kortex_driver::ArmStateInformation &output)
+{
+	
+	output.active_state = input.active_state();
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::ArmStateNotification input, kortex_driver::ArmStateNotification &output)
+{
+	
+	output.active_state = input.active_state();
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::CapSenseConfig input, kortex_driver::Base_CapSenseConfig &output)
+{
+	
+	output.identifier = input.identifier();
+	output.mode = input.mode();
+	output.threshold_a = input.threshold_a();
+	output.threshold_b = input.threshold_b();
+	output.sensitivity_a = input.sensitivity_a();
+	output.sensitivity_b = input.sensitivity_b();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::BridgeList input, kortex_driver::BridgeList &output)
+{
+	
+	output.bridgeConfig.clear();
+	for(int i = 0; i < input.bridgeconfig_size(); i++)
+	{
+		kortex_driver::BridgeConfig temp;
+		ToRosData(input.bridgeconfig(i), temp);
+		output.bridgeConfig.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::BridgeResult input, kortex_driver::BridgeResult &output)
+{
+	
+	ToRosData(input.bridge_id(), output.bridge_id);
+	output.status = input.status();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::BridgeIdentifier input, kortex_driver::BridgeIdentifier &output)
+{
+	
+	output.bridge_id = input.bridge_id();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::BridgeConfig input, kortex_driver::BridgeConfig &output)
+{
+	
+	output.device_identifier = input.device_identifier();
+	output.bridgetype = input.bridgetype();
+	ToRosData(input.port_config(), output.port_config);
+	ToRosData(input.bridge_id(), output.bridge_id);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::BridgePortConfig input, kortex_driver::BridgePortConfig &output)
+{
+	
+	output.target_port = input.target_port();
+	output.out_port = input.out_port();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::PreComputedJointTrajectory input, kortex_driver::PreComputedJointTrajectory &output)
+{
+	
+	output.mode = input.mode();
+	output.trajectory_elements.clear();
+	for(int i = 0; i < input.trajectory_elements_size(); i++)
+	{
+		kortex_driver::PreComputedJointTrajectoryElement temp;
+		ToRosData(input.trajectory_elements(i), temp);
+		output.trajectory_elements.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::PreComputedJointTrajectoryElement input, kortex_driver::PreComputedJointTrajectoryElement &output)
+{
+	
+	output.joint_angles.clear();
+	for(int i = 0; i < input.joint_angles_size(); i++)
+	{
+		output.joint_angles.push_back(input.joint_angles(i));
+	}
+	output.joint_speeds.clear();
+	for(int i = 0; i < input.joint_speeds_size(); i++)
+	{
+		output.joint_speeds.push_back(input.joint_speeds(i));
+	}
+	output.joint_accelerations.clear();
+	for(int i = 0; i < input.joint_accelerations_size(); i++)
+	{
+		output.joint_accelerations.push_back(input.joint_accelerations(i));
+	}
+	output.time_from_start = input.time_from_start();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::TrajectoryErrorElement input, kortex_driver::TrajectoryErrorElement &output)
+{
+	
+	output.error_type = input.error_type();
+	output.error_identifier = input.error_identifier();
+	output.error_value = input.error_value();
+	output.min_value = input.min_value();
+	output.max_value = input.max_value();
+	output.index = input.index();
+	output.message = input.message();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::TrajectoryErrorReport input, kortex_driver::TrajectoryErrorReport &output)
+{
+	
+	output.trajectory_error_elements.clear();
+	for(int i = 0; i < input.trajectory_error_elements_size(); i++)
+	{
+		kortex_driver::TrajectoryErrorElement temp;
+		ToRosData(input.trajectory_error_elements(i), temp);
+		output.trajectory_error_elements.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::FirmwareBundleVersions input, kortex_driver::FirmwareBundleVersions &output)
+{
+	
+	output.main_bundle_version = input.main_bundle_version();
+	output.components_versions.clear();
+	for(int i = 0; i < input.components_versions_size(); i++)
+	{
+		kortex_driver::FirmwareComponentVersion temp;
+		ToRosData(input.components_versions(i), temp);
+		output.components_versions.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Base::FirmwareComponentVersion input, kortex_driver::FirmwareComponentVersion &output)
+{
+	
+	output.name = input.name();
+	output.version = input.version();
+	output.device_id = input.device_id();
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/base_services.cpp b/kortex_driver/src/generated/robot/base_services.cpp
new file mode 100644
index 0000000..1a8a6dd
--- /dev/null
+++ b/kortex_driver/src/generated/robot/base_services.cpp
@@ -0,0 +1,5150 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/base_services.h"
+
+BaseRobotServices::BaseRobotServices(ros::NodeHandle& node_handle, Kinova::Api::Base::BaseClient* base, uint32_t device_id, uint32_t timeout_ms): 
+	IBaseServices(node_handle),
+	m_base(base),
+	m_current_device_id(device_id)
+{
+	m_api_options.timeout_ms = timeout_ms;
+
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+	m_pub_ConfigurationChangeTopic = m_node_handle.advertise<kortex_driver::ConfigurationChangeNotification>("configuration_change_topic", 1000);
+	m_is_activated_ConfigurationChangeTopic = false;
+	m_pub_MappingInfoTopic = m_node_handle.advertise<kortex_driver::MappingInfoNotification>("mapping_info_topic", 1000);
+	m_is_activated_MappingInfoTopic = false;
+	m_pub_ControlModeTopic = m_node_handle.advertise<kortex_driver::ControlModeNotification>("control_mode_topic", 1000);
+	m_is_activated_ControlModeTopic = false;
+	m_pub_OperatingModeTopic = m_node_handle.advertise<kortex_driver::OperatingModeNotification>("operating_mode_topic", 1000);
+	m_is_activated_OperatingModeTopic = false;
+	m_pub_SequenceInfoTopic = m_node_handle.advertise<kortex_driver::SequenceInfoNotification>("sequence_info_topic", 1000);
+	m_is_activated_SequenceInfoTopic = false;
+	m_pub_ProtectionZoneTopic = m_node_handle.advertise<kortex_driver::ProtectionZoneNotification>("protection_zone_topic", 1000);
+	m_is_activated_ProtectionZoneTopic = false;
+	m_pub_UserTopic = m_node_handle.advertise<kortex_driver::UserNotification>("user_topic", 1000);
+	m_is_activated_UserTopic = false;
+	m_pub_ControllerTopic = m_node_handle.advertise<kortex_driver::ControllerNotification>("controller_topic", 1000);
+	m_is_activated_ControllerTopic = false;
+	m_pub_ActionTopic = m_node_handle.advertise<kortex_driver::ActionNotification>("action_topic", 1000);
+	m_is_activated_ActionTopic = false;
+	m_pub_RobotEventTopic = m_node_handle.advertise<kortex_driver::RobotEventNotification>("robot_event_topic", 1000);
+	m_is_activated_RobotEventTopic = false;
+	m_pub_ServoingModeTopic = m_node_handle.advertise<kortex_driver::ServoingModeNotification>("servoing_mode_topic", 1000);
+	m_is_activated_ServoingModeTopic = false;
+	m_pub_FactoryTopic = m_node_handle.advertise<kortex_driver::FactoryNotification>("factory_topic", 1000);
+	m_is_activated_FactoryTopic = false;
+	m_pub_NetworkTopic = m_node_handle.advertise<kortex_driver::NetworkNotification>("network_topic", 1000);
+	m_is_activated_NetworkTopic = false;
+	m_pub_ArmStateTopic = m_node_handle.advertise<kortex_driver::ArmStateNotification>("arm_state_topic", 1000);
+	m_is_activated_ArmStateTopic = false;
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("base/set_device_id", &BaseRobotServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("base/set_api_options", &BaseRobotServices::SetApiOptions, this);
+
+	m_serviceCreateUserProfile = m_node_handle.advertiseService("base/create_user_profile", &BaseRobotServices::CreateUserProfile, this);
+	m_serviceUpdateUserProfile = m_node_handle.advertiseService("base/update_user_profile", &BaseRobotServices::UpdateUserProfile, this);
+	m_serviceReadUserProfile = m_node_handle.advertiseService("base/read_user_profile", &BaseRobotServices::ReadUserProfile, this);
+	m_serviceDeleteUserProfile = m_node_handle.advertiseService("base/delete_user_profile", &BaseRobotServices::DeleteUserProfile, this);
+	m_serviceReadAllUserProfiles = m_node_handle.advertiseService("base/read_all_user_profiles", &BaseRobotServices::ReadAllUserProfiles, this);
+	m_serviceReadAllUsers = m_node_handle.advertiseService("base/read_all_users", &BaseRobotServices::ReadAllUsers, this);
+	m_serviceChangePassword = m_node_handle.advertiseService("base/change_password", &BaseRobotServices::ChangePassword, this);
+	m_serviceCreateSequence = m_node_handle.advertiseService("base/create_sequence", &BaseRobotServices::CreateSequence, this);
+	m_serviceUpdateSequence = m_node_handle.advertiseService("base/update_sequence", &BaseRobotServices::UpdateSequence, this);
+	m_serviceReadSequence = m_node_handle.advertiseService("base/read_sequence", &BaseRobotServices::ReadSequence, this);
+	m_serviceDeleteSequence = m_node_handle.advertiseService("base/delete_sequence", &BaseRobotServices::DeleteSequence, this);
+	m_serviceReadAllSequences = m_node_handle.advertiseService("base/read_all_sequences", &BaseRobotServices::ReadAllSequences, this);
+	m_servicePlaySequence = m_node_handle.advertiseService("base/play_sequence", &BaseRobotServices::PlaySequence, this);
+	m_servicePlayAdvancedSequence = m_node_handle.advertiseService("base/play_advanced_sequence", &BaseRobotServices::PlayAdvancedSequence, this);
+	m_serviceStopSequence = m_node_handle.advertiseService("base/stop_sequence", &BaseRobotServices::StopSequence, this);
+	m_servicePauseSequence = m_node_handle.advertiseService("base/pause_sequence", &BaseRobotServices::PauseSequence, this);
+	m_serviceResumeSequence = m_node_handle.advertiseService("base/resume_sequence", &BaseRobotServices::ResumeSequence, this);
+	m_serviceCreateProtectionZone = m_node_handle.advertiseService("base/create_protection_zone", &BaseRobotServices::CreateProtectionZone, this);
+	m_serviceUpdateProtectionZone = m_node_handle.advertiseService("base/update_protection_zone", &BaseRobotServices::UpdateProtectionZone, this);
+	m_serviceReadProtectionZone = m_node_handle.advertiseService("base/read_protection_zone", &BaseRobotServices::ReadProtectionZone, this);
+	m_serviceDeleteProtectionZone = m_node_handle.advertiseService("base/delete_protection_zone", &BaseRobotServices::DeleteProtectionZone, this);
+	m_serviceReadAllProtectionZones = m_node_handle.advertiseService("base/read_all_protection_zones", &BaseRobotServices::ReadAllProtectionZones, this);
+	m_serviceCreateMapping = m_node_handle.advertiseService("base/create_mapping", &BaseRobotServices::CreateMapping, this);
+	m_serviceReadMapping = m_node_handle.advertiseService("base/read_mapping", &BaseRobotServices::ReadMapping, this);
+	m_serviceUpdateMapping = m_node_handle.advertiseService("base/update_mapping", &BaseRobotServices::UpdateMapping, this);
+	m_serviceDeleteMapping = m_node_handle.advertiseService("base/delete_mapping", &BaseRobotServices::DeleteMapping, this);
+	m_serviceReadAllMappings = m_node_handle.advertiseService("base/read_all_mappings", &BaseRobotServices::ReadAllMappings, this);
+	m_serviceCreateMap = m_node_handle.advertiseService("base/create_map", &BaseRobotServices::CreateMap, this);
+	m_serviceReadMap = m_node_handle.advertiseService("base/read_map", &BaseRobotServices::ReadMap, this);
+	m_serviceUpdateMap = m_node_handle.advertiseService("base/update_map", &BaseRobotServices::UpdateMap, this);
+	m_serviceDeleteMap = m_node_handle.advertiseService("base/delete_map", &BaseRobotServices::DeleteMap, this);
+	m_serviceReadAllMaps = m_node_handle.advertiseService("base/read_all_maps", &BaseRobotServices::ReadAllMaps, this);
+	m_serviceActivateMap = m_node_handle.advertiseService("base/activate_map", &BaseRobotServices::ActivateMap, this);
+	m_serviceCreateAction = m_node_handle.advertiseService("base/create_action", &BaseRobotServices::CreateAction, this);
+	m_serviceReadAction = m_node_handle.advertiseService("base/read_action", &BaseRobotServices::ReadAction, this);
+	m_serviceReadAllActions = m_node_handle.advertiseService("base/read_all_actions", &BaseRobotServices::ReadAllActions, this);
+	m_serviceDeleteAction = m_node_handle.advertiseService("base/delete_action", &BaseRobotServices::DeleteAction, this);
+	m_serviceUpdateAction = m_node_handle.advertiseService("base/update_action", &BaseRobotServices::UpdateAction, this);
+	m_serviceExecuteActionFromReference = m_node_handle.advertiseService("base/execute_action_from_reference", &BaseRobotServices::ExecuteActionFromReference, this);
+	m_serviceExecuteAction = m_node_handle.advertiseService("base/execute_action", &BaseRobotServices::ExecuteAction, this);
+	m_servicePauseAction = m_node_handle.advertiseService("base/pause_action", &BaseRobotServices::PauseAction, this);
+	m_serviceStopAction = m_node_handle.advertiseService("base/stop_action", &BaseRobotServices::StopAction, this);
+	m_serviceResumeAction = m_node_handle.advertiseService("base/resume_action", &BaseRobotServices::ResumeAction, this);
+	m_serviceGetIPv4Configuration = m_node_handle.advertiseService("base/get_i_pv4_configuration", &BaseRobotServices::GetIPv4Configuration, this);
+	m_serviceSetIPv4Configuration = m_node_handle.advertiseService("base/set_i_pv4_configuration", &BaseRobotServices::SetIPv4Configuration, this);
+	m_serviceSetCommunicationInterfaceEnable = m_node_handle.advertiseService("base/set_communication_interface_enable", &BaseRobotServices::SetCommunicationInterfaceEnable, this);
+	m_serviceIsCommunicationInterfaceEnable = m_node_handle.advertiseService("base/is_communication_interface_enable", &BaseRobotServices::IsCommunicationInterfaceEnable, this);
+	m_serviceGetAvailableWifi = m_node_handle.advertiseService("base/get_available_wifi", &BaseRobotServices::GetAvailableWifi, this);
+	m_serviceGetWifiInformation = m_node_handle.advertiseService("base/get_wifi_information", &BaseRobotServices::GetWifiInformation, this);
+	m_serviceAddWifiConfiguration = m_node_handle.advertiseService("base/add_wifi_configuration", &BaseRobotServices::AddWifiConfiguration, this);
+	m_serviceDeleteWifiConfiguration = m_node_handle.advertiseService("base/delete_wifi_configuration", &BaseRobotServices::DeleteWifiConfiguration, this);
+	m_serviceGetAllConfiguredWifis = m_node_handle.advertiseService("base/get_all_configured_wifis", &BaseRobotServices::GetAllConfiguredWifis, this);
+	m_serviceConnectWifi = m_node_handle.advertiseService("base/connect_wifi", &BaseRobotServices::ConnectWifi, this);
+	m_serviceDisconnectWifi = m_node_handle.advertiseService("base/disconnect_wifi", &BaseRobotServices::DisconnectWifi, this);
+	m_serviceGetConnectedWifiInformation = m_node_handle.advertiseService("base/get_connected_wifi_information", &BaseRobotServices::GetConnectedWifiInformation, this);
+	m_serviceBase_Unsubscribe = m_node_handle.advertiseService("base/unsubscribe", &BaseRobotServices::Base_Unsubscribe, this);
+	m_serviceOnNotificationConfigurationChangeTopic = m_node_handle.advertiseService("base/activate_publishing_of_configuration_change_topic", &BaseRobotServices::OnNotificationConfigurationChangeTopic, this);
+	m_serviceOnNotificationMappingInfoTopic = m_node_handle.advertiseService("base/activate_publishing_of_mapping_info_topic", &BaseRobotServices::OnNotificationMappingInfoTopic, this);
+	m_serviceOnNotificationControlModeTopic = m_node_handle.advertiseService("base/activate_publishing_of_control_mode_topic", &BaseRobotServices::OnNotificationControlModeTopic, this);
+	m_serviceOnNotificationOperatingModeTopic = m_node_handle.advertiseService("base/activate_publishing_of_operating_mode_topic", &BaseRobotServices::OnNotificationOperatingModeTopic, this);
+	m_serviceOnNotificationSequenceInfoTopic = m_node_handle.advertiseService("base/activate_publishing_of_sequence_info_topic", &BaseRobotServices::OnNotificationSequenceInfoTopic, this);
+	m_serviceOnNotificationProtectionZoneTopic = m_node_handle.advertiseService("base/activate_publishing_of_protection_zone_topic", &BaseRobotServices::OnNotificationProtectionZoneTopic, this);
+	m_serviceOnNotificationUserTopic = m_node_handle.advertiseService("base/activate_publishing_of_user_topic", &BaseRobotServices::OnNotificationUserTopic, this);
+	m_serviceOnNotificationControllerTopic = m_node_handle.advertiseService("base/activate_publishing_of_controller_topic", &BaseRobotServices::OnNotificationControllerTopic, this);
+	m_serviceOnNotificationActionTopic = m_node_handle.advertiseService("base/activate_publishing_of_action_topic", &BaseRobotServices::OnNotificationActionTopic, this);
+	m_serviceOnNotificationRobotEventTopic = m_node_handle.advertiseService("base/activate_publishing_of_robot_event_topic", &BaseRobotServices::OnNotificationRobotEventTopic, this);
+	m_servicePlayCartesianTrajectory = m_node_handle.advertiseService("base/play_cartesian_trajectory", &BaseRobotServices::PlayCartesianTrajectory, this);
+	m_servicePlayCartesianTrajectoryPosition = m_node_handle.advertiseService("base/play_cartesian_trajectory_position", &BaseRobotServices::PlayCartesianTrajectoryPosition, this);
+	m_servicePlayCartesianTrajectoryOrientation = m_node_handle.advertiseService("base/play_cartesian_trajectory_orientation", &BaseRobotServices::PlayCartesianTrajectoryOrientation, this);
+	m_serviceStop = m_node_handle.advertiseService("base/stop", &BaseRobotServices::Stop, this);
+	m_serviceGetMeasuredCartesianPose = m_node_handle.advertiseService("base/get_measured_cartesian_pose", &BaseRobotServices::GetMeasuredCartesianPose, this);
+	m_serviceSendWrenchCommand = m_node_handle.advertiseService("base/send_wrench_command", &BaseRobotServices::SendWrenchCommand, this);
+	m_serviceSendWrenchJoystickCommand = m_node_handle.advertiseService("base/send_wrench_joystick_command", &BaseRobotServices::SendWrenchJoystickCommand, this);
+	m_serviceSendTwistJoystickCommand = m_node_handle.advertiseService("base/send_twist_joystick_command", &BaseRobotServices::SendTwistJoystickCommand, this);
+	m_serviceSendTwistCommand = m_node_handle.advertiseService("base/send_twist_command", &BaseRobotServices::SendTwistCommand, this);
+	m_servicePlayJointTrajectory = m_node_handle.advertiseService("base/play_joint_trajectory", &BaseRobotServices::PlayJointTrajectory, this);
+	m_servicePlaySelectedJointTrajectory = m_node_handle.advertiseService("base/play_selected_joint_trajectory", &BaseRobotServices::PlaySelectedJointTrajectory, this);
+	m_serviceGetMeasuredJointAngles = m_node_handle.advertiseService("base/get_measured_joint_angles", &BaseRobotServices::GetMeasuredJointAngles, this);
+	m_serviceSendJointSpeedsCommand = m_node_handle.advertiseService("base/send_joint_speeds_command", &BaseRobotServices::SendJointSpeedsCommand, this);
+	m_serviceSendSelectedJointSpeedCommand = m_node_handle.advertiseService("base/send_selected_joint_speed_command", &BaseRobotServices::SendSelectedJointSpeedCommand, this);
+	m_serviceSendGripperCommand = m_node_handle.advertiseService("base/send_gripper_command", &BaseRobotServices::SendGripperCommand, this);
+	m_serviceGetMeasuredGripperMovement = m_node_handle.advertiseService("base/get_measured_gripper_movement", &BaseRobotServices::GetMeasuredGripperMovement, this);
+	m_serviceSetAdmittance = m_node_handle.advertiseService("base/set_admittance", &BaseRobotServices::SetAdmittance, this);
+	m_serviceSetOperatingMode = m_node_handle.advertiseService("base/set_operating_mode", &BaseRobotServices::SetOperatingMode, this);
+	m_serviceApplyEmergencyStop = m_node_handle.advertiseService("base/apply_emergency_stop", &BaseRobotServices::ApplyEmergencyStop, this);
+	m_serviceBase_ClearFaults = m_node_handle.advertiseService("base/clear_faults", &BaseRobotServices::Base_ClearFaults, this);
+	m_serviceBase_GetControlMode = m_node_handle.advertiseService("base/get_control_mode", &BaseRobotServices::Base_GetControlMode, this);
+	m_serviceGetOperatingMode = m_node_handle.advertiseService("base/get_operating_mode", &BaseRobotServices::GetOperatingMode, this);
+	m_serviceSetServoingMode = m_node_handle.advertiseService("base/set_servoing_mode", &BaseRobotServices::SetServoingMode, this);
+	m_serviceGetServoingMode = m_node_handle.advertiseService("base/get_servoing_mode", &BaseRobotServices::GetServoingMode, this);
+	m_serviceOnNotificationServoingModeTopic = m_node_handle.advertiseService("base/activate_publishing_of_servoing_mode_topic", &BaseRobotServices::OnNotificationServoingModeTopic, this);
+	m_serviceRestoreFactorySettings = m_node_handle.advertiseService("base/restore_factory_settings", &BaseRobotServices::RestoreFactorySettings, this);
+	m_serviceOnNotificationFactoryTopic = m_node_handle.advertiseService("base/activate_publishing_of_factory_topic", &BaseRobotServices::OnNotificationFactoryTopic, this);
+	m_serviceGetAllConnectedControllers = m_node_handle.advertiseService("base/get_all_connected_controllers", &BaseRobotServices::GetAllConnectedControllers, this);
+	m_serviceGetControllerState = m_node_handle.advertiseService("base/get_controller_state", &BaseRobotServices::GetControllerState, this);
+	m_serviceGetActuatorCount = m_node_handle.advertiseService("base/get_actuator_count", &BaseRobotServices::GetActuatorCount, this);
+	m_serviceStartWifiScan = m_node_handle.advertiseService("base/start_wifi_scan", &BaseRobotServices::StartWifiScan, this);
+	m_serviceGetConfiguredWifi = m_node_handle.advertiseService("base/get_configured_wifi", &BaseRobotServices::GetConfiguredWifi, this);
+	m_serviceOnNotificationNetworkTopic = m_node_handle.advertiseService("base/activate_publishing_of_network_topic", &BaseRobotServices::OnNotificationNetworkTopic, this);
+	m_serviceGetArmState = m_node_handle.advertiseService("base/get_arm_state", &BaseRobotServices::GetArmState, this);
+	m_serviceOnNotificationArmStateTopic = m_node_handle.advertiseService("base/activate_publishing_of_arm_state_topic", &BaseRobotServices::OnNotificationArmStateTopic, this);
+	m_serviceGetIPv4Information = m_node_handle.advertiseService("base/get_i_pv4_information", &BaseRobotServices::GetIPv4Information, this);
+	m_serviceSetWifiCountryCode = m_node_handle.advertiseService("base/set_wifi_country_code", &BaseRobotServices::SetWifiCountryCode, this);
+	m_serviceGetWifiCountryCode = m_node_handle.advertiseService("base/get_wifi_country_code", &BaseRobotServices::GetWifiCountryCode, this);
+	m_serviceBase_SetCapSenseConfig = m_node_handle.advertiseService("base/set_cap_sense_config", &BaseRobotServices::Base_SetCapSenseConfig, this);
+	m_serviceBase_GetCapSenseConfig = m_node_handle.advertiseService("base/get_cap_sense_config", &BaseRobotServices::Base_GetCapSenseConfig, this);
+	m_serviceGetAllJointsSpeedHardLimitation = m_node_handle.advertiseService("base/get_all_joints_speed_hard_limitation", &BaseRobotServices::GetAllJointsSpeedHardLimitation, this);
+	m_serviceGetAllJointsTorqueHardLimitation = m_node_handle.advertiseService("base/get_all_joints_torque_hard_limitation", &BaseRobotServices::GetAllJointsTorqueHardLimitation, this);
+	m_serviceGetTwistHardLimitation = m_node_handle.advertiseService("base/get_twist_hard_limitation", &BaseRobotServices::GetTwistHardLimitation, this);
+	m_serviceGetWrenchHardLimitation = m_node_handle.advertiseService("base/get_wrench_hard_limitation", &BaseRobotServices::GetWrenchHardLimitation, this);
+	m_serviceSendJointSpeedsJoystickCommand = m_node_handle.advertiseService("base/send_joint_speeds_joystick_command", &BaseRobotServices::SendJointSpeedsJoystickCommand, this);
+	m_serviceSendSelectedJointSpeedJoystickCommand = m_node_handle.advertiseService("base/send_selected_joint_speed_joystick_command", &BaseRobotServices::SendSelectedJointSpeedJoystickCommand, this);
+	m_serviceEnableBridge = m_node_handle.advertiseService("base/enable_bridge", &BaseRobotServices::EnableBridge, this);
+	m_serviceDisableBridge = m_node_handle.advertiseService("base/disable_bridge", &BaseRobotServices::DisableBridge, this);
+	m_serviceGetBridgeList = m_node_handle.advertiseService("base/get_bridge_list", &BaseRobotServices::GetBridgeList, this);
+	m_serviceGetBridgeConfig = m_node_handle.advertiseService("base/get_bridge_config", &BaseRobotServices::GetBridgeConfig, this);
+	m_servicePlayPreComputedJointTrajectory = m_node_handle.advertiseService("base/play_pre_computed_joint_trajectory", &BaseRobotServices::PlayPreComputedJointTrajectory, this);
+	m_serviceGetProductConfiguration = m_node_handle.advertiseService("base/get_product_configuration", &BaseRobotServices::GetProductConfiguration, this);
+	m_serviceUpdateEndEffectorTypeConfiguration = m_node_handle.advertiseService("base/update_end_effector_type_configuration", &BaseRobotServices::UpdateEndEffectorTypeConfiguration, this);
+	m_serviceRestoreFactoryProductConfiguration = m_node_handle.advertiseService("base/restore_factory_product_configuration", &BaseRobotServices::RestoreFactoryProductConfiguration, this);
+	m_serviceGetTrajectoryErrorReport = m_node_handle.advertiseService("base/get_trajectory_error_report", &BaseRobotServices::GetTrajectoryErrorReport, this);
+	m_serviceGetAllJointsSpeedSoftLimitation = m_node_handle.advertiseService("base/get_all_joints_speed_soft_limitation", &BaseRobotServices::GetAllJointsSpeedSoftLimitation, this);
+	m_serviceGetAllJointsTorqueSoftLimitation = m_node_handle.advertiseService("base/get_all_joints_torque_soft_limitation", &BaseRobotServices::GetAllJointsTorqueSoftLimitation, this);
+	m_serviceGetTwistSoftLimitation = m_node_handle.advertiseService("base/get_twist_soft_limitation", &BaseRobotServices::GetTwistSoftLimitation, this);
+	m_serviceGetWrenchSoftLimitation = m_node_handle.advertiseService("base/get_wrench_soft_limitation", &BaseRobotServices::GetWrenchSoftLimitation, this);
+	m_serviceSetControllerConfigurationMode = m_node_handle.advertiseService("base/set_controller_configuration_mode", &BaseRobotServices::SetControllerConfigurationMode, this);
+	m_serviceGetControllerConfigurationMode = m_node_handle.advertiseService("base/get_controller_configuration_mode", &BaseRobotServices::GetControllerConfigurationMode, this);
+	m_serviceStartTeaching = m_node_handle.advertiseService("base/start_teaching", &BaseRobotServices::StartTeaching, this);
+	m_serviceStopTeaching = m_node_handle.advertiseService("base/stop_teaching", &BaseRobotServices::StopTeaching, this);
+	m_serviceAddSequenceTasks = m_node_handle.advertiseService("base/add_sequence_tasks", &BaseRobotServices::AddSequenceTasks, this);
+	m_serviceUpdateSequenceTask = m_node_handle.advertiseService("base/update_sequence_task", &BaseRobotServices::UpdateSequenceTask, this);
+	m_serviceSwapSequenceTasks = m_node_handle.advertiseService("base/swap_sequence_tasks", &BaseRobotServices::SwapSequenceTasks, this);
+	m_serviceReadSequenceTask = m_node_handle.advertiseService("base/read_sequence_task", &BaseRobotServices::ReadSequenceTask, this);
+	m_serviceReadAllSequenceTasks = m_node_handle.advertiseService("base/read_all_sequence_tasks", &BaseRobotServices::ReadAllSequenceTasks, this);
+	m_serviceDeleteSequenceTask = m_node_handle.advertiseService("base/delete_sequence_task", &BaseRobotServices::DeleteSequenceTask, this);
+	m_serviceDeleteAllSequenceTasks = m_node_handle.advertiseService("base/delete_all_sequence_tasks", &BaseRobotServices::DeleteAllSequenceTasks, this);
+	m_serviceTakeSnapshot = m_node_handle.advertiseService("base/take_snapshot", &BaseRobotServices::TakeSnapshot, this);
+	m_serviceGetFirmwareBundleVersions = m_node_handle.advertiseService("base/get_firmware_bundle_versions", &BaseRobotServices::GetFirmwareBundleVersions, this);
+	m_serviceMoveSequenceTask = m_node_handle.advertiseService("base/move_sequence_task", &BaseRobotServices::MoveSequenceTask, this);
+	m_serviceDuplicateMapping = m_node_handle.advertiseService("base/duplicate_mapping", &BaseRobotServices::DuplicateMapping, this);
+	m_serviceDuplicateMap = m_node_handle.advertiseService("base/duplicate_map", &BaseRobotServices::DuplicateMap, this);
+	m_serviceSetControllerConfiguration = m_node_handle.advertiseService("base/set_controller_configuration", &BaseRobotServices::SetControllerConfiguration, this);
+	m_serviceGetControllerConfiguration = m_node_handle.advertiseService("base/get_controller_configuration", &BaseRobotServices::GetControllerConfiguration, this);
+	m_serviceGetAllControllerConfigurations = m_node_handle.advertiseService("base/get_all_controller_configurations", &BaseRobotServices::GetAllControllerConfigurations, this);
+}
+
+bool BaseRobotServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	m_current_device_id = req.device_id;
+
+	return true;
+}
+
+bool BaseRobotServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	m_api_options.timeout_ms = req.input.timeout_ms;
+
+	return true;
+}
+
+
+bool BaseRobotServices::CreateUserProfile(kortex_driver::CreateUserProfile::Request  &req, kortex_driver::CreateUserProfile::Response &res)
+{
+	
+	Kinova::Api::Base::FullUserProfile input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::UserProfileHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->CreateUserProfile(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::UpdateUserProfile(kortex_driver::UpdateUserProfile::Request  &req, kortex_driver::UpdateUserProfile::Response &res)
+{
+	
+	Kinova::Api::Base::UserProfile input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->UpdateUserProfile(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ReadUserProfile(kortex_driver::ReadUserProfile::Request  &req, kortex_driver::ReadUserProfile::Response &res)
+{
+	
+	Kinova::Api::Common::UserProfileHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::UserProfile output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadUserProfile(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::DeleteUserProfile(kortex_driver::DeleteUserProfile::Request  &req, kortex_driver::DeleteUserProfile::Response &res)
+{
+	
+	Kinova::Api::Common::UserProfileHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->DeleteUserProfile(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ReadAllUserProfiles(kortex_driver::ReadAllUserProfiles::Request  &req, kortex_driver::ReadAllUserProfiles::Response &res)
+{
+	
+	Kinova::Api::Base::UserProfileList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadAllUserProfiles(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::ReadAllUsers(kortex_driver::ReadAllUsers::Request  &req, kortex_driver::ReadAllUsers::Response &res)
+{
+	
+	Kinova::Api::Base::UserList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadAllUsers(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::ChangePassword(kortex_driver::ChangePassword::Request  &req, kortex_driver::ChangePassword::Response &res)
+{
+	
+	Kinova::Api::Base::PasswordChange input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->ChangePassword(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::CreateSequence(kortex_driver::CreateSequence::Request  &req, kortex_driver::CreateSequence::Response &res)
+{
+	
+	Kinova::Api::Base::Sequence input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::SequenceHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->CreateSequence(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::UpdateSequence(kortex_driver::UpdateSequence::Request  &req, kortex_driver::UpdateSequence::Response &res)
+{
+	
+	Kinova::Api::Base::Sequence input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->UpdateSequence(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ReadSequence(kortex_driver::ReadSequence::Request  &req, kortex_driver::ReadSequence::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::Sequence output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadSequence(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::DeleteSequence(kortex_driver::DeleteSequence::Request  &req, kortex_driver::DeleteSequence::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->DeleteSequence(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ReadAllSequences(kortex_driver::ReadAllSequences::Request  &req, kortex_driver::ReadAllSequences::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadAllSequences(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::PlaySequence(kortex_driver::PlaySequence::Request  &req, kortex_driver::PlaySequence::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->PlaySequence(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::PlayAdvancedSequence(kortex_driver::PlayAdvancedSequence::Request  &req, kortex_driver::PlayAdvancedSequence::Response &res)
+{
+	
+	Kinova::Api::Base::AdvancedSequenceHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->PlayAdvancedSequence(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::StopSequence(kortex_driver::StopSequence::Request  &req, kortex_driver::StopSequence::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->StopSequence(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::PauseSequence(kortex_driver::PauseSequence::Request  &req, kortex_driver::PauseSequence::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->PauseSequence(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ResumeSequence(kortex_driver::ResumeSequence::Request  &req, kortex_driver::ResumeSequence::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->ResumeSequence(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::CreateProtectionZone(kortex_driver::CreateProtectionZone::Request  &req, kortex_driver::CreateProtectionZone::Response &res)
+{
+	
+	Kinova::Api::Base::ProtectionZone input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::ProtectionZoneHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->CreateProtectionZone(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::UpdateProtectionZone(kortex_driver::UpdateProtectionZone::Request  &req, kortex_driver::UpdateProtectionZone::Response &res)
+{
+	
+	Kinova::Api::Base::ProtectionZone input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->UpdateProtectionZone(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ReadProtectionZone(kortex_driver::ReadProtectionZone::Request  &req, kortex_driver::ReadProtectionZone::Response &res)
+{
+	
+	Kinova::Api::Base::ProtectionZoneHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::ProtectionZone output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadProtectionZone(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::DeleteProtectionZone(kortex_driver::DeleteProtectionZone::Request  &req, kortex_driver::DeleteProtectionZone::Response &res)
+{
+	
+	Kinova::Api::Base::ProtectionZoneHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->DeleteProtectionZone(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ReadAllProtectionZones(kortex_driver::ReadAllProtectionZones::Request  &req, kortex_driver::ReadAllProtectionZones::Response &res)
+{
+	
+	Kinova::Api::Base::ProtectionZoneList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadAllProtectionZones(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::CreateMapping(kortex_driver::CreateMapping::Request  &req, kortex_driver::CreateMapping::Response &res)
+{
+	
+	Kinova::Api::Base::Mapping input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::MappingHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->CreateMapping(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::ReadMapping(kortex_driver::ReadMapping::Request  &req, kortex_driver::ReadMapping::Response &res)
+{
+	
+	Kinova::Api::Base::MappingHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::Mapping output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadMapping(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::UpdateMapping(kortex_driver::UpdateMapping::Request  &req, kortex_driver::UpdateMapping::Response &res)
+{
+	
+	Kinova::Api::Base::Mapping input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->UpdateMapping(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::DeleteMapping(kortex_driver::DeleteMapping::Request  &req, kortex_driver::DeleteMapping::Response &res)
+{
+	
+	Kinova::Api::Base::MappingHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->DeleteMapping(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ReadAllMappings(kortex_driver::ReadAllMappings::Request  &req, kortex_driver::ReadAllMappings::Response &res)
+{
+	
+	Kinova::Api::Base::MappingList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadAllMappings(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::CreateMap(kortex_driver::CreateMap::Request  &req, kortex_driver::CreateMap::Response &res)
+{
+	
+	Kinova::Api::Base::Map input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::MapHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->CreateMap(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::ReadMap(kortex_driver::ReadMap::Request  &req, kortex_driver::ReadMap::Response &res)
+{
+	
+	Kinova::Api::Base::MapHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::Map output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadMap(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::UpdateMap(kortex_driver::UpdateMap::Request  &req, kortex_driver::UpdateMap::Response &res)
+{
+	
+	Kinova::Api::Base::Map input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->UpdateMap(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::DeleteMap(kortex_driver::DeleteMap::Request  &req, kortex_driver::DeleteMap::Response &res)
+{
+	
+	Kinova::Api::Base::MapHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->DeleteMap(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ReadAllMaps(kortex_driver::ReadAllMaps::Request  &req, kortex_driver::ReadAllMaps::Response &res)
+{
+	
+	Kinova::Api::Base::MappingHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::MapList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadAllMaps(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::ActivateMap(kortex_driver::ActivateMap::Request  &req, kortex_driver::ActivateMap::Response &res)
+{
+	
+	Kinova::Api::Base::ActivateMapHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->ActivateMap(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::CreateAction(kortex_driver::CreateAction::Request  &req, kortex_driver::CreateAction::Response &res)
+{
+	
+	Kinova::Api::Base::Action input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::ActionHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->CreateAction(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::ReadAction(kortex_driver::ReadAction::Request  &req, kortex_driver::ReadAction::Response &res)
+{
+	
+	Kinova::Api::Base::ActionHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::Action output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadAction(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::ReadAllActions(kortex_driver::ReadAllActions::Request  &req, kortex_driver::ReadAllActions::Response &res)
+{
+	
+	Kinova::Api::Base::RequestedActionType input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::ActionList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadAllActions(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::DeleteAction(kortex_driver::DeleteAction::Request  &req, kortex_driver::DeleteAction::Response &res)
+{
+	
+	Kinova::Api::Base::ActionHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->DeleteAction(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::UpdateAction(kortex_driver::UpdateAction::Request  &req, kortex_driver::UpdateAction::Response &res)
+{
+	
+	Kinova::Api::Base::Action input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->UpdateAction(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ExecuteActionFromReference(kortex_driver::ExecuteActionFromReference::Request  &req, kortex_driver::ExecuteActionFromReference::Response &res)
+{
+	
+	Kinova::Api::Base::ActionHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->ExecuteActionFromReference(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ExecuteAction(kortex_driver::ExecuteAction::Request  &req, kortex_driver::ExecuteAction::Response &res)
+{
+	
+	Kinova::Api::Base::Action input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->ExecuteAction(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::PauseAction(kortex_driver::PauseAction::Request  &req, kortex_driver::PauseAction::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->PauseAction(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::StopAction(kortex_driver::StopAction::Request  &req, kortex_driver::StopAction::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->StopAction(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ResumeAction(kortex_driver::ResumeAction::Request  &req, kortex_driver::ResumeAction::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->ResumeAction(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetIPv4Configuration(kortex_driver::GetIPv4Configuration::Request  &req, kortex_driver::GetIPv4Configuration::Response &res)
+{
+	
+	Kinova::Api::Base::NetworkHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::IPv4Configuration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetIPv4Configuration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::SetIPv4Configuration(kortex_driver::SetIPv4Configuration::Request  &req, kortex_driver::SetIPv4Configuration::Response &res)
+{
+	
+	Kinova::Api::Base::FullIPv4Configuration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SetIPv4Configuration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::SetCommunicationInterfaceEnable(kortex_driver::SetCommunicationInterfaceEnable::Request  &req, kortex_driver::SetCommunicationInterfaceEnable::Response &res)
+{
+	
+	Kinova::Api::Base::CommunicationInterfaceConfiguration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SetCommunicationInterfaceEnable(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::IsCommunicationInterfaceEnable(kortex_driver::IsCommunicationInterfaceEnable::Request  &req, kortex_driver::IsCommunicationInterfaceEnable::Response &res)
+{
+	
+	Kinova::Api::Base::NetworkHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::CommunicationInterfaceConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->IsCommunicationInterfaceEnable(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetAvailableWifi(kortex_driver::GetAvailableWifi::Request  &req, kortex_driver::GetAvailableWifi::Response &res)
+{
+	
+	Kinova::Api::Base::WifiInformationList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetAvailableWifi(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetWifiInformation(kortex_driver::GetWifiInformation::Request  &req, kortex_driver::GetWifiInformation::Response &res)
+{
+	
+	Kinova::Api::Base::Ssid input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::WifiInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetWifiInformation(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::AddWifiConfiguration(kortex_driver::AddWifiConfiguration::Request  &req, kortex_driver::AddWifiConfiguration::Response &res)
+{
+	
+	Kinova::Api::Base::WifiConfiguration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->AddWifiConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::DeleteWifiConfiguration(kortex_driver::DeleteWifiConfiguration::Request  &req, kortex_driver::DeleteWifiConfiguration::Response &res)
+{
+	
+	Kinova::Api::Base::Ssid input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->DeleteWifiConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetAllConfiguredWifis(kortex_driver::GetAllConfiguredWifis::Request  &req, kortex_driver::GetAllConfiguredWifis::Response &res)
+{
+	
+	Kinova::Api::Base::WifiConfigurationList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetAllConfiguredWifis(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::ConnectWifi(kortex_driver::ConnectWifi::Request  &req, kortex_driver::ConnectWifi::Response &res)
+{
+	
+	Kinova::Api::Base::Ssid input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->ConnectWifi(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::DisconnectWifi(kortex_driver::DisconnectWifi::Request  &req, kortex_driver::DisconnectWifi::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->DisconnectWifi(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetConnectedWifiInformation(kortex_driver::GetConnectedWifiInformation::Request  &req, kortex_driver::GetConnectedWifiInformation::Response &res)
+{
+	
+	Kinova::Api::Base::WifiInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetConnectedWifiInformation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::Base_Unsubscribe(kortex_driver::Base_Unsubscribe::Request  &req, kortex_driver::Base_Unsubscribe::Response &res)
+{
+	
+	Kinova::Api::Common::NotificationHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->Unsubscribe(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::OnNotificationConfigurationChangeTopic(kortex_driver::OnNotificationConfigurationChangeTopic::Request  &req, kortex_driver::OnNotificationConfigurationChangeTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_ConfigurationChangeTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::ConfigurationChangeNotification) > callback = std::bind(&BaseRobotServices::cb_ConfigurationChangeTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationConfigurationChangeTopic(callback, input, m_current_device_id);
+		m_is_activated_ConfigurationChangeTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_ConfigurationChangeTopic(Kinova::Api::Base::ConfigurationChangeNotification notif)
+{
+	kortex_driver::ConfigurationChangeNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ConfigurationChangeTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::OnNotificationMappingInfoTopic(kortex_driver::OnNotificationMappingInfoTopic::Request  &req, kortex_driver::OnNotificationMappingInfoTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_MappingInfoTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::MappingInfoNotification) > callback = std::bind(&BaseRobotServices::cb_MappingInfoTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationMappingInfoTopic(callback, input, m_current_device_id);
+		m_is_activated_MappingInfoTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_MappingInfoTopic(Kinova::Api::Base::MappingInfoNotification notif)
+{
+	kortex_driver::MappingInfoNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_MappingInfoTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::OnNotificationControlModeTopic(kortex_driver::OnNotificationControlModeTopic::Request  &req, kortex_driver::OnNotificationControlModeTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_ControlModeTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::ControlModeNotification) > callback = std::bind(&BaseRobotServices::cb_ControlModeTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationControlModeTopic(callback, input, m_current_device_id);
+		m_is_activated_ControlModeTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_ControlModeTopic(Kinova::Api::Base::ControlModeNotification notif)
+{
+	kortex_driver::ControlModeNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ControlModeTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::OnNotificationOperatingModeTopic(kortex_driver::OnNotificationOperatingModeTopic::Request  &req, kortex_driver::OnNotificationOperatingModeTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_OperatingModeTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::OperatingModeNotification) > callback = std::bind(&BaseRobotServices::cb_OperatingModeTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationOperatingModeTopic(callback, input, m_current_device_id);
+		m_is_activated_OperatingModeTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_OperatingModeTopic(Kinova::Api::Base::OperatingModeNotification notif)
+{
+	kortex_driver::OperatingModeNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_OperatingModeTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::OnNotificationSequenceInfoTopic(kortex_driver::OnNotificationSequenceInfoTopic::Request  &req, kortex_driver::OnNotificationSequenceInfoTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_SequenceInfoTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::SequenceInfoNotification) > callback = std::bind(&BaseRobotServices::cb_SequenceInfoTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationSequenceInfoTopic(callback, input, m_current_device_id);
+		m_is_activated_SequenceInfoTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_SequenceInfoTopic(Kinova::Api::Base::SequenceInfoNotification notif)
+{
+	kortex_driver::SequenceInfoNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_SequenceInfoTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::OnNotificationProtectionZoneTopic(kortex_driver::OnNotificationProtectionZoneTopic::Request  &req, kortex_driver::OnNotificationProtectionZoneTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_ProtectionZoneTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::ProtectionZoneNotification) > callback = std::bind(&BaseRobotServices::cb_ProtectionZoneTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationProtectionZoneTopic(callback, input, m_current_device_id);
+		m_is_activated_ProtectionZoneTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_ProtectionZoneTopic(Kinova::Api::Base::ProtectionZoneNotification notif)
+{
+	kortex_driver::ProtectionZoneNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ProtectionZoneTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::OnNotificationUserTopic(kortex_driver::OnNotificationUserTopic::Request  &req, kortex_driver::OnNotificationUserTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_UserTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::UserNotification) > callback = std::bind(&BaseRobotServices::cb_UserTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationUserTopic(callback, input, m_current_device_id);
+		m_is_activated_UserTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_UserTopic(Kinova::Api::Base::UserNotification notif)
+{
+	kortex_driver::UserNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_UserTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::OnNotificationControllerTopic(kortex_driver::OnNotificationControllerTopic::Request  &req, kortex_driver::OnNotificationControllerTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_ControllerTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::ControllerNotification) > callback = std::bind(&BaseRobotServices::cb_ControllerTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationControllerTopic(callback, input, m_current_device_id);
+		m_is_activated_ControllerTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_ControllerTopic(Kinova::Api::Base::ControllerNotification notif)
+{
+	kortex_driver::ControllerNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ControllerTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::OnNotificationActionTopic(kortex_driver::OnNotificationActionTopic::Request  &req, kortex_driver::OnNotificationActionTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_ActionTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::ActionNotification) > callback = std::bind(&BaseRobotServices::cb_ActionTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationActionTopic(callback, input, m_current_device_id);
+		m_is_activated_ActionTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_ActionTopic(Kinova::Api::Base::ActionNotification notif)
+{
+	kortex_driver::ActionNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ActionTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::OnNotificationRobotEventTopic(kortex_driver::OnNotificationRobotEventTopic::Request  &req, kortex_driver::OnNotificationRobotEventTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_RobotEventTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::RobotEventNotification) > callback = std::bind(&BaseRobotServices::cb_RobotEventTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationRobotEventTopic(callback, input, m_current_device_id);
+		m_is_activated_RobotEventTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_RobotEventTopic(Kinova::Api::Base::RobotEventNotification notif)
+{
+	kortex_driver::RobotEventNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_RobotEventTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::PlayCartesianTrajectory(kortex_driver::PlayCartesianTrajectory::Request  &req, kortex_driver::PlayCartesianTrajectory::Response &res)
+{
+	
+	Kinova::Api::Base::ConstrainedPose input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->PlayCartesianTrajectory(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::PlayCartesianTrajectoryPosition(kortex_driver::PlayCartesianTrajectoryPosition::Request  &req, kortex_driver::PlayCartesianTrajectoryPosition::Response &res)
+{
+	
+	Kinova::Api::Base::ConstrainedPosition input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->PlayCartesianTrajectoryPosition(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::PlayCartesianTrajectoryOrientation(kortex_driver::PlayCartesianTrajectoryOrientation::Request  &req, kortex_driver::PlayCartesianTrajectoryOrientation::Response &res)
+{
+	
+	Kinova::Api::Base::ConstrainedOrientation input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->PlayCartesianTrajectoryOrientation(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::Stop(kortex_driver::Stop::Request  &req, kortex_driver::Stop::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->Stop(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetMeasuredCartesianPose(kortex_driver::GetMeasuredCartesianPose::Request  &req, kortex_driver::GetMeasuredCartesianPose::Response &res)
+{
+	
+	Kinova::Api::Base::Pose output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetMeasuredCartesianPose(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::SendWrenchCommand(kortex_driver::SendWrenchCommand::Request  &req, kortex_driver::SendWrenchCommand::Response &res)
+{
+	
+	Kinova::Api::Base::WrenchCommand input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SendWrenchCommand(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::SendWrenchJoystickCommand(kortex_driver::SendWrenchJoystickCommand::Request  &req, kortex_driver::SendWrenchJoystickCommand::Response &res)
+{
+	
+	Kinova::Api::Base::WrenchCommand input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SendWrenchJoystickCommand(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::SendTwistJoystickCommand(kortex_driver::SendTwistJoystickCommand::Request  &req, kortex_driver::SendTwistJoystickCommand::Response &res)
+{
+	
+	Kinova::Api::Base::TwistCommand input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SendTwistJoystickCommand(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::SendTwistCommand(kortex_driver::SendTwistCommand::Request  &req, kortex_driver::SendTwistCommand::Response &res)
+{
+	
+	Kinova::Api::Base::TwistCommand input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SendTwistCommand(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::PlayJointTrajectory(kortex_driver::PlayJointTrajectory::Request  &req, kortex_driver::PlayJointTrajectory::Response &res)
+{
+	
+	Kinova::Api::Base::ConstrainedJointAngles input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->PlayJointTrajectory(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::PlaySelectedJointTrajectory(kortex_driver::PlaySelectedJointTrajectory::Request  &req, kortex_driver::PlaySelectedJointTrajectory::Response &res)
+{
+	
+	Kinova::Api::Base::ConstrainedJointAngle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->PlaySelectedJointTrajectory(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetMeasuredJointAngles(kortex_driver::GetMeasuredJointAngles::Request  &req, kortex_driver::GetMeasuredJointAngles::Response &res)
+{
+	
+	Kinova::Api::Base::JointAngles output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetMeasuredJointAngles(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::SendJointSpeedsCommand(kortex_driver::SendJointSpeedsCommand::Request  &req, kortex_driver::SendJointSpeedsCommand::Response &res)
+{
+	
+	Kinova::Api::Base::JointSpeeds input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SendJointSpeedsCommand(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::SendSelectedJointSpeedCommand(kortex_driver::SendSelectedJointSpeedCommand::Request  &req, kortex_driver::SendSelectedJointSpeedCommand::Response &res)
+{
+	
+	Kinova::Api::Base::JointSpeed input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SendSelectedJointSpeedCommand(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::SendGripperCommand(kortex_driver::SendGripperCommand::Request  &req, kortex_driver::SendGripperCommand::Response &res)
+{
+	
+	Kinova::Api::Base::GripperCommand input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SendGripperCommand(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetMeasuredGripperMovement(kortex_driver::GetMeasuredGripperMovement::Request  &req, kortex_driver::GetMeasuredGripperMovement::Response &res)
+{
+	
+	Kinova::Api::Base::GripperRequest input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::Gripper output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetMeasuredGripperMovement(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::SetAdmittance(kortex_driver::SetAdmittance::Request  &req, kortex_driver::SetAdmittance::Response &res)
+{
+	
+	Kinova::Api::Base::Admittance input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SetAdmittance(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::SetOperatingMode(kortex_driver::SetOperatingMode::Request  &req, kortex_driver::SetOperatingMode::Response &res)
+{
+	
+	Kinova::Api::Base::OperatingModeInformation input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SetOperatingMode(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ApplyEmergencyStop(kortex_driver::ApplyEmergencyStop::Request  &req, kortex_driver::ApplyEmergencyStop::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->ApplyEmergencyStop(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::Base_ClearFaults(kortex_driver::Base_ClearFaults::Request  &req, kortex_driver::Base_ClearFaults::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->ClearFaults(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::Base_GetControlMode(kortex_driver::Base_GetControlMode::Request  &req, kortex_driver::Base_GetControlMode::Response &res)
+{
+	
+	Kinova::Api::Base::ControlModeInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetControlMode(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetOperatingMode(kortex_driver::GetOperatingMode::Request  &req, kortex_driver::GetOperatingMode::Response &res)
+{
+	
+	Kinova::Api::Base::OperatingModeInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetOperatingMode(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::SetServoingMode(kortex_driver::SetServoingMode::Request  &req, kortex_driver::SetServoingMode::Response &res)
+{
+	
+	Kinova::Api::Base::ServoingModeInformation input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SetServoingMode(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetServoingMode(kortex_driver::GetServoingMode::Request  &req, kortex_driver::GetServoingMode::Response &res)
+{
+	
+	Kinova::Api::Base::ServoingModeInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetServoingMode(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::OnNotificationServoingModeTopic(kortex_driver::OnNotificationServoingModeTopic::Request  &req, kortex_driver::OnNotificationServoingModeTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_ServoingModeTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::ServoingModeNotification) > callback = std::bind(&BaseRobotServices::cb_ServoingModeTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationServoingModeTopic(callback, input, m_current_device_id);
+		m_is_activated_ServoingModeTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_ServoingModeTopic(Kinova::Api::Base::ServoingModeNotification notif)
+{
+	kortex_driver::ServoingModeNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ServoingModeTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::RestoreFactorySettings(kortex_driver::RestoreFactorySettings::Request  &req, kortex_driver::RestoreFactorySettings::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->RestoreFactorySettings(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::OnNotificationFactoryTopic(kortex_driver::OnNotificationFactoryTopic::Request  &req, kortex_driver::OnNotificationFactoryTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_FactoryTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::FactoryNotification) > callback = std::bind(&BaseRobotServices::cb_FactoryTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationFactoryTopic(callback, input, m_current_device_id);
+		m_is_activated_FactoryTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_FactoryTopic(Kinova::Api::Base::FactoryNotification notif)
+{
+	kortex_driver::FactoryNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_FactoryTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::GetAllConnectedControllers(kortex_driver::GetAllConnectedControllers::Request  &req, kortex_driver::GetAllConnectedControllers::Response &res)
+{
+	
+	Kinova::Api::Base::ControllerList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetAllConnectedControllers(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetControllerState(kortex_driver::GetControllerState::Request  &req, kortex_driver::GetControllerState::Response &res)
+{
+	
+	Kinova::Api::Base::ControllerHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::ControllerState output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetControllerState(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetActuatorCount(kortex_driver::GetActuatorCount::Request  &req, kortex_driver::GetActuatorCount::Response &res)
+{
+	
+	Kinova::Api::Base::ActuatorInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetActuatorCount(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::StartWifiScan(kortex_driver::StartWifiScan::Request  &req, kortex_driver::StartWifiScan::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->StartWifiScan(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetConfiguredWifi(kortex_driver::GetConfiguredWifi::Request  &req, kortex_driver::GetConfiguredWifi::Response &res)
+{
+	
+	Kinova::Api::Base::Ssid input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::WifiConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetConfiguredWifi(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::OnNotificationNetworkTopic(kortex_driver::OnNotificationNetworkTopic::Request  &req, kortex_driver::OnNotificationNetworkTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_NetworkTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::NetworkNotification) > callback = std::bind(&BaseRobotServices::cb_NetworkTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationNetworkTopic(callback, input, m_current_device_id);
+		m_is_activated_NetworkTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_NetworkTopic(Kinova::Api::Base::NetworkNotification notif)
+{
+	kortex_driver::NetworkNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_NetworkTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::GetArmState(kortex_driver::GetArmState::Request  &req, kortex_driver::GetArmState::Response &res)
+{
+	
+	Kinova::Api::Base::ArmStateInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetArmState(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::OnNotificationArmStateTopic(kortex_driver::OnNotificationArmStateTopic::Request  &req, kortex_driver::OnNotificationArmStateTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_ArmStateTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Base::ArmStateNotification) > callback = std::bind(&BaseRobotServices::cb_ArmStateTopic, this, std::placeholders::_1);
+		output = m_base->OnNotificationArmStateTopic(callback, input, m_current_device_id);
+		m_is_activated_ArmStateTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void BaseRobotServices::cb_ArmStateTopic(Kinova::Api::Base::ArmStateNotification notif)
+{
+	kortex_driver::ArmStateNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ArmStateTopic.publish(ros_msg);
+}
+
+bool BaseRobotServices::GetIPv4Information(kortex_driver::GetIPv4Information::Request  &req, kortex_driver::GetIPv4Information::Response &res)
+{
+	
+	Kinova::Api::Base::NetworkHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::IPv4Information output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetIPv4Information(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::SetWifiCountryCode(kortex_driver::SetWifiCountryCode::Request  &req, kortex_driver::SetWifiCountryCode::Response &res)
+{
+	
+	Kinova::Api::Common::CountryCode input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SetWifiCountryCode(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetWifiCountryCode(kortex_driver::GetWifiCountryCode::Request  &req, kortex_driver::GetWifiCountryCode::Response &res)
+{
+	
+	Kinova::Api::Common::CountryCode output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetWifiCountryCode(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::Base_SetCapSenseConfig(kortex_driver::Base_SetCapSenseConfig::Request  &req, kortex_driver::Base_SetCapSenseConfig::Response &res)
+{
+	
+	Kinova::Api::Base::CapSenseConfig input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SetCapSenseConfig(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::Base_GetCapSenseConfig(kortex_driver::Base_GetCapSenseConfig::Request  &req, kortex_driver::Base_GetCapSenseConfig::Response &res)
+{
+	
+	Kinova::Api::Base::CapSenseConfig output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetCapSenseConfig(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetAllJointsSpeedHardLimitation(kortex_driver::GetAllJointsSpeedHardLimitation::Request  &req, kortex_driver::GetAllJointsSpeedHardLimitation::Response &res)
+{
+	ROS_WARN("The base/get_all_joints_speed_hard_limitation service is now deprecated and will be removed in a future release.");
+	
+	Kinova::Api::Base::JointsLimitationsList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetAllJointsSpeedHardLimitation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetAllJointsTorqueHardLimitation(kortex_driver::GetAllJointsTorqueHardLimitation::Request  &req, kortex_driver::GetAllJointsTorqueHardLimitation::Response &res)
+{
+	ROS_WARN("The base/get_all_joints_torque_hard_limitation service is now deprecated and will be removed in a future release.");
+	
+	Kinova::Api::Base::JointsLimitationsList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetAllJointsTorqueHardLimitation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetTwistHardLimitation(kortex_driver::GetTwistHardLimitation::Request  &req, kortex_driver::GetTwistHardLimitation::Response &res)
+{
+	ROS_WARN("The base/get_twist_hard_limitation service is now deprecated and will be removed in a future release.");
+	
+	Kinova::Api::Base::TwistLimitation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetTwistHardLimitation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetWrenchHardLimitation(kortex_driver::GetWrenchHardLimitation::Request  &req, kortex_driver::GetWrenchHardLimitation::Response &res)
+{
+	ROS_WARN("The base/get_wrench_hard_limitation service is now deprecated and will be removed in a future release.");
+	
+	Kinova::Api::Base::WrenchLimitation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetWrenchHardLimitation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::SendJointSpeedsJoystickCommand(kortex_driver::SendJointSpeedsJoystickCommand::Request  &req, kortex_driver::SendJointSpeedsJoystickCommand::Response &res)
+{
+	
+	Kinova::Api::Base::JointSpeeds input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SendJointSpeedsJoystickCommand(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::SendSelectedJointSpeedJoystickCommand(kortex_driver::SendSelectedJointSpeedJoystickCommand::Request  &req, kortex_driver::SendSelectedJointSpeedJoystickCommand::Response &res)
+{
+	
+	Kinova::Api::Base::JointSpeed input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SendSelectedJointSpeedJoystickCommand(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::EnableBridge(kortex_driver::EnableBridge::Request  &req, kortex_driver::EnableBridge::Response &res)
+{
+	
+	Kinova::Api::Base::BridgeConfig input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::BridgeResult output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->EnableBridge(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::DisableBridge(kortex_driver::DisableBridge::Request  &req, kortex_driver::DisableBridge::Response &res)
+{
+	
+	Kinova::Api::Base::BridgeIdentifier input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::BridgeResult output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->DisableBridge(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetBridgeList(kortex_driver::GetBridgeList::Request  &req, kortex_driver::GetBridgeList::Response &res)
+{
+	
+	Kinova::Api::Base::BridgeList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetBridgeList(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetBridgeConfig(kortex_driver::GetBridgeConfig::Request  &req, kortex_driver::GetBridgeConfig::Response &res)
+{
+	
+	Kinova::Api::Base::BridgeIdentifier input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::BridgeConfig output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetBridgeConfig(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::PlayPreComputedJointTrajectory(kortex_driver::PlayPreComputedJointTrajectory::Request  &req, kortex_driver::PlayPreComputedJointTrajectory::Response &res)
+{
+	
+	Kinova::Api::Base::PreComputedJointTrajectory input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->PlayPreComputedJointTrajectory(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetProductConfiguration(kortex_driver::GetProductConfiguration::Request  &req, kortex_driver::GetProductConfiguration::Response &res)
+{
+	
+	Kinova::Api::ProductConfiguration::CompleteProductConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetProductConfiguration(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::UpdateEndEffectorTypeConfiguration(kortex_driver::UpdateEndEffectorTypeConfiguration::Request  &req, kortex_driver::UpdateEndEffectorTypeConfiguration::Response &res)
+{
+	
+	Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->UpdateEndEffectorTypeConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::RestoreFactoryProductConfiguration(kortex_driver::RestoreFactoryProductConfiguration::Request  &req, kortex_driver::RestoreFactoryProductConfiguration::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->RestoreFactoryProductConfiguration(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetTrajectoryErrorReport(kortex_driver::GetTrajectoryErrorReport::Request  &req, kortex_driver::GetTrajectoryErrorReport::Response &res)
+{
+	
+	Kinova::Api::Base::TrajectoryErrorReport output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetTrajectoryErrorReport(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetAllJointsSpeedSoftLimitation(kortex_driver::GetAllJointsSpeedSoftLimitation::Request  &req, kortex_driver::GetAllJointsSpeedSoftLimitation::Response &res)
+{
+	ROS_WARN("The base/get_all_joints_speed_soft_limitation service is now deprecated and will be removed in a future release.");
+	
+	Kinova::Api::Base::JointsLimitationsList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetAllJointsSpeedSoftLimitation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetAllJointsTorqueSoftLimitation(kortex_driver::GetAllJointsTorqueSoftLimitation::Request  &req, kortex_driver::GetAllJointsTorqueSoftLimitation::Response &res)
+{
+	ROS_WARN("The base/get_all_joints_torque_soft_limitation service is now deprecated and will be removed in a future release.");
+	
+	Kinova::Api::Base::JointsLimitationsList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetAllJointsTorqueSoftLimitation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetTwistSoftLimitation(kortex_driver::GetTwistSoftLimitation::Request  &req, kortex_driver::GetTwistSoftLimitation::Response &res)
+{
+	ROS_WARN("The base/get_twist_soft_limitation service is now deprecated and will be removed in a future release.");
+	
+	Kinova::Api::Base::TwistLimitation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetTwistSoftLimitation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetWrenchSoftLimitation(kortex_driver::GetWrenchSoftLimitation::Request  &req, kortex_driver::GetWrenchSoftLimitation::Response &res)
+{
+	ROS_WARN("The base/get_wrench_soft_limitation service is now deprecated and will be removed in a future release.");
+	
+	Kinova::Api::Base::WrenchLimitation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetWrenchSoftLimitation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::SetControllerConfigurationMode(kortex_driver::SetControllerConfigurationMode::Request  &req, kortex_driver::SetControllerConfigurationMode::Response &res)
+{
+	
+	Kinova::Api::Base::ControllerConfigurationMode input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SetControllerConfigurationMode(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetControllerConfigurationMode(kortex_driver::GetControllerConfigurationMode::Request  &req, kortex_driver::GetControllerConfigurationMode::Response &res)
+{
+	
+	Kinova::Api::Base::ControllerConfigurationMode output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetControllerConfigurationMode(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::StartTeaching(kortex_driver::StartTeaching::Request  &req, kortex_driver::StartTeaching::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceTaskHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->StartTeaching(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::StopTeaching(kortex_driver::StopTeaching::Request  &req, kortex_driver::StopTeaching::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->StopTeaching(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::AddSequenceTasks(kortex_driver::AddSequenceTasks::Request  &req, kortex_driver::AddSequenceTasks::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceTasksConfiguration input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::SequenceTasksRange output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->AddSequenceTasks(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::UpdateSequenceTask(kortex_driver::UpdateSequenceTask::Request  &req, kortex_driver::UpdateSequenceTask::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceTaskConfiguration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->UpdateSequenceTask(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::SwapSequenceTasks(kortex_driver::SwapSequenceTasks::Request  &req, kortex_driver::SwapSequenceTasks::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceTasksPair input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SwapSequenceTasks(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::ReadSequenceTask(kortex_driver::ReadSequenceTask::Request  &req, kortex_driver::ReadSequenceTask::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceTaskHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::SequenceTask output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadSequenceTask(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::ReadAllSequenceTasks(kortex_driver::ReadAllSequenceTasks::Request  &req, kortex_driver::ReadAllSequenceTasks::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::SequenceTasks output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->ReadAllSequenceTasks(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::DeleteSequenceTask(kortex_driver::DeleteSequenceTask::Request  &req, kortex_driver::DeleteSequenceTask::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceTaskHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->DeleteSequenceTask(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::DeleteAllSequenceTasks(kortex_driver::DeleteAllSequenceTasks::Request  &req, kortex_driver::DeleteAllSequenceTasks::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->DeleteAllSequenceTasks(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::TakeSnapshot(kortex_driver::TakeSnapshot::Request  &req, kortex_driver::TakeSnapshot::Response &res)
+{
+	
+	Kinova::Api::Base::Snapshot input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->TakeSnapshot(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetFirmwareBundleVersions(kortex_driver::GetFirmwareBundleVersions::Request  &req, kortex_driver::GetFirmwareBundleVersions::Response &res)
+{
+	
+	Kinova::Api::Base::FirmwareBundleVersions output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetFirmwareBundleVersions(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::MoveSequenceTask(kortex_driver::MoveSequenceTask::Request  &req, kortex_driver::MoveSequenceTask::Response &res)
+{
+	
+	Kinova::Api::Base::SequenceTasksPair input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->MoveSequenceTask(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::DuplicateMapping(kortex_driver::DuplicateMapping::Request  &req, kortex_driver::DuplicateMapping::Response &res)
+{
+	
+	Kinova::Api::Base::MappingHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::MappingHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->DuplicateMapping(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::DuplicateMap(kortex_driver::DuplicateMap::Request  &req, kortex_driver::DuplicateMap::Response &res)
+{
+	
+	Kinova::Api::Base::MapHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::MapHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->DuplicateMap(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::SetControllerConfiguration(kortex_driver::SetControllerConfiguration::Request  &req, kortex_driver::SetControllerConfiguration::Response &res)
+{
+	
+	Kinova::Api::Base::ControllerConfiguration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_base->SetControllerConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool BaseRobotServices::GetControllerConfiguration(kortex_driver::GetControllerConfiguration::Request  &req, kortex_driver::GetControllerConfiguration::Response &res)
+{
+	
+	Kinova::Api::Base::ControllerHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Base::ControllerConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetControllerConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool BaseRobotServices::GetAllControllerConfigurations(kortex_driver::GetAllControllerConfigurations::Request  &req, kortex_driver::GetAllControllerConfigurations::Response &res)
+{
+	
+	Kinova::Api::Base::ControllerConfigurationList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_base->GetAllControllerConfigurations(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
diff --git a/kortex_driver/src/generated/robot/basecyclic_proto_converter.cpp b/kortex_driver/src/generated/robot/basecyclic_proto_converter.cpp
new file mode 100644
index 0000000..30f9bc4
--- /dev/null
+++ b/kortex_driver/src/generated/robot/basecyclic_proto_converter.cpp
@@ -0,0 +1,167 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+
+int ToProtoData(kortex_driver::ActuatorCommand input, Kinova::Api::BaseCyclic::ActuatorCommand *output)
+{
+	
+	output->set_command_id(input.command_id);
+	output->set_flags(input.flags);
+	output->set_position(input.position);
+	output->set_velocity(input.velocity);
+	output->set_torque_joint(input.torque_joint);
+	output->set_current_motor(input.current_motor);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActuatorFeedback input, Kinova::Api::BaseCyclic::ActuatorFeedback *output)
+{
+	
+	output->set_command_id(input.command_id);
+	output->set_status_flags(input.status_flags);
+	output->set_jitter_comm(input.jitter_comm);
+	output->set_position(input.position);
+	output->set_velocity(input.velocity);
+	output->set_torque(input.torque);
+	output->set_current_motor(input.current_motor);
+	output->set_voltage(input.voltage);
+	output->set_temperature_motor(input.temperature_motor);
+	output->set_temperature_core(input.temperature_core);
+	output->set_fault_bank_a(input.fault_bank_a);
+	output->set_fault_bank_b(input.fault_bank_b);
+	output->set_warning_bank_a(input.warning_bank_a);
+	output->set_warning_bank_b(input.warning_bank_b);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ActuatorCustomData input, Kinova::Api::BaseCyclic::ActuatorCustomData *output)
+{
+	
+	output->set_command_id(input.command_id);
+	output->set_custom_data_0(input.custom_data_0);
+	output->set_custom_data_1(input.custom_data_1);
+	output->set_custom_data_2(input.custom_data_2);
+	output->set_custom_data_3(input.custom_data_3);
+	output->set_custom_data_4(input.custom_data_4);
+	output->set_custom_data_5(input.custom_data_5);
+	output->set_custom_data_6(input.custom_data_6);
+	output->set_custom_data_7(input.custom_data_7);
+	output->set_custom_data_8(input.custom_data_8);
+	output->set_custom_data_9(input.custom_data_9);
+	output->set_custom_data_10(input.custom_data_10);
+	output->set_custom_data_11(input.custom_data_11);
+	output->set_custom_data_12(input.custom_data_12);
+	output->set_custom_data_13(input.custom_data_13);
+	output->set_custom_data_14(input.custom_data_14);
+	output->set_custom_data_15(input.custom_data_15);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::BaseFeedback input, Kinova::Api::BaseCyclic::BaseFeedback *output)
+{
+	
+	output->set_active_state_connection_identifier(input.active_state_connection_identifier);
+	output->set_active_state((Kinova::Api::Common::ArmState)input.active_state);
+	output->set_arm_voltage(input.arm_voltage);
+	output->set_arm_current(input.arm_current);
+	output->set_temperature_cpu(input.temperature_cpu);
+	output->set_temperature_ambient(input.temperature_ambient);
+	output->set_imu_acceleration_x(input.imu_acceleration_x);
+	output->set_imu_acceleration_y(input.imu_acceleration_y);
+	output->set_imu_acceleration_z(input.imu_acceleration_z);
+	output->set_imu_angular_velocity_x(input.imu_angular_velocity_x);
+	output->set_imu_angular_velocity_y(input.imu_angular_velocity_y);
+	output->set_imu_angular_velocity_z(input.imu_angular_velocity_z);
+	output->set_tool_pose_x(input.tool_pose_x);
+	output->set_tool_pose_y(input.tool_pose_y);
+	output->set_tool_pose_z(input.tool_pose_z);
+	output->set_tool_pose_theta_x(input.tool_pose_theta_x);
+	output->set_tool_pose_theta_y(input.tool_pose_theta_y);
+	output->set_tool_pose_theta_z(input.tool_pose_theta_z);
+	output->set_tool_twist_linear_x(input.tool_twist_linear_x);
+	output->set_tool_twist_linear_y(input.tool_twist_linear_y);
+	output->set_tool_twist_linear_z(input.tool_twist_linear_z);
+	output->set_tool_twist_angular_x(input.tool_twist_angular_x);
+	output->set_tool_twist_angular_y(input.tool_twist_angular_y);
+	output->set_tool_twist_angular_z(input.tool_twist_angular_z);
+	output->set_tool_external_wrench_force_x(input.tool_external_wrench_force_x);
+	output->set_tool_external_wrench_force_y(input.tool_external_wrench_force_y);
+	output->set_tool_external_wrench_force_z(input.tool_external_wrench_force_z);
+	output->set_tool_external_wrench_torque_x(input.tool_external_wrench_torque_x);
+	output->set_tool_external_wrench_torque_y(input.tool_external_wrench_torque_y);
+	output->set_tool_external_wrench_torque_z(input.tool_external_wrench_torque_z);
+	output->set_fault_bank_a(input.fault_bank_a);
+	output->set_fault_bank_b(input.fault_bank_b);
+	output->set_warning_bank_a(input.warning_bank_a);
+	output->set_warning_bank_b(input.warning_bank_b);
+	output->set_commanded_tool_pose_x(input.commanded_tool_pose_x);
+	output->set_commanded_tool_pose_y(input.commanded_tool_pose_y);
+	output->set_commanded_tool_pose_z(input.commanded_tool_pose_z);
+	output->set_commanded_tool_pose_theta_x(input.commanded_tool_pose_theta_x);
+	output->set_commanded_tool_pose_theta_y(input.commanded_tool_pose_theta_y);
+	output->set_commanded_tool_pose_theta_z(input.commanded_tool_pose_theta_z);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::BaseCyclic_CustomData input, Kinova::Api::BaseCyclic::CustomData *output)
+{
+	
+	output->set_frame_id(input.frame_id);
+	output->set_custom_data_0(input.custom_data_0);
+	output->set_custom_data_1(input.custom_data_1);
+	output->set_custom_data_2(input.custom_data_2);
+	output->set_custom_data_3(input.custom_data_3);
+	output->set_custom_data_4(input.custom_data_4);
+	output->set_custom_data_5(input.custom_data_5);
+	output->set_custom_data_6(input.custom_data_6);
+	output->set_custom_data_7(input.custom_data_7); 
+	output->clear_actuators_custom_data();
+	for(int i = 0; i < input.actuators_custom_data.size(); i++)
+	{
+		ToProtoData(input.actuators_custom_data[i], output->add_actuators_custom_data());
+	} 
+	ToProtoData(input.interconnect_custom_data, output->mutable_interconnect_custom_data());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::BaseCyclic_Command input, Kinova::Api::BaseCyclic::Command *output)
+{
+	
+	output->set_frame_id(input.frame_id); 
+	output->clear_actuators();
+	for(int i = 0; i < input.actuators.size(); i++)
+	{
+		ToProtoData(input.actuators[i], output->add_actuators());
+	} 
+	ToProtoData(input.interconnect, output->mutable_interconnect());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::BaseCyclic_Feedback input, Kinova::Api::BaseCyclic::Feedback *output)
+{
+	
+	output->set_frame_id(input.frame_id); 
+	ToProtoData(input.base, output->mutable_base()); 
+	output->clear_actuators();
+	for(int i = 0; i < input.actuators.size(); i++)
+	{
+		ToProtoData(input.actuators[i], output->add_actuators());
+	} 
+	ToProtoData(input.interconnect, output->mutable_interconnect());
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/basecyclic_ros_converter.cpp b/kortex_driver/src/generated/robot/basecyclic_ros_converter.cpp
new file mode 100644
index 0000000..e064758
--- /dev/null
+++ b/kortex_driver/src/generated/robot/basecyclic_ros_converter.cpp
@@ -0,0 +1,187 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+
+int ToRosData(Kinova::Api::BaseCyclic::ActuatorCommand input, kortex_driver::ActuatorCommand &output)
+{
+	
+	output.command_id = input.command_id();
+	output.flags = input.flags();
+	output.position = input.position();
+	output.velocity = input.velocity();
+	output.torque_joint = input.torque_joint();
+	output.current_motor = input.current_motor();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::BaseCyclic::ActuatorFeedback input, kortex_driver::ActuatorFeedback &output)
+{
+	
+	output.command_id = input.command_id();
+	output.status_flags = input.status_flags();
+	output.jitter_comm = input.jitter_comm();
+	output.position = input.position();
+	output.velocity = input.velocity();
+	output.torque = input.torque();
+	output.current_motor = input.current_motor();
+	output.voltage = input.voltage();
+	output.temperature_motor = input.temperature_motor();
+	output.temperature_core = input.temperature_core();
+	output.fault_bank_a = input.fault_bank_a();
+	output.fault_bank_b = input.fault_bank_b();
+	output.warning_bank_a = input.warning_bank_a();
+	output.warning_bank_b = input.warning_bank_b();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::BaseCyclic::ActuatorCustomData input, kortex_driver::ActuatorCustomData &output)
+{
+	
+	output.command_id = input.command_id();
+	output.custom_data_0 = input.custom_data_0();
+	output.custom_data_1 = input.custom_data_1();
+	output.custom_data_2 = input.custom_data_2();
+	output.custom_data_3 = input.custom_data_3();
+	output.custom_data_4 = input.custom_data_4();
+	output.custom_data_5 = input.custom_data_5();
+	output.custom_data_6 = input.custom_data_6();
+	output.custom_data_7 = input.custom_data_7();
+	output.custom_data_8 = input.custom_data_8();
+	output.custom_data_9 = input.custom_data_9();
+	output.custom_data_10 = input.custom_data_10();
+	output.custom_data_11 = input.custom_data_11();
+	output.custom_data_12 = input.custom_data_12();
+	output.custom_data_13 = input.custom_data_13();
+	output.custom_data_14 = input.custom_data_14();
+	output.custom_data_15 = input.custom_data_15();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::BaseCyclic::BaseFeedback input, kortex_driver::BaseFeedback &output)
+{
+	
+	output.active_state_connection_identifier = input.active_state_connection_identifier();
+	output.active_state = input.active_state();
+	output.arm_voltage = input.arm_voltage();
+	output.arm_current = input.arm_current();
+	output.temperature_cpu = input.temperature_cpu();
+	output.temperature_ambient = input.temperature_ambient();
+	output.imu_acceleration_x = input.imu_acceleration_x();
+	output.imu_acceleration_y = input.imu_acceleration_y();
+	output.imu_acceleration_z = input.imu_acceleration_z();
+	output.imu_angular_velocity_x = input.imu_angular_velocity_x();
+	output.imu_angular_velocity_y = input.imu_angular_velocity_y();
+	output.imu_angular_velocity_z = input.imu_angular_velocity_z();
+	output.tool_pose_x = input.tool_pose_x();
+	output.tool_pose_y = input.tool_pose_y();
+	output.tool_pose_z = input.tool_pose_z();
+	output.tool_pose_theta_x = input.tool_pose_theta_x();
+	output.tool_pose_theta_y = input.tool_pose_theta_y();
+	output.tool_pose_theta_z = input.tool_pose_theta_z();
+	output.tool_twist_linear_x = input.tool_twist_linear_x();
+	output.tool_twist_linear_y = input.tool_twist_linear_y();
+	output.tool_twist_linear_z = input.tool_twist_linear_z();
+	output.tool_twist_angular_x = input.tool_twist_angular_x();
+	output.tool_twist_angular_y = input.tool_twist_angular_y();
+	output.tool_twist_angular_z = input.tool_twist_angular_z();
+	output.tool_external_wrench_force_x = input.tool_external_wrench_force_x();
+	output.tool_external_wrench_force_y = input.tool_external_wrench_force_y();
+	output.tool_external_wrench_force_z = input.tool_external_wrench_force_z();
+	output.tool_external_wrench_torque_x = input.tool_external_wrench_torque_x();
+	output.tool_external_wrench_torque_y = input.tool_external_wrench_torque_y();
+	output.tool_external_wrench_torque_z = input.tool_external_wrench_torque_z();
+	output.fault_bank_a = input.fault_bank_a();
+	output.fault_bank_b = input.fault_bank_b();
+	output.warning_bank_a = input.warning_bank_a();
+	output.warning_bank_b = input.warning_bank_b();
+	output.commanded_tool_pose_x = input.commanded_tool_pose_x();
+	output.commanded_tool_pose_y = input.commanded_tool_pose_y();
+	output.commanded_tool_pose_z = input.commanded_tool_pose_z();
+	output.commanded_tool_pose_theta_x = input.commanded_tool_pose_theta_x();
+	output.commanded_tool_pose_theta_y = input.commanded_tool_pose_theta_y();
+	output.commanded_tool_pose_theta_z = input.commanded_tool_pose_theta_z();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::BaseCyclic::CustomData input, kortex_driver::BaseCyclic_CustomData &output)
+{
+	
+	output.frame_id = input.frame_id();
+	output.custom_data_0 = input.custom_data_0();
+	output.custom_data_1 = input.custom_data_1();
+	output.custom_data_2 = input.custom_data_2();
+	output.custom_data_3 = input.custom_data_3();
+	output.custom_data_4 = input.custom_data_4();
+	output.custom_data_5 = input.custom_data_5();
+	output.custom_data_6 = input.custom_data_6();
+	output.custom_data_7 = input.custom_data_7();
+	output.actuators_custom_data.clear();
+	for(int i = 0; i < input.actuators_custom_data_size(); i++)
+	{
+		kortex_driver::ActuatorCustomData temp;
+		ToRosData(input.actuators_custom_data(i), temp);
+		output.actuators_custom_data.push_back(temp);
+	}
+	ToRosData(input.interconnect_custom_data(), output.interconnect_custom_data);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::BaseCyclic::Command input, kortex_driver::BaseCyclic_Command &output)
+{
+	
+	output.frame_id = input.frame_id();
+	output.actuators.clear();
+	for(int i = 0; i < input.actuators_size(); i++)
+	{
+		kortex_driver::ActuatorCommand temp;
+		ToRosData(input.actuators(i), temp);
+		output.actuators.push_back(temp);
+	}
+	ToRosData(input.interconnect(), output.interconnect);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::BaseCyclic::Feedback input, kortex_driver::BaseCyclic_Feedback &output)
+{
+	
+	output.frame_id = input.frame_id();
+	ToRosData(input.base(), output.base);
+	output.actuators.clear();
+	for(int i = 0; i < input.actuators_size(); i++)
+	{
+		kortex_driver::ActuatorFeedback temp;
+		ToRosData(input.actuators(i), temp);
+		output.actuators.push_back(temp);
+	}
+	ToRosData(input.interconnect(), output.interconnect);
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/common_proto_converter.cpp b/kortex_driver/src/generated/robot/common_proto_converter.cpp
new file mode 100644
index 0000000..d135787
--- /dev/null
+++ b/kortex_driver/src/generated/robot/common_proto_converter.cpp
@@ -0,0 +1,118 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+
+int ToProtoData(kortex_driver::DeviceHandle input, Kinova::Api::Common::DeviceHandle *output)
+{
+	
+	output->set_device_type((Kinova::Api::Common::DeviceTypes)input.device_type);
+	output->set_device_identifier(input.device_identifier);
+	output->set_order(input.order);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Empty input, Kinova::Api::Common::Empty *output)
+{
+	
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::NotificationOptions input, Kinova::Api::Common::NotificationOptions *output)
+{
+	
+	output->set_type((Kinova::Api::Common::NotificationType)input.type);
+	output->set_rate_m_sec(input.rate_m_sec);
+	output->set_threshold_value(input.threshold_value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyHandle input, Kinova::Api::Common::SafetyHandle *output)
+{
+	
+	output->set_identifier(input.identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::NotificationHandle input, Kinova::Api::Common::NotificationHandle *output)
+{
+	
+	output->set_identifier(input.identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyNotification input, Kinova::Api::Common::SafetyNotification *output)
+{
+	 
+	ToProtoData(input.safety_handle, output->mutable_safety_handle());
+	output->set_value((Kinova::Api::Common::SafetyStatusValue)input.value); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Timestamp input, Kinova::Api::Common::Timestamp *output)
+{
+	
+	output->set_sec(input.sec);
+	output->set_usec(input.usec);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::UserProfileHandle input, Kinova::Api::Common::UserProfileHandle *output)
+{
+	
+	output->set_identifier(input.identifier);
+	output->set_permission(input.permission);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Connection input, Kinova::Api::Common::Connection *output)
+{
+	 
+	ToProtoData(input.user_handle, output->mutable_user_handle());
+	output->set_connection_information(input.connection_information);
+	output->set_connection_identifier(input.connection_identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::UARTConfiguration input, Kinova::Api::Common::UARTConfiguration *output)
+{
+	
+	output->set_port_id(input.port_id);
+	output->set_enabled(input.enabled);
+	output->set_speed((Kinova::Api::Common::UARTSpeed)input.speed);
+	output->set_word_length((Kinova::Api::Common::UARTWordLength)input.word_length);
+	output->set_stop_bits((Kinova::Api::Common::UARTStopBits)input.stop_bits);
+	output->set_parity((Kinova::Api::Common::UARTParity)input.parity);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::UARTDeviceIdentification input, Kinova::Api::Common::UARTDeviceIdentification *output)
+{
+	
+	output->set_port_id(input.port_id);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CountryCode input, Kinova::Api::Common::CountryCode *output)
+{
+	
+	output->set_identifier((Kinova::Api::Common::CountryCodeIdentifier)input.identifier);
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/common_ros_converter.cpp b/kortex_driver/src/generated/robot/common_ros_converter.cpp
new file mode 100644
index 0000000..df98ecb
--- /dev/null
+++ b/kortex_driver/src/generated/robot/common_ros_converter.cpp
@@ -0,0 +1,142 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+
+int ToRosData(Kinova::Api::Common::DeviceHandle input, kortex_driver::DeviceHandle &output)
+{
+	
+	output.device_type = input.device_type();
+	output.device_identifier = input.device_identifier();
+	output.order = input.order();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::Empty input, kortex_driver::Empty &output)
+{
+	
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::NotificationOptions input, kortex_driver::NotificationOptions &output)
+{
+	
+	output.type = input.type();
+	output.rate_m_sec = input.rate_m_sec();
+	output.threshold_value = input.threshold_value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::SafetyHandle input, kortex_driver::SafetyHandle &output)
+{
+	
+	output.identifier = input.identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::NotificationHandle input, kortex_driver::NotificationHandle &output)
+{
+	
+	output.identifier = input.identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::SafetyNotification input, kortex_driver::SafetyNotification &output)
+{
+	
+	ToRosData(input.safety_handle(), output.safety_handle);
+	output.value = input.value();
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::Timestamp input, kortex_driver::Timestamp &output)
+{
+	
+	output.sec = input.sec();
+	output.usec = input.usec();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::UserProfileHandle input, kortex_driver::UserProfileHandle &output)
+{
+	
+	output.identifier = input.identifier();
+	output.permission = input.permission();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::Connection input, kortex_driver::Connection &output)
+{
+	
+	ToRosData(input.user_handle(), output.user_handle);
+	output.connection_information = input.connection_information();
+	output.connection_identifier = input.connection_identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::UARTConfiguration input, kortex_driver::UARTConfiguration &output)
+{
+	
+	output.port_id = input.port_id();
+	output.enabled = input.enabled();
+	output.speed = input.speed();
+	output.word_length = input.word_length();
+	output.stop_bits = input.stop_bits();
+	output.parity = input.parity();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::UARTDeviceIdentification input, kortex_driver::UARTDeviceIdentification &output)
+{
+	
+	output.port_id = input.port_id();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::Common::CountryCode input, kortex_driver::CountryCode &output)
+{
+	
+	output.identifier = input.identifier();
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/controlconfig_proto_converter.cpp b/kortex_driver/src/generated/robot/controlconfig_proto_converter.cpp
new file mode 100644
index 0000000..844f103
--- /dev/null
+++ b/kortex_driver/src/generated/robot/controlconfig_proto_converter.cpp
@@ -0,0 +1,197 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+
+int ToProtoData(kortex_driver::GravityVector input, Kinova::Api::ControlConfig::GravityVector *output)
+{
+	
+	output->set_x(input.x);
+	output->set_y(input.y);
+	output->set_z(input.z);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControlConfig_Position input, Kinova::Api::ControlConfig::Position *output)
+{
+	
+	output->set_x(input.x);
+	output->set_y(input.y);
+	output->set_z(input.z);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::PayloadInformation input, Kinova::Api::ControlConfig::PayloadInformation *output)
+{
+	
+	output->set_payload_mass(input.payload_mass); 
+	ToProtoData(input.payload_mass_center, output->mutable_payload_mass_center());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CartesianTransform input, Kinova::Api::ControlConfig::CartesianTransform *output)
+{
+	
+	output->set_x(input.x);
+	output->set_y(input.y);
+	output->set_z(input.z);
+	output->set_theta_x(input.theta_x);
+	output->set_theta_y(input.theta_y);
+	output->set_theta_z(input.theta_z);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ToolConfiguration input, Kinova::Api::ControlConfig::ToolConfiguration *output)
+{
+	 
+	ToProtoData(input.tool_transform, output->mutable_tool_transform());
+	output->set_tool_mass(input.tool_mass); 
+	ToProtoData(input.tool_mass_center, output->mutable_tool_mass_center());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControlConfigurationNotification input, Kinova::Api::ControlConfig::ControlConfigurationNotification *output)
+{
+	
+	output->set_event((Kinova::Api::ControlConfig::ControlConfigurationEvent)input.event); 
+	ToProtoData(input.timestamp, output->mutable_timestamp()); 
+	ToProtoData(input.user_handle, output->mutable_user_handle()); 
+	ToProtoData(input.connection, output->mutable_connection());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CartesianReferenceFrameInfo input, Kinova::Api::ControlConfig::CartesianReferenceFrameInfo *output)
+{
+	
+	output->set_reference_frame((Kinova::Api::Common::CartesianReferenceFrame)input.reference_frame);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TwistLinearSoftLimit input, Kinova::Api::ControlConfig::TwistLinearSoftLimit *output)
+{
+	
+	output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode);
+	output->set_twist_linear_soft_limit(input.twist_linear_soft_limit);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TwistAngularSoftLimit input, Kinova::Api::ControlConfig::TwistAngularSoftLimit *output)
+{
+	
+	output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode);
+	output->set_twist_angular_soft_limit(input.twist_angular_soft_limit);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::JointSpeedSoftLimits input, Kinova::Api::ControlConfig::JointSpeedSoftLimits *output)
+{
+	
+	output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode);
+	output->clear_joint_speed_soft_limits();
+	for(int i = 0; i < input.joint_speed_soft_limits.size(); i++)
+	{
+		output->add_joint_speed_soft_limits(input.joint_speed_soft_limits[i]);
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::JointAccelerationSoftLimits input, Kinova::Api::ControlConfig::JointAccelerationSoftLimits *output)
+{
+	
+	output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode);
+	output->clear_joint_acceleration_soft_limits();
+	for(int i = 0; i < input.joint_acceleration_soft_limits.size(); i++)
+	{
+		output->add_joint_acceleration_soft_limits(input.joint_acceleration_soft_limits[i]);
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::KinematicLimits input, Kinova::Api::ControlConfig::KinematicLimits *output)
+{
+	
+	output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode);
+	output->set_twist_linear(input.twist_linear);
+	output->set_twist_angular(input.twist_angular);
+	output->clear_joint_speed_limits();
+	for(int i = 0; i < input.joint_speed_limits.size(); i++)
+	{
+		output->add_joint_speed_limits(input.joint_speed_limits[i]);
+	}
+	output->clear_joint_acceleration_limits();
+	for(int i = 0; i < input.joint_acceleration_limits.size(); i++)
+	{
+		output->add_joint_acceleration_limits(input.joint_acceleration_limits[i]);
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::KinematicLimitsList input, Kinova::Api::ControlConfig::KinematicLimitsList *output)
+{
+	 
+	output->clear_kinematic_limits_list();
+	for(int i = 0; i < input.kinematic_limits_list.size(); i++)
+	{
+		ToProtoData(input.kinematic_limits_list[i], output->add_kinematic_limits_list());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::DesiredSpeeds input, Kinova::Api::ControlConfig::DesiredSpeeds *output)
+{
+	
+	output->set_linear(input.linear);
+	output->set_angular(input.angular);
+	output->clear_joint_speed();
+	for(int i = 0; i < input.joint_speed.size(); i++)
+	{
+		output->add_joint_speed(input.joint_speed[i]);
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::LinearTwist input, Kinova::Api::ControlConfig::LinearTwist *output)
+{
+	
+	output->set_linear(input.linear);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::AngularTwist input, Kinova::Api::ControlConfig::AngularTwist *output)
+{
+	
+	output->set_angular(input.angular);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControlConfig_JointSpeeds input, Kinova::Api::ControlConfig::JointSpeeds *output)
+{
+	
+	output->clear_joint_speed();
+	for(int i = 0; i < input.joint_speed.size(); i++)
+	{
+		output->add_joint_speed(input.joint_speed[i]);
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ControlConfig_ControlModeInformation input, Kinova::Api::ControlConfig::ControlModeInformation *output)
+{
+	
+	output->set_control_mode((Kinova::Api::ControlConfig::ControlMode)input.control_mode);
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/controlconfig_ros_converter.cpp b/kortex_driver/src/generated/robot/controlconfig_ros_converter.cpp
new file mode 100644
index 0000000..5032d46
--- /dev/null
+++ b/kortex_driver/src/generated/robot/controlconfig_ros_converter.cpp
@@ -0,0 +1,235 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+
+int ToRosData(Kinova::Api::ControlConfig::GravityVector input, kortex_driver::GravityVector &output)
+{
+	
+	output.x = input.x();
+	output.y = input.y();
+	output.z = input.z();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::Position input, kortex_driver::ControlConfig_Position &output)
+{
+	
+	output.x = input.x();
+	output.y = input.y();
+	output.z = input.z();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::PayloadInformation input, kortex_driver::PayloadInformation &output)
+{
+	
+	output.payload_mass = input.payload_mass();
+	ToRosData(input.payload_mass_center(), output.payload_mass_center);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::CartesianTransform input, kortex_driver::CartesianTransform &output)
+{
+	
+	output.x = input.x();
+	output.y = input.y();
+	output.z = input.z();
+	output.theta_x = input.theta_x();
+	output.theta_y = input.theta_y();
+	output.theta_z = input.theta_z();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::ToolConfiguration input, kortex_driver::ToolConfiguration &output)
+{
+	
+	ToRosData(input.tool_transform(), output.tool_transform);
+	output.tool_mass = input.tool_mass();
+	ToRosData(input.tool_mass_center(), output.tool_mass_center);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::ControlConfigurationNotification input, kortex_driver::ControlConfigurationNotification &output)
+{
+	
+	output.event = input.event();
+	ToRosData(input.timestamp(), output.timestamp);
+	ToRosData(input.user_handle(), output.user_handle);
+	ToRosData(input.connection(), output.connection);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::CartesianReferenceFrameInfo input, kortex_driver::CartesianReferenceFrameInfo &output)
+{
+	
+	output.reference_frame = input.reference_frame();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::TwistLinearSoftLimit input, kortex_driver::TwistLinearSoftLimit &output)
+{
+	
+	output.control_mode = input.control_mode();
+	output.twist_linear_soft_limit = input.twist_linear_soft_limit();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::TwistAngularSoftLimit input, kortex_driver::TwistAngularSoftLimit &output)
+{
+	
+	output.control_mode = input.control_mode();
+	output.twist_angular_soft_limit = input.twist_angular_soft_limit();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::JointSpeedSoftLimits input, kortex_driver::JointSpeedSoftLimits &output)
+{
+	
+	output.control_mode = input.control_mode();
+	output.joint_speed_soft_limits.clear();
+	for(int i = 0; i < input.joint_speed_soft_limits_size(); i++)
+	{
+		output.joint_speed_soft_limits.push_back(input.joint_speed_soft_limits(i));
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::JointAccelerationSoftLimits input, kortex_driver::JointAccelerationSoftLimits &output)
+{
+	
+	output.control_mode = input.control_mode();
+	output.joint_acceleration_soft_limits.clear();
+	for(int i = 0; i < input.joint_acceleration_soft_limits_size(); i++)
+	{
+		output.joint_acceleration_soft_limits.push_back(input.joint_acceleration_soft_limits(i));
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::KinematicLimits input, kortex_driver::KinematicLimits &output)
+{
+	
+	output.control_mode = input.control_mode();
+	output.twist_linear = input.twist_linear();
+	output.twist_angular = input.twist_angular();
+	output.joint_speed_limits.clear();
+	for(int i = 0; i < input.joint_speed_limits_size(); i++)
+	{
+		output.joint_speed_limits.push_back(input.joint_speed_limits(i));
+	}
+	output.joint_acceleration_limits.clear();
+	for(int i = 0; i < input.joint_acceleration_limits_size(); i++)
+	{
+		output.joint_acceleration_limits.push_back(input.joint_acceleration_limits(i));
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::KinematicLimitsList input, kortex_driver::KinematicLimitsList &output)
+{
+	
+	output.kinematic_limits_list.clear();
+	for(int i = 0; i < input.kinematic_limits_list_size(); i++)
+	{
+		kortex_driver::KinematicLimits temp;
+		ToRosData(input.kinematic_limits_list(i), temp);
+		output.kinematic_limits_list.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::DesiredSpeeds input, kortex_driver::DesiredSpeeds &output)
+{
+	
+	output.linear = input.linear();
+	output.angular = input.angular();
+	output.joint_speed.clear();
+	for(int i = 0; i < input.joint_speed_size(); i++)
+	{
+		output.joint_speed.push_back(input.joint_speed(i));
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::LinearTwist input, kortex_driver::LinearTwist &output)
+{
+	
+	output.linear = input.linear();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::AngularTwist input, kortex_driver::AngularTwist &output)
+{
+	
+	output.angular = input.angular();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::JointSpeeds input, kortex_driver::ControlConfig_JointSpeeds &output)
+{
+	
+	output.joint_speed.clear();
+	for(int i = 0; i < input.joint_speed_size(); i++)
+	{
+		output.joint_speed.push_back(input.joint_speed(i));
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ControlConfig::ControlModeInformation input, kortex_driver::ControlConfig_ControlModeInformation &output)
+{
+	
+	output.control_mode = input.control_mode();
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/controlconfig_services.cpp b/kortex_driver/src/generated/robot/controlconfig_services.cpp
new file mode 100644
index 0000000..0e75bf8
--- /dev/null
+++ b/kortex_driver/src/generated/robot/controlconfig_services.cpp
@@ -0,0 +1,1071 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_services.h"
+
+ControlConfigRobotServices::ControlConfigRobotServices(ros::NodeHandle& node_handle, Kinova::Api::ControlConfig::ControlConfigClient* controlconfig, uint32_t device_id, uint32_t timeout_ms): 
+	IControlConfigServices(node_handle),
+	m_controlconfig(controlconfig),
+	m_current_device_id(device_id)
+{
+	m_api_options.timeout_ms = timeout_ms;
+
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+	m_pub_ControlConfigurationTopic = m_node_handle.advertise<kortex_driver::ControlConfigurationNotification>("control_configuration_topic", 1000);
+	m_is_activated_ControlConfigurationTopic = false;
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("control_config/set_device_id", &ControlConfigRobotServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("control_config/set_api_options", &ControlConfigRobotServices::SetApiOptions, this);
+
+	m_serviceSetGravityVector = m_node_handle.advertiseService("control_config/set_gravity_vector", &ControlConfigRobotServices::SetGravityVector, this);
+	m_serviceGetGravityVector = m_node_handle.advertiseService("control_config/get_gravity_vector", &ControlConfigRobotServices::GetGravityVector, this);
+	m_serviceSetPayloadInformation = m_node_handle.advertiseService("control_config/set_payload_information", &ControlConfigRobotServices::SetPayloadInformation, this);
+	m_serviceGetPayloadInformation = m_node_handle.advertiseService("control_config/get_payload_information", &ControlConfigRobotServices::GetPayloadInformation, this);
+	m_serviceSetToolConfiguration = m_node_handle.advertiseService("control_config/set_tool_configuration", &ControlConfigRobotServices::SetToolConfiguration, this);
+	m_serviceGetToolConfiguration = m_node_handle.advertiseService("control_config/get_tool_configuration", &ControlConfigRobotServices::GetToolConfiguration, this);
+	m_serviceOnNotificationControlConfigurationTopic = m_node_handle.advertiseService("control_config/activate_publishing_of_control_configuration_topic", &ControlConfigRobotServices::OnNotificationControlConfigurationTopic, this);
+	m_serviceControlConfig_Unsubscribe = m_node_handle.advertiseService("control_config/unsubscribe", &ControlConfigRobotServices::ControlConfig_Unsubscribe, this);
+	m_serviceSetCartesianReferenceFrame = m_node_handle.advertiseService("control_config/set_cartesian_reference_frame", &ControlConfigRobotServices::SetCartesianReferenceFrame, this);
+	m_serviceGetCartesianReferenceFrame = m_node_handle.advertiseService("control_config/get_cartesian_reference_frame", &ControlConfigRobotServices::GetCartesianReferenceFrame, this);
+	m_serviceControlConfig_GetControlMode = m_node_handle.advertiseService("control_config/get_control_mode", &ControlConfigRobotServices::ControlConfig_GetControlMode, this);
+	m_serviceSetJointSpeedSoftLimits = m_node_handle.advertiseService("control_config/set_joint_speed_soft_limits", &ControlConfigRobotServices::SetJointSpeedSoftLimits, this);
+	m_serviceSetTwistLinearSoftLimit = m_node_handle.advertiseService("control_config/set_twist_linear_soft_limit", &ControlConfigRobotServices::SetTwistLinearSoftLimit, this);
+	m_serviceSetTwistAngularSoftLimit = m_node_handle.advertiseService("control_config/set_twist_angular_soft_limit", &ControlConfigRobotServices::SetTwistAngularSoftLimit, this);
+	m_serviceSetJointAccelerationSoftLimits = m_node_handle.advertiseService("control_config/set_joint_acceleration_soft_limits", &ControlConfigRobotServices::SetJointAccelerationSoftLimits, this);
+	m_serviceGetKinematicHardLimits = m_node_handle.advertiseService("control_config/get_kinematic_hard_limits", &ControlConfigRobotServices::GetKinematicHardLimits, this);
+	m_serviceGetKinematicSoftLimits = m_node_handle.advertiseService("control_config/get_kinematic_soft_limits", &ControlConfigRobotServices::GetKinematicSoftLimits, this);
+	m_serviceGetAllKinematicSoftLimits = m_node_handle.advertiseService("control_config/get_all_kinematic_soft_limits", &ControlConfigRobotServices::GetAllKinematicSoftLimits, this);
+	m_serviceSetDesiredLinearTwist = m_node_handle.advertiseService("control_config/set_desired_linear_twist", &ControlConfigRobotServices::SetDesiredLinearTwist, this);
+	m_serviceSetDesiredAngularTwist = m_node_handle.advertiseService("control_config/set_desired_angular_twist", &ControlConfigRobotServices::SetDesiredAngularTwist, this);
+	m_serviceSetDesiredJointSpeeds = m_node_handle.advertiseService("control_config/set_desired_joint_speeds", &ControlConfigRobotServices::SetDesiredJointSpeeds, this);
+	m_serviceGetDesiredSpeeds = m_node_handle.advertiseService("control_config/get_desired_speeds", &ControlConfigRobotServices::GetDesiredSpeeds, this);
+	m_serviceResetGravityVector = m_node_handle.advertiseService("control_config/reset_gravity_vector", &ControlConfigRobotServices::ResetGravityVector, this);
+	m_serviceResetPayloadInformation = m_node_handle.advertiseService("control_config/reset_payload_information", &ControlConfigRobotServices::ResetPayloadInformation, this);
+	m_serviceResetToolConfiguration = m_node_handle.advertiseService("control_config/reset_tool_configuration", &ControlConfigRobotServices::ResetToolConfiguration, this);
+	m_serviceResetJointSpeedSoftLimits = m_node_handle.advertiseService("control_config/reset_joint_speed_soft_limits", &ControlConfigRobotServices::ResetJointSpeedSoftLimits, this);
+	m_serviceResetTwistLinearSoftLimit = m_node_handle.advertiseService("control_config/reset_twist_linear_soft_limit", &ControlConfigRobotServices::ResetTwistLinearSoftLimit, this);
+	m_serviceResetTwistAngularSoftLimit = m_node_handle.advertiseService("control_config/reset_twist_angular_soft_limit", &ControlConfigRobotServices::ResetTwistAngularSoftLimit, this);
+	m_serviceResetJointAccelerationSoftLimits = m_node_handle.advertiseService("control_config/reset_joint_acceleration_soft_limits", &ControlConfigRobotServices::ResetJointAccelerationSoftLimits, this);
+}
+
+bool ControlConfigRobotServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	m_current_device_id = req.device_id;
+
+	return true;
+}
+
+bool ControlConfigRobotServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	m_api_options.timeout_ms = req.input.timeout_ms;
+
+	return true;
+}
+
+
+bool ControlConfigRobotServices::SetGravityVector(kortex_driver::SetGravityVector::Request  &req, kortex_driver::SetGravityVector::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::GravityVector input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetGravityVector(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::GetGravityVector(kortex_driver::GetGravityVector::Request  &req, kortex_driver::GetGravityVector::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::GravityVector output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->GetGravityVector(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::SetPayloadInformation(kortex_driver::SetPayloadInformation::Request  &req, kortex_driver::SetPayloadInformation::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::PayloadInformation input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetPayloadInformation(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::GetPayloadInformation(kortex_driver::GetPayloadInformation::Request  &req, kortex_driver::GetPayloadInformation::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::PayloadInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->GetPayloadInformation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::SetToolConfiguration(kortex_driver::SetToolConfiguration::Request  &req, kortex_driver::SetToolConfiguration::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::ToolConfiguration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetToolConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::GetToolConfiguration(kortex_driver::GetToolConfiguration::Request  &req, kortex_driver::GetToolConfiguration::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::ToolConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->GetToolConfiguration(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::OnNotificationControlConfigurationTopic(kortex_driver::OnNotificationControlConfigurationTopic::Request  &req, kortex_driver::OnNotificationControlConfigurationTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_ControlConfigurationTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::ControlConfig::ControlConfigurationNotification) > callback = std::bind(&ControlConfigRobotServices::cb_ControlConfigurationTopic, this, std::placeholders::_1);
+		output = m_controlconfig->OnNotificationControlConfigurationTopic(callback, input, m_current_device_id);
+		m_is_activated_ControlConfigurationTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void ControlConfigRobotServices::cb_ControlConfigurationTopic(Kinova::Api::ControlConfig::ControlConfigurationNotification notif)
+{
+	kortex_driver::ControlConfigurationNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ControlConfigurationTopic.publish(ros_msg);
+}
+
+bool ControlConfigRobotServices::ControlConfig_Unsubscribe(kortex_driver::ControlConfig_Unsubscribe::Request  &req, kortex_driver::ControlConfig_Unsubscribe::Response &res)
+{
+	
+	Kinova::Api::Common::NotificationHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->Unsubscribe(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::SetCartesianReferenceFrame(kortex_driver::SetCartesianReferenceFrame::Request  &req, kortex_driver::SetCartesianReferenceFrame::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::CartesianReferenceFrameInfo input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetCartesianReferenceFrame(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::GetCartesianReferenceFrame(kortex_driver::GetCartesianReferenceFrame::Request  &req, kortex_driver::GetCartesianReferenceFrame::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::CartesianReferenceFrameInfo output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->GetCartesianReferenceFrame(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::ControlConfig_GetControlMode(kortex_driver::ControlConfig_GetControlMode::Request  &req, kortex_driver::ControlConfig_GetControlMode::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::ControlModeInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->GetControlMode(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::SetJointSpeedSoftLimits(kortex_driver::SetJointSpeedSoftLimits::Request  &req, kortex_driver::SetJointSpeedSoftLimits::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::JointSpeedSoftLimits input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetJointSpeedSoftLimits(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::SetTwistLinearSoftLimit(kortex_driver::SetTwistLinearSoftLimit::Request  &req, kortex_driver::SetTwistLinearSoftLimit::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::TwistLinearSoftLimit input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetTwistLinearSoftLimit(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::SetTwistAngularSoftLimit(kortex_driver::SetTwistAngularSoftLimit::Request  &req, kortex_driver::SetTwistAngularSoftLimit::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::TwistAngularSoftLimit input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetTwistAngularSoftLimit(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::SetJointAccelerationSoftLimits(kortex_driver::SetJointAccelerationSoftLimits::Request  &req, kortex_driver::SetJointAccelerationSoftLimits::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::JointAccelerationSoftLimits input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetJointAccelerationSoftLimits(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::GetKinematicHardLimits(kortex_driver::GetKinematicHardLimits::Request  &req, kortex_driver::GetKinematicHardLimits::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::KinematicLimits output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->GetKinematicHardLimits(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::GetKinematicSoftLimits(kortex_driver::GetKinematicSoftLimits::Request  &req, kortex_driver::GetKinematicSoftLimits::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::ControlModeInformation input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::ControlConfig::KinematicLimits output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->GetKinematicSoftLimits(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::GetAllKinematicSoftLimits(kortex_driver::GetAllKinematicSoftLimits::Request  &req, kortex_driver::GetAllKinematicSoftLimits::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::KinematicLimitsList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->GetAllKinematicSoftLimits(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::SetDesiredLinearTwist(kortex_driver::SetDesiredLinearTwist::Request  &req, kortex_driver::SetDesiredLinearTwist::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::LinearTwist input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetDesiredLinearTwist(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::SetDesiredAngularTwist(kortex_driver::SetDesiredAngularTwist::Request  &req, kortex_driver::SetDesiredAngularTwist::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::AngularTwist input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetDesiredAngularTwist(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::SetDesiredJointSpeeds(kortex_driver::SetDesiredJointSpeeds::Request  &req, kortex_driver::SetDesiredJointSpeeds::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::JointSpeeds input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_controlconfig->SetDesiredJointSpeeds(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool ControlConfigRobotServices::GetDesiredSpeeds(kortex_driver::GetDesiredSpeeds::Request  &req, kortex_driver::GetDesiredSpeeds::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::DesiredSpeeds output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->GetDesiredSpeeds(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::ResetGravityVector(kortex_driver::ResetGravityVector::Request  &req, kortex_driver::ResetGravityVector::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::GravityVector output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->ResetGravityVector(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::ResetPayloadInformation(kortex_driver::ResetPayloadInformation::Request  &req, kortex_driver::ResetPayloadInformation::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::PayloadInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->ResetPayloadInformation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::ResetToolConfiguration(kortex_driver::ResetToolConfiguration::Request  &req, kortex_driver::ResetToolConfiguration::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::ToolConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->ResetToolConfiguration(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::ResetJointSpeedSoftLimits(kortex_driver::ResetJointSpeedSoftLimits::Request  &req, kortex_driver::ResetJointSpeedSoftLimits::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::ControlModeInformation input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::ControlConfig::JointSpeedSoftLimits output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->ResetJointSpeedSoftLimits(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::ResetTwistLinearSoftLimit(kortex_driver::ResetTwistLinearSoftLimit::Request  &req, kortex_driver::ResetTwistLinearSoftLimit::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::ControlModeInformation input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::ControlConfig::TwistLinearSoftLimit output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->ResetTwistLinearSoftLimit(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::ResetTwistAngularSoftLimit(kortex_driver::ResetTwistAngularSoftLimit::Request  &req, kortex_driver::ResetTwistAngularSoftLimit::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::ControlModeInformation input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::ControlConfig::TwistAngularSoftLimit output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->ResetTwistAngularSoftLimit(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool ControlConfigRobotServices::ResetJointAccelerationSoftLimits(kortex_driver::ResetJointAccelerationSoftLimits::Request  &req, kortex_driver::ResetJointAccelerationSoftLimits::Response &res)
+{
+	
+	Kinova::Api::ControlConfig::ControlModeInformation input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::ControlConfig::JointAccelerationSoftLimits output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_controlconfig->ResetJointAccelerationSoftLimits(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
diff --git a/kortex_driver/src/generated/robot/deviceconfig_proto_converter.cpp b/kortex_driver/src/generated/robot/deviceconfig_proto_converter.cpp
new file mode 100644
index 0000000..143b590
--- /dev/null
+++ b/kortex_driver/src/generated/robot/deviceconfig_proto_converter.cpp
@@ -0,0 +1,239 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+
+int ToProtoData(kortex_driver::DeviceType input, Kinova::Api::DeviceConfig::DeviceType *output)
+{
+	
+	output->set_device_type((Kinova::Api::Common::DeviceTypes)input.device_type);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::RunMode input, Kinova::Api::DeviceConfig::RunMode *output)
+{
+	
+	output->set_run_mode((Kinova::Api::DeviceConfig::RunModes)input.run_mode);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::FirmwareVersion input, Kinova::Api::DeviceConfig::FirmwareVersion *output)
+{
+	
+	output->set_firmware_version(input.firmware_version);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::BootloaderVersion input, Kinova::Api::DeviceConfig::BootloaderVersion *output)
+{
+	
+	output->set_bootloader_version(input.bootloader_version);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ModelNumber input, Kinova::Api::DeviceConfig::ModelNumber *output)
+{
+	
+	output->set_model_number(input.model_number);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::PartNumber input, Kinova::Api::DeviceConfig::PartNumber *output)
+{
+	
+	output->set_part_number(input.part_number);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SerialNumber input, Kinova::Api::DeviceConfig::SerialNumber *output)
+{
+	
+	output->set_serial_number(input.serial_number);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MACAddress input, Kinova::Api::DeviceConfig::MACAddress *output)
+{
+	
+	output->set_mac_address(std::string(input.mac_address.begin(), input.mac_address.end()));
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::IPv4Settings input, Kinova::Api::DeviceConfig::IPv4Settings *output)
+{
+	
+	output->set_ipv4_address(input.ipv4_address);
+	output->set_ipv4_subnet_mask(input.ipv4_subnet_mask);
+	output->set_ipv4_default_gateway(input.ipv4_default_gateway);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::PartNumberRevision input, Kinova::Api::DeviceConfig::PartNumberRevision *output)
+{
+	
+	output->set_part_number_revision(input.part_number_revision);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::PowerOnSelfTestResult input, Kinova::Api::DeviceConfig::PowerOnSelfTestResult *output)
+{
+	
+	output->set_power_on_self_test_result(input.power_on_self_test_result);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::RebootRqst input, Kinova::Api::DeviceConfig::RebootRqst *output)
+{
+	
+	output->set_delay(input.delay);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyInformation input, Kinova::Api::DeviceConfig::SafetyInformation *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_can_change_safety_state(input.can_change_safety_state);
+	output->set_has_warning_threshold(input.has_warning_threshold);
+	output->set_has_error_threshold(input.has_error_threshold);
+	output->set_limit_type((Kinova::Api::DeviceConfig::SafetyLimitType)input.limit_type);
+	output->set_default_warning_threshold(input.default_warning_threshold);
+	output->set_default_error_threshold(input.default_error_threshold);
+	output->set_upper_hard_limit(input.upper_hard_limit);
+	output->set_lower_hard_limit(input.lower_hard_limit);
+	output->set_status((Kinova::Api::Common::SafetyStatusValue)input.status);
+	output->set_unit((Kinova::Api::Common::Unit)input.unit);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyInformationList input, Kinova::Api::DeviceConfig::SafetyInformationList *output)
+{
+	 
+	output->clear_information();
+	for(int i = 0; i < input.information.size(); i++)
+	{
+		ToProtoData(input.information[i], output->add_information());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyEnable input, Kinova::Api::DeviceConfig::SafetyEnable *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_enable(input.enable);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyThreshold input, Kinova::Api::DeviceConfig::SafetyThreshold *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_value(input.value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyConfiguration input, Kinova::Api::DeviceConfig::SafetyConfiguration *output)
+{
+	 
+	ToProtoData(input.handle, output->mutable_handle());
+	output->set_error_threshold(input.error_threshold);
+	output->set_warning_threshold(input.warning_threshold); 
+	ToProtoData(input.enable, output->mutable_enable());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyConfigurationList input, Kinova::Api::DeviceConfig::SafetyConfigurationList *output)
+{
+	 
+	output->clear_configuration();
+	for(int i = 0; i < input.configuration.size(); i++)
+	{
+		ToProtoData(input.configuration[i], output->add_configuration());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SafetyStatus input, Kinova::Api::DeviceConfig::SafetyStatus *output)
+{
+	
+	output->set_value((Kinova::Api::Common::SafetyStatusValue)input.value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CalibrationParameter input, Kinova::Api::DeviceConfig::CalibrationParameter *output)
+{
+	
+	output->set_calibration_parameter_identifier(input.calibration_parameter_identifier);
+	if(input.oneof_value.signedIntValue.size() > 0)
+	{
+		output->set_signedintvalue(input.oneof_value.signedIntValue[0]);
+	}
+	if(input.oneof_value.unsignedIntValue.size() > 0)
+	{
+		output->set_unsignedintvalue(input.oneof_value.unsignedIntValue[0]);
+	}
+	if(input.oneof_value.floatValue.size() > 0)
+	{
+		output->set_floatvalue(input.oneof_value.floatValue[0]);
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::Calibration input, Kinova::Api::DeviceConfig::Calibration *output)
+{
+	
+	output->set_calibration_item((Kinova::Api::DeviceConfig::CalibrationItem)input.calibration_item); 
+	output->clear_calibration_parameter();
+	for(int i = 0; i < input.calibration_parameter.size(); i++)
+	{
+		ToProtoData(input.calibration_parameter[i], output->add_calibration_parameter());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CalibrationElement input, Kinova::Api::DeviceConfig::CalibrationElement *output)
+{
+	
+	output->set_calibration_item((Kinova::Api::DeviceConfig::CalibrationItem)input.calibration_item);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CalibrationResult input, Kinova::Api::DeviceConfig::CalibrationResult *output)
+{
+	
+	output->set_calibration_status((Kinova::Api::DeviceConfig::CalibrationStatus)input.calibration_status);
+	output->set_calibration_details(input.calibration_details);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::DeviceConfig_CapSenseConfig input, Kinova::Api::DeviceConfig::CapSenseConfig *output)
+{
+	
+	output->set_mode((Kinova::Api::DeviceConfig::CapSenseMode)input.mode);
+	output->set_threshold_a(input.threshold_a);
+	output->set_threshold_b(input.threshold_b);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CapSenseRegister input, Kinova::Api::DeviceConfig::CapSenseRegister *output)
+{
+	
+	output->set_address(input.address);
+	output->set_value(input.value);
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/deviceconfig_ros_converter.cpp b/kortex_driver/src/generated/robot/deviceconfig_ros_converter.cpp
new file mode 100644
index 0000000..15e0ef1
--- /dev/null
+++ b/kortex_driver/src/generated/robot/deviceconfig_ros_converter.cpp
@@ -0,0 +1,301 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+
+int ToRosData(Kinova::Api::DeviceConfig::DeviceType input, kortex_driver::DeviceType &output)
+{
+	
+	output.device_type = input.device_type();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::RunMode input, kortex_driver::RunMode &output)
+{
+	
+	output.run_mode = input.run_mode();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::FirmwareVersion input, kortex_driver::FirmwareVersion &output)
+{
+	
+	output.firmware_version = input.firmware_version();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::BootloaderVersion input, kortex_driver::BootloaderVersion &output)
+{
+	
+	output.bootloader_version = input.bootloader_version();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::ModelNumber input, kortex_driver::ModelNumber &output)
+{
+	
+	output.model_number = input.model_number();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::PartNumber input, kortex_driver::PartNumber &output)
+{
+	
+	output.part_number = input.part_number();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::SerialNumber input, kortex_driver::SerialNumber &output)
+{
+	
+	output.serial_number = input.serial_number();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::MACAddress input, kortex_driver::MACAddress &output)
+{
+	
+	output.mac_address = std::vector<uint8_t>(input.mac_address().begin(), input.mac_address().end());
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::IPv4Settings input, kortex_driver::IPv4Settings &output)
+{
+	
+	output.ipv4_address = input.ipv4_address();
+	output.ipv4_subnet_mask = input.ipv4_subnet_mask();
+	output.ipv4_default_gateway = input.ipv4_default_gateway();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::PartNumberRevision input, kortex_driver::PartNumberRevision &output)
+{
+	
+	output.part_number_revision = input.part_number_revision();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::PowerOnSelfTestResult input, kortex_driver::PowerOnSelfTestResult &output)
+{
+	
+	output.power_on_self_test_result = input.power_on_self_test_result();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::RebootRqst input, kortex_driver::RebootRqst &output)
+{
+	
+	output.delay = input.delay();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::SafetyInformation input, kortex_driver::SafetyInformation &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.can_change_safety_state = input.can_change_safety_state();
+	output.has_warning_threshold = input.has_warning_threshold();
+	output.has_error_threshold = input.has_error_threshold();
+	output.limit_type = input.limit_type();
+	output.default_warning_threshold = input.default_warning_threshold();
+	output.default_error_threshold = input.default_error_threshold();
+	output.upper_hard_limit = input.upper_hard_limit();
+	output.lower_hard_limit = input.lower_hard_limit();
+	output.status = input.status();
+	output.unit = input.unit();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::SafetyInformationList input, kortex_driver::SafetyInformationList &output)
+{
+	
+	output.information.clear();
+	for(int i = 0; i < input.information_size(); i++)
+	{
+		kortex_driver::SafetyInformation temp;
+		ToRosData(input.information(i), temp);
+		output.information.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::SafetyEnable input, kortex_driver::SafetyEnable &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.enable = input.enable();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::SafetyThreshold input, kortex_driver::SafetyThreshold &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::SafetyConfiguration input, kortex_driver::SafetyConfiguration &output)
+{
+	
+	ToRosData(input.handle(), output.handle);
+	output.error_threshold = input.error_threshold();
+	output.warning_threshold = input.warning_threshold();
+	ToRosData(input.enable(), output.enable);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::SafetyConfigurationList input, kortex_driver::SafetyConfigurationList &output)
+{
+	
+	output.configuration.clear();
+	for(int i = 0; i < input.configuration_size(); i++)
+	{
+		kortex_driver::SafetyConfiguration temp;
+		ToRosData(input.configuration(i), temp);
+		output.configuration.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::SafetyStatus input, kortex_driver::SafetyStatus &output)
+{
+	
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::CalibrationParameter input, kortex_driver::CalibrationParameter &output)
+{
+	
+	output.calibration_parameter_identifier = input.calibration_parameter_identifier();
+
+	
+	auto oneof_type_value = input.value_case();
+	switch(oneof_type_value)
+	{ 
+	
+		case Kinova::Api::DeviceConfig::CalibrationParameter::kSignedIntValue:
+		{
+			break;
+		} 
+	
+		case Kinova::Api::DeviceConfig::CalibrationParameter::kUnsignedIntValue:
+		{
+			break;
+		} 
+	
+		case Kinova::Api::DeviceConfig::CalibrationParameter::kFloatValue:
+		{
+			break;
+		}}
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::Calibration input, kortex_driver::Calibration &output)
+{
+	
+	output.calibration_item = input.calibration_item();
+	output.calibration_parameter.clear();
+	for(int i = 0; i < input.calibration_parameter_size(); i++)
+	{
+		kortex_driver::CalibrationParameter temp;
+		ToRosData(input.calibration_parameter(i), temp);
+		output.calibration_parameter.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::CalibrationElement input, kortex_driver::CalibrationElement &output)
+{
+	
+	output.calibration_item = input.calibration_item();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::CalibrationResult input, kortex_driver::CalibrationResult &output)
+{
+	
+	output.calibration_status = input.calibration_status();
+	output.calibration_details = input.calibration_details();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::CapSenseConfig input, kortex_driver::DeviceConfig_CapSenseConfig &output)
+{
+	
+	output.mode = input.mode();
+	output.threshold_a = input.threshold_a();
+	output.threshold_b = input.threshold_b();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::DeviceConfig::CapSenseRegister input, kortex_driver::CapSenseRegister &output)
+{
+	
+	output.address = input.address();
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/deviceconfig_services.cpp b/kortex_driver/src/generated/robot/deviceconfig_services.cpp
new file mode 100644
index 0000000..8476cff
--- /dev/null
+++ b/kortex_driver/src/generated/robot/deviceconfig_services.cpp
@@ -0,0 +1,1171 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_services.h"
+
+DeviceConfigRobotServices::DeviceConfigRobotServices(ros::NodeHandle& node_handle, Kinova::Api::DeviceConfig::DeviceConfigClient* deviceconfig, uint32_t device_id, uint32_t timeout_ms): 
+	IDeviceConfigServices(node_handle),
+	m_deviceconfig(deviceconfig),
+	m_current_device_id(device_id)
+{
+	m_api_options.timeout_ms = timeout_ms;
+
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+	m_pub_SafetyTopic = m_node_handle.advertise<kortex_driver::SafetyNotification>("safety_topic", 1000);
+	m_is_activated_SafetyTopic = false;
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("device_config/set_device_id", &DeviceConfigRobotServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("device_config/set_api_options", &DeviceConfigRobotServices::SetApiOptions, this);
+
+	m_serviceGetRunMode = m_node_handle.advertiseService("device_config/get_run_mode", &DeviceConfigRobotServices::GetRunMode, this);
+	m_serviceSetRunMode = m_node_handle.advertiseService("device_config/set_run_mode", &DeviceConfigRobotServices::SetRunMode, this);
+	m_serviceGetDeviceType = m_node_handle.advertiseService("device_config/get_device_type", &DeviceConfigRobotServices::GetDeviceType, this);
+	m_serviceGetFirmwareVersion = m_node_handle.advertiseService("device_config/get_firmware_version", &DeviceConfigRobotServices::GetFirmwareVersion, this);
+	m_serviceGetBootloaderVersion = m_node_handle.advertiseService("device_config/get_bootloader_version", &DeviceConfigRobotServices::GetBootloaderVersion, this);
+	m_serviceGetModelNumber = m_node_handle.advertiseService("device_config/get_model_number", &DeviceConfigRobotServices::GetModelNumber, this);
+	m_serviceGetPartNumber = m_node_handle.advertiseService("device_config/get_part_number", &DeviceConfigRobotServices::GetPartNumber, this);
+	m_serviceGetSerialNumber = m_node_handle.advertiseService("device_config/get_serial_number", &DeviceConfigRobotServices::GetSerialNumber, this);
+	m_serviceGetMACAddress = m_node_handle.advertiseService("device_config/get_m_a_c_address", &DeviceConfigRobotServices::GetMACAddress, this);
+	m_serviceGetIPv4Settings = m_node_handle.advertiseService("device_config/get_i_pv4_settings", &DeviceConfigRobotServices::GetIPv4Settings, this);
+	m_serviceSetIPv4Settings = m_node_handle.advertiseService("device_config/set_i_pv4_settings", &DeviceConfigRobotServices::SetIPv4Settings, this);
+	m_serviceGetPartNumberRevision = m_node_handle.advertiseService("device_config/get_part_number_revision", &DeviceConfigRobotServices::GetPartNumberRevision, this);
+	m_serviceRebootRequest = m_node_handle.advertiseService("device_config/reboot_request", &DeviceConfigRobotServices::RebootRequest, this);
+	m_serviceSetSafetyEnable = m_node_handle.advertiseService("device_config/set_safety_enable", &DeviceConfigRobotServices::SetSafetyEnable, this);
+	m_serviceSetSafetyErrorThreshold = m_node_handle.advertiseService("device_config/set_safety_error_threshold", &DeviceConfigRobotServices::SetSafetyErrorThreshold, this);
+	m_serviceSetSafetyWarningThreshold = m_node_handle.advertiseService("device_config/set_safety_warning_threshold", &DeviceConfigRobotServices::SetSafetyWarningThreshold, this);
+	m_serviceSetSafetyConfiguration = m_node_handle.advertiseService("device_config/set_safety_configuration", &DeviceConfigRobotServices::SetSafetyConfiguration, this);
+	m_serviceGetSafetyConfiguration = m_node_handle.advertiseService("device_config/get_safety_configuration", &DeviceConfigRobotServices::GetSafetyConfiguration, this);
+	m_serviceGetSafetyInformation = m_node_handle.advertiseService("device_config/get_safety_information", &DeviceConfigRobotServices::GetSafetyInformation, this);
+	m_serviceGetSafetyEnable = m_node_handle.advertiseService("device_config/get_safety_enable", &DeviceConfigRobotServices::GetSafetyEnable, this);
+	m_serviceGetSafetyStatus = m_node_handle.advertiseService("device_config/get_safety_status", &DeviceConfigRobotServices::GetSafetyStatus, this);
+	m_serviceClearAllSafetyStatus = m_node_handle.advertiseService("device_config/clear_all_safety_status", &DeviceConfigRobotServices::ClearAllSafetyStatus, this);
+	m_serviceClearSafetyStatus = m_node_handle.advertiseService("device_config/clear_safety_status", &DeviceConfigRobotServices::ClearSafetyStatus, this);
+	m_serviceGetAllSafetyConfiguration = m_node_handle.advertiseService("device_config/get_all_safety_configuration", &DeviceConfigRobotServices::GetAllSafetyConfiguration, this);
+	m_serviceGetAllSafetyInformation = m_node_handle.advertiseService("device_config/get_all_safety_information", &DeviceConfigRobotServices::GetAllSafetyInformation, this);
+	m_serviceResetSafetyDefaults = m_node_handle.advertiseService("device_config/reset_safety_defaults", &DeviceConfigRobotServices::ResetSafetyDefaults, this);
+	m_serviceOnNotificationSafetyTopic = m_node_handle.advertiseService("device_config/activate_publishing_of_safety_topic", &DeviceConfigRobotServices::OnNotificationSafetyTopic, this);
+	m_serviceExecuteCalibration = m_node_handle.advertiseService("device_config/execute_calibration", &DeviceConfigRobotServices::ExecuteCalibration, this);
+	m_serviceGetCalibrationResult = m_node_handle.advertiseService("device_config/get_calibration_result", &DeviceConfigRobotServices::GetCalibrationResult, this);
+	m_serviceStopCalibration = m_node_handle.advertiseService("device_config/stop_calibration", &DeviceConfigRobotServices::StopCalibration, this);
+	m_serviceDeviceConfig_SetCapSenseConfig = m_node_handle.advertiseService("device_config/set_cap_sense_config", &DeviceConfigRobotServices::DeviceConfig_SetCapSenseConfig, this);
+	m_serviceDeviceConfig_GetCapSenseConfig = m_node_handle.advertiseService("device_config/get_cap_sense_config", &DeviceConfigRobotServices::DeviceConfig_GetCapSenseConfig, this);
+}
+
+bool DeviceConfigRobotServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	m_current_device_id = req.device_id;
+
+	return true;
+}
+
+bool DeviceConfigRobotServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	m_api_options.timeout_ms = req.input.timeout_ms;
+
+	return true;
+}
+
+
+bool DeviceConfigRobotServices::GetRunMode(kortex_driver::GetRunMode::Request  &req, kortex_driver::GetRunMode::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::RunMode output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetRunMode(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::SetRunMode(kortex_driver::SetRunMode::Request  &req, kortex_driver::SetRunMode::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::RunMode input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->SetRunMode(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetDeviceType(kortex_driver::GetDeviceType::Request  &req, kortex_driver::GetDeviceType::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::DeviceType output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetDeviceType(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetFirmwareVersion(kortex_driver::GetFirmwareVersion::Request  &req, kortex_driver::GetFirmwareVersion::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::FirmwareVersion output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetFirmwareVersion(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetBootloaderVersion(kortex_driver::GetBootloaderVersion::Request  &req, kortex_driver::GetBootloaderVersion::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::BootloaderVersion output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetBootloaderVersion(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetModelNumber(kortex_driver::GetModelNumber::Request  &req, kortex_driver::GetModelNumber::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::ModelNumber output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetModelNumber(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetPartNumber(kortex_driver::GetPartNumber::Request  &req, kortex_driver::GetPartNumber::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::PartNumber output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetPartNumber(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetSerialNumber(kortex_driver::GetSerialNumber::Request  &req, kortex_driver::GetSerialNumber::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::SerialNumber output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetSerialNumber(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetMACAddress(kortex_driver::GetMACAddress::Request  &req, kortex_driver::GetMACAddress::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::MACAddress output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetMACAddress(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetIPv4Settings(kortex_driver::GetIPv4Settings::Request  &req, kortex_driver::GetIPv4Settings::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::IPv4Settings output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetIPv4Settings(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::SetIPv4Settings(kortex_driver::SetIPv4Settings::Request  &req, kortex_driver::SetIPv4Settings::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::IPv4Settings input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->SetIPv4Settings(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetPartNumberRevision(kortex_driver::GetPartNumberRevision::Request  &req, kortex_driver::GetPartNumberRevision::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::PartNumberRevision output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetPartNumberRevision(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::RebootRequest(kortex_driver::RebootRequest::Request  &req, kortex_driver::RebootRequest::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::RebootRqst input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->RebootRequest(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::SetSafetyEnable(kortex_driver::SetSafetyEnable::Request  &req, kortex_driver::SetSafetyEnable::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::SafetyEnable input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->SetSafetyEnable(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::SetSafetyErrorThreshold(kortex_driver::SetSafetyErrorThreshold::Request  &req, kortex_driver::SetSafetyErrorThreshold::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::SafetyThreshold input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->SetSafetyErrorThreshold(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::SetSafetyWarningThreshold(kortex_driver::SetSafetyWarningThreshold::Request  &req, kortex_driver::SetSafetyWarningThreshold::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::SafetyThreshold input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->SetSafetyWarningThreshold(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::SetSafetyConfiguration(kortex_driver::SetSafetyConfiguration::Request  &req, kortex_driver::SetSafetyConfiguration::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::SafetyConfiguration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->SetSafetyConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetSafetyConfiguration(kortex_driver::GetSafetyConfiguration::Request  &req, kortex_driver::GetSafetyConfiguration::Response &res)
+{
+	
+	Kinova::Api::Common::SafetyHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::DeviceConfig::SafetyConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetSafetyConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetSafetyInformation(kortex_driver::GetSafetyInformation::Request  &req, kortex_driver::GetSafetyInformation::Response &res)
+{
+	
+	Kinova::Api::Common::SafetyHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::DeviceConfig::SafetyInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetSafetyInformation(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetSafetyEnable(kortex_driver::GetSafetyEnable::Request  &req, kortex_driver::GetSafetyEnable::Response &res)
+{
+	
+	Kinova::Api::Common::SafetyHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::DeviceConfig::SafetyEnable output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetSafetyEnable(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetSafetyStatus(kortex_driver::GetSafetyStatus::Request  &req, kortex_driver::GetSafetyStatus::Response &res)
+{
+	
+	Kinova::Api::Common::SafetyHandle input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::DeviceConfig::SafetyStatus output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetSafetyStatus(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::ClearAllSafetyStatus(kortex_driver::ClearAllSafetyStatus::Request  &req, kortex_driver::ClearAllSafetyStatus::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->ClearAllSafetyStatus(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::ClearSafetyStatus(kortex_driver::ClearSafetyStatus::Request  &req, kortex_driver::ClearSafetyStatus::Response &res)
+{
+	
+	Kinova::Api::Common::SafetyHandle input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->ClearSafetyStatus(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetAllSafetyConfiguration(kortex_driver::GetAllSafetyConfiguration::Request  &req, kortex_driver::GetAllSafetyConfiguration::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::SafetyConfigurationList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetAllSafetyConfiguration(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetAllSafetyInformation(kortex_driver::GetAllSafetyInformation::Request  &req, kortex_driver::GetAllSafetyInformation::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::SafetyInformationList output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetAllSafetyInformation(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::ResetSafetyDefaults(kortex_driver::ResetSafetyDefaults::Request  &req, kortex_driver::ResetSafetyDefaults::Response &res)
+{
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->ResetSafetyDefaults(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::OnNotificationSafetyTopic(kortex_driver::OnNotificationSafetyTopic::Request  &req, kortex_driver::OnNotificationSafetyTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_SafetyTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::Common::SafetyNotification) > callback = std::bind(&DeviceConfigRobotServices::cb_SafetyTopic, this, std::placeholders::_1);
+		output = m_deviceconfig->OnNotificationSafetyTopic(callback, input, m_current_device_id);
+		m_is_activated_SafetyTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void DeviceConfigRobotServices::cb_SafetyTopic(Kinova::Api::Common::SafetyNotification notif)
+{
+	kortex_driver::SafetyNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_SafetyTopic.publish(ros_msg);
+}
+
+bool DeviceConfigRobotServices::ExecuteCalibration(kortex_driver::ExecuteCalibration::Request  &req, kortex_driver::ExecuteCalibration::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::Calibration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->ExecuteCalibration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::GetCalibrationResult(kortex_driver::GetCalibrationResult::Request  &req, kortex_driver::GetCalibrationResult::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::CalibrationElement input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::DeviceConfig::CalibrationResult output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetCalibrationResult(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::StopCalibration(kortex_driver::StopCalibration::Request  &req, kortex_driver::StopCalibration::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::Calibration input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::DeviceConfig::CalibrationResult output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->StopCalibration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool DeviceConfigRobotServices::DeviceConfig_SetCapSenseConfig(kortex_driver::DeviceConfig_SetCapSenseConfig::Request  &req, kortex_driver::DeviceConfig_SetCapSenseConfig::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::CapSenseConfig input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_deviceconfig->SetCapSenseConfig(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool DeviceConfigRobotServices::DeviceConfig_GetCapSenseConfig(kortex_driver::DeviceConfig_GetCapSenseConfig::Request  &req, kortex_driver::DeviceConfig_GetCapSenseConfig::Response &res)
+{
+	
+	Kinova::Api::DeviceConfig::CapSenseConfig output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_deviceconfig->GetCapSenseConfig(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
diff --git a/kortex_driver/src/generated/robot/devicemanager_proto_converter.cpp b/kortex_driver/src/generated/robot/devicemanager_proto_converter.cpp
new file mode 100644
index 0000000..22cda42
--- /dev/null
+++ b/kortex_driver/src/generated/robot/devicemanager_proto_converter.cpp
@@ -0,0 +1,29 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+
+int ToProtoData(kortex_driver::DeviceHandles input, Kinova::Api::DeviceManager::DeviceHandles *output)
+{
+	 
+	output->clear_device_handle();
+	for(int i = 0; i < input.device_handle.size(); i++)
+	{
+		ToProtoData(input.device_handle[i], output->add_device_handle());
+	}
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/devicemanager_ros_converter.cpp b/kortex_driver/src/generated/robot/devicemanager_ros_converter.cpp
new file mode 100644
index 0000000..3b5e95f
--- /dev/null
+++ b/kortex_driver/src/generated/robot/devicemanager_ros_converter.cpp
@@ -0,0 +1,33 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+
+int ToRosData(Kinova::Api::DeviceManager::DeviceHandles input, kortex_driver::DeviceHandles &output)
+{
+	
+	output.device_handle.clear();
+	for(int i = 0; i < input.device_handle_size(); i++)
+	{
+		kortex_driver::DeviceHandle temp;
+		ToRosData(input.device_handle(i), temp);
+		output.device_handle.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/devicemanager_services.cpp b/kortex_driver/src/generated/robot/devicemanager_services.cpp
new file mode 100644
index 0000000..b649cf2
--- /dev/null
+++ b/kortex_driver/src/generated/robot/devicemanager_services.cpp
@@ -0,0 +1,106 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_services.h"
+
+DeviceManagerRobotServices::DeviceManagerRobotServices(ros::NodeHandle& node_handle, Kinova::Api::DeviceManager::DeviceManagerClient* devicemanager, uint32_t device_id, uint32_t timeout_ms): 
+	IDeviceManagerServices(node_handle),
+	m_devicemanager(devicemanager),
+	m_current_device_id(device_id)
+{
+	m_api_options.timeout_ms = timeout_ms;
+
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("device_manager/set_device_id", &DeviceManagerRobotServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("device_manager/set_api_options", &DeviceManagerRobotServices::SetApiOptions, this);
+
+	m_serviceReadAllDevices = m_node_handle.advertiseService("device_manager/read_all_devices", &DeviceManagerRobotServices::ReadAllDevices, this);
+}
+
+bool DeviceManagerRobotServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	m_current_device_id = req.device_id;
+
+	return true;
+}
+
+bool DeviceManagerRobotServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	m_api_options.timeout_ms = req.input.timeout_ms;
+
+	return true;
+}
+
+
+bool DeviceManagerRobotServices::ReadAllDevices(kortex_driver::ReadAllDevices::Request  &req, kortex_driver::ReadAllDevices::Response &res)
+{
+	
+	Kinova::Api::DeviceManager::DeviceHandles output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_devicemanager->ReadAllDevices(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
diff --git a/kortex_driver/src/generated/robot/grippercyclic_proto_converter.cpp b/kortex_driver/src/generated/robot/grippercyclic_proto_converter.cpp
new file mode 100644
index 0000000..fe1962d
--- /dev/null
+++ b/kortex_driver/src/generated/robot/grippercyclic_proto_converter.cpp
@@ -0,0 +1,112 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+
+int ToProtoData(kortex_driver::GripperCyclic_MessageId input, Kinova::Api::GripperCyclic::MessageId *output)
+{
+	
+	output->set_identifier(input.identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MotorCommand input, Kinova::Api::GripperCyclic::MotorCommand *output)
+{
+	
+	output->set_motor_id(input.motor_id);
+	output->set_position(input.position);
+	output->set_velocity(input.velocity);
+	output->set_force(input.force);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::GripperCyclic_Command input, Kinova::Api::GripperCyclic::Command *output)
+{
+	 
+	ToProtoData(input.command_id, output->mutable_command_id());
+	output->set_flags(input.flags); 
+	output->clear_motor_cmd();
+	for(int i = 0; i < input.motor_cmd.size(); i++)
+	{
+		ToProtoData(input.motor_cmd[i], output->add_motor_cmd());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::MotorFeedback input, Kinova::Api::GripperCyclic::MotorFeedback *output)
+{
+	
+	output->set_motor_id(input.motor_id);
+	output->set_position(input.position);
+	output->set_velocity(input.velocity);
+	output->set_current_motor(input.current_motor);
+	output->set_voltage(input.voltage);
+	output->set_temperature_motor(input.temperature_motor);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::GripperCyclic_Feedback input, Kinova::Api::GripperCyclic::Feedback *output)
+{
+	 
+	ToProtoData(input.feedback_id, output->mutable_feedback_id());
+	output->set_status_flags(input.status_flags);
+	output->set_fault_bank_a(input.fault_bank_a);
+	output->set_fault_bank_b(input.fault_bank_b);
+	output->set_warning_bank_a(input.warning_bank_a);
+	output->set_warning_bank_b(input.warning_bank_b); 
+	output->clear_motor();
+	for(int i = 0; i < input.motor.size(); i++)
+	{
+		ToProtoData(input.motor[i], output->add_motor());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::CustomDataUnit input, Kinova::Api::GripperCyclic::CustomDataUnit *output)
+{
+	
+	output->set_custom_data_0(input.custom_data_0);
+	output->set_custom_data_1(input.custom_data_1);
+	output->set_custom_data_2(input.custom_data_2);
+	output->set_custom_data_3(input.custom_data_3);
+	output->set_custom_data_4(input.custom_data_4);
+	output->set_custom_data_5(input.custom_data_5);
+	output->set_custom_data_6(input.custom_data_6);
+	output->set_custom_data_7(input.custom_data_7);
+	output->set_custom_data_8(input.custom_data_8);
+	output->set_custom_data_9(input.custom_data_9);
+	output->set_custom_data_10(input.custom_data_10);
+	output->set_custom_data_11(input.custom_data_11);
+	output->set_custom_data_12(input.custom_data_12);
+	output->set_custom_data_13(input.custom_data_13);
+	output->set_custom_data_14(input.custom_data_14);
+	output->set_custom_data_15(input.custom_data_15);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::GripperCyclic_CustomData input, Kinova::Api::GripperCyclic::CustomData *output)
+{
+	 
+	ToProtoData(input.custom_data_id, output->mutable_custom_data_id()); 
+	ToProtoData(input.gripper_custom_data, output->mutable_gripper_custom_data()); 
+	output->clear_motor_custom_data();
+	for(int i = 0; i < input.motor_custom_data.size(); i++)
+	{
+		ToProtoData(input.motor_custom_data[i], output->add_motor_custom_data());
+	}
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/grippercyclic_ros_converter.cpp b/kortex_driver/src/generated/robot/grippercyclic_ros_converter.cpp
new file mode 100644
index 0000000..0952304
--- /dev/null
+++ b/kortex_driver/src/generated/robot/grippercyclic_ros_converter.cpp
@@ -0,0 +1,132 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+
+int ToRosData(Kinova::Api::GripperCyclic::MessageId input, kortex_driver::GripperCyclic_MessageId &output)
+{
+	
+	output.identifier = input.identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::GripperCyclic::MotorCommand input, kortex_driver::MotorCommand &output)
+{
+	
+	output.motor_id = input.motor_id();
+	output.position = input.position();
+	output.velocity = input.velocity();
+	output.force = input.force();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::GripperCyclic::Command input, kortex_driver::GripperCyclic_Command &output)
+{
+	
+	ToRosData(input.command_id(), output.command_id);
+	output.flags = input.flags();
+	output.motor_cmd.clear();
+	for(int i = 0; i < input.motor_cmd_size(); i++)
+	{
+		kortex_driver::MotorCommand temp;
+		ToRosData(input.motor_cmd(i), temp);
+		output.motor_cmd.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::GripperCyclic::MotorFeedback input, kortex_driver::MotorFeedback &output)
+{
+	
+	output.motor_id = input.motor_id();
+	output.position = input.position();
+	output.velocity = input.velocity();
+	output.current_motor = input.current_motor();
+	output.voltage = input.voltage();
+	output.temperature_motor = input.temperature_motor();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::GripperCyclic::Feedback input, kortex_driver::GripperCyclic_Feedback &output)
+{
+	
+	ToRosData(input.feedback_id(), output.feedback_id);
+	output.status_flags = input.status_flags();
+	output.fault_bank_a = input.fault_bank_a();
+	output.fault_bank_b = input.fault_bank_b();
+	output.warning_bank_a = input.warning_bank_a();
+	output.warning_bank_b = input.warning_bank_b();
+	output.motor.clear();
+	for(int i = 0; i < input.motor_size(); i++)
+	{
+		kortex_driver::MotorFeedback temp;
+		ToRosData(input.motor(i), temp);
+		output.motor.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::GripperCyclic::CustomDataUnit input, kortex_driver::CustomDataUnit &output)
+{
+	
+	output.custom_data_0 = input.custom_data_0();
+	output.custom_data_1 = input.custom_data_1();
+	output.custom_data_2 = input.custom_data_2();
+	output.custom_data_3 = input.custom_data_3();
+	output.custom_data_4 = input.custom_data_4();
+	output.custom_data_5 = input.custom_data_5();
+	output.custom_data_6 = input.custom_data_6();
+	output.custom_data_7 = input.custom_data_7();
+	output.custom_data_8 = input.custom_data_8();
+	output.custom_data_9 = input.custom_data_9();
+	output.custom_data_10 = input.custom_data_10();
+	output.custom_data_11 = input.custom_data_11();
+	output.custom_data_12 = input.custom_data_12();
+	output.custom_data_13 = input.custom_data_13();
+	output.custom_data_14 = input.custom_data_14();
+	output.custom_data_15 = input.custom_data_15();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::GripperCyclic::CustomData input, kortex_driver::GripperCyclic_CustomData &output)
+{
+	
+	ToRosData(input.custom_data_id(), output.custom_data_id);
+	ToRosData(input.gripper_custom_data(), output.gripper_custom_data);
+	output.motor_custom_data.clear();
+	for(int i = 0; i < input.motor_custom_data_size(); i++)
+	{
+		kortex_driver::CustomDataUnit temp;
+		ToRosData(input.motor_custom_data(i), temp);
+		output.motor_custom_data.push_back(temp);
+	}
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/interconnectconfig_proto_converter.cpp b/kortex_driver/src/generated/robot/interconnectconfig_proto_converter.cpp
new file mode 100644
index 0000000..1c0bc73
--- /dev/null
+++ b/kortex_driver/src/generated/robot/interconnectconfig_proto_converter.cpp
@@ -0,0 +1,129 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+
+int ToProtoData(kortex_driver::EthernetDeviceIdentification input, Kinova::Api::InterconnectConfig::EthernetDeviceIdentification *output)
+{
+	
+	output->set_device((Kinova::Api::InterconnectConfig::EthernetDevice)input.device);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::EthernetConfiguration input, Kinova::Api::InterconnectConfig::EthernetConfiguration *output)
+{
+	
+	output->set_device((Kinova::Api::InterconnectConfig::EthernetDevice)input.device);
+	output->set_enabled(input.enabled);
+	output->set_speed((Kinova::Api::InterconnectConfig::EthernetSpeed)input.speed);
+	output->set_duplex((Kinova::Api::InterconnectConfig::EthernetDuplex)input.duplex);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::GPIOIdentification input, Kinova::Api::InterconnectConfig::GPIOIdentification *output)
+{
+	
+	output->set_identifier((Kinova::Api::InterconnectConfig::GPIOIdentifier)input.identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::GPIOConfiguration input, Kinova::Api::InterconnectConfig::GPIOConfiguration *output)
+{
+	
+	output->set_identifier((Kinova::Api::InterconnectConfig::GPIOIdentifier)input.identifier);
+	output->set_mode((Kinova::Api::InterconnectConfig::GPIOMode)input.mode);
+	output->set_pull((Kinova::Api::InterconnectConfig::GPIOPull)input.pull);
+	output->set_default_value((Kinova::Api::InterconnectConfig::GPIOValue)input.default_value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::GPIOState input, Kinova::Api::InterconnectConfig::GPIOState *output)
+{
+	
+	output->set_identifier((Kinova::Api::InterconnectConfig::GPIOIdentifier)input.identifier);
+	output->set_value((Kinova::Api::InterconnectConfig::GPIOValue)input.value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::I2CDeviceIdentification input, Kinova::Api::InterconnectConfig::I2CDeviceIdentification *output)
+{
+	
+	output->set_device((Kinova::Api::InterconnectConfig::I2CDevice)input.device);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::I2CConfiguration input, Kinova::Api::InterconnectConfig::I2CConfiguration *output)
+{
+	
+	output->set_device((Kinova::Api::InterconnectConfig::I2CDevice)input.device);
+	output->set_enabled(input.enabled);
+	output->set_mode((Kinova::Api::InterconnectConfig::I2CMode)input.mode);
+	output->set_addressing((Kinova::Api::InterconnectConfig::I2CDeviceAddressing)input.addressing);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::I2CReadParameter input, Kinova::Api::InterconnectConfig::I2CReadParameter *output)
+{
+	
+	output->set_device((Kinova::Api::InterconnectConfig::I2CDevice)input.device);
+	output->set_device_address(input.device_address);
+	output->set_size(input.size);
+	output->set_timeout(input.timeout);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::I2CReadRegisterParameter input, Kinova::Api::InterconnectConfig::I2CReadRegisterParameter *output)
+{
+	
+	output->set_device((Kinova::Api::InterconnectConfig::I2CDevice)input.device);
+	output->set_device_address(input.device_address);
+	output->set_register_address(input.register_address);
+	output->set_register_address_size((Kinova::Api::InterconnectConfig::I2CRegisterAddressSize)input.register_address_size);
+	output->set_size(input.size);
+	output->set_timeout(input.timeout);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::I2CWriteParameter input, Kinova::Api::InterconnectConfig::I2CWriteParameter *output)
+{
+	
+	output->set_device((Kinova::Api::InterconnectConfig::I2CDevice)input.device);
+	output->set_device_address(input.device_address);
+	output->set_timeout(input.timeout); 
+	ToProtoData(input.data, output->mutable_data());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::I2CWriteRegisterParameter input, Kinova::Api::InterconnectConfig::I2CWriteRegisterParameter *output)
+{
+	
+	output->set_device((Kinova::Api::InterconnectConfig::I2CDevice)input.device);
+	output->set_device_address(input.device_address);
+	output->set_register_address(input.register_address);
+	output->set_register_address_size((Kinova::Api::InterconnectConfig::I2CRegisterAddressSize)input.register_address_size);
+	output->set_timeout(input.timeout); 
+	ToProtoData(input.data, output->mutable_data());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::I2CData input, Kinova::Api::InterconnectConfig::I2CData *output)
+{
+	
+	output->set_data(std::string(input.data.begin(), input.data.end()));
+	output->set_size(input.size);
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/interconnectconfig_ros_converter.cpp b/kortex_driver/src/generated/robot/interconnectconfig_ros_converter.cpp
new file mode 100644
index 0000000..bc2f660
--- /dev/null
+++ b/kortex_driver/src/generated/robot/interconnectconfig_ros_converter.cpp
@@ -0,0 +1,153 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+
+int ToRosData(Kinova::Api::InterconnectConfig::EthernetDeviceIdentification input, kortex_driver::EthernetDeviceIdentification &output)
+{
+	
+	output.device = input.device();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::EthernetConfiguration input, kortex_driver::EthernetConfiguration &output)
+{
+	
+	output.device = input.device();
+	output.enabled = input.enabled();
+	output.speed = input.speed();
+	output.duplex = input.duplex();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::GPIOIdentification input, kortex_driver::GPIOIdentification &output)
+{
+	
+	output.identifier = input.identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::GPIOConfiguration input, kortex_driver::GPIOConfiguration &output)
+{
+	
+	output.identifier = input.identifier();
+	output.mode = input.mode();
+	output.pull = input.pull();
+	output.default_value = input.default_value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::GPIOState input, kortex_driver::GPIOState &output)
+{
+	
+	output.identifier = input.identifier();
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::I2CDeviceIdentification input, kortex_driver::I2CDeviceIdentification &output)
+{
+	
+	output.device = input.device();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::I2CConfiguration input, kortex_driver::I2CConfiguration &output)
+{
+	
+	output.device = input.device();
+	output.enabled = input.enabled();
+	output.mode = input.mode();
+	output.addressing = input.addressing();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::I2CReadParameter input, kortex_driver::I2CReadParameter &output)
+{
+	
+	output.device = input.device();
+	output.device_address = input.device_address();
+	output.size = input.size();
+	output.timeout = input.timeout();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::I2CReadRegisterParameter input, kortex_driver::I2CReadRegisterParameter &output)
+{
+	
+	output.device = input.device();
+	output.device_address = input.device_address();
+	output.register_address = input.register_address();
+	output.register_address_size = input.register_address_size();
+	output.size = input.size();
+	output.timeout = input.timeout();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::I2CWriteParameter input, kortex_driver::I2CWriteParameter &output)
+{
+	
+	output.device = input.device();
+	output.device_address = input.device_address();
+	output.timeout = input.timeout();
+	ToRosData(input.data(), output.data);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::I2CWriteRegisterParameter input, kortex_driver::I2CWriteRegisterParameter &output)
+{
+	
+	output.device = input.device();
+	output.device_address = input.device_address();
+	output.register_address = input.register_address();
+	output.register_address_size = input.register_address_size();
+	output.timeout = input.timeout();
+	ToRosData(input.data(), output.data);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectConfig::I2CData input, kortex_driver::I2CData &output)
+{
+	
+	output.data = std::vector<uint8_t>(input.data().begin(), input.data().end());
+	output.size = input.size();
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/interconnectconfig_services.cpp b/kortex_driver/src/generated/robot/interconnectconfig_services.cpp
new file mode 100644
index 0000000..bd696c4
--- /dev/null
+++ b/kortex_driver/src/generated/robot/interconnectconfig_services.cpp
@@ -0,0 +1,555 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_services.h"
+
+InterconnectConfigRobotServices::InterconnectConfigRobotServices(ros::NodeHandle& node_handle, Kinova::Api::InterconnectConfig::InterconnectConfigClient* interconnectconfig, uint32_t device_id, uint32_t timeout_ms): 
+	IInterconnectConfigServices(node_handle),
+	m_interconnectconfig(interconnectconfig),
+	m_current_device_id(device_id)
+{
+	m_api_options.timeout_ms = timeout_ms;
+
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("interconnect_config/set_device_id", &InterconnectConfigRobotServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("interconnect_config/set_api_options", &InterconnectConfigRobotServices::SetApiOptions, this);
+
+	m_serviceGetUARTConfiguration = m_node_handle.advertiseService("interconnect_config/get_u_a_r_t_configuration", &InterconnectConfigRobotServices::GetUARTConfiguration, this);
+	m_serviceSetUARTConfiguration = m_node_handle.advertiseService("interconnect_config/set_u_a_r_t_configuration", &InterconnectConfigRobotServices::SetUARTConfiguration, this);
+	m_serviceGetEthernetConfiguration = m_node_handle.advertiseService("interconnect_config/get_ethernet_configuration", &InterconnectConfigRobotServices::GetEthernetConfiguration, this);
+	m_serviceSetEthernetConfiguration = m_node_handle.advertiseService("interconnect_config/set_ethernet_configuration", &InterconnectConfigRobotServices::SetEthernetConfiguration, this);
+	m_serviceGetGPIOConfiguration = m_node_handle.advertiseService("interconnect_config/get_g_p_i_o_configuration", &InterconnectConfigRobotServices::GetGPIOConfiguration, this);
+	m_serviceSetGPIOConfiguration = m_node_handle.advertiseService("interconnect_config/set_g_p_i_o_configuration", &InterconnectConfigRobotServices::SetGPIOConfiguration, this);
+	m_serviceGetGPIOState = m_node_handle.advertiseService("interconnect_config/get_g_p_i_o_state", &InterconnectConfigRobotServices::GetGPIOState, this);
+	m_serviceSetGPIOState = m_node_handle.advertiseService("interconnect_config/set_g_p_i_o_state", &InterconnectConfigRobotServices::SetGPIOState, this);
+	m_serviceGetI2CConfiguration = m_node_handle.advertiseService("interconnect_config/get_i2_c_configuration", &InterconnectConfigRobotServices::GetI2CConfiguration, this);
+	m_serviceSetI2CConfiguration = m_node_handle.advertiseService("interconnect_config/set_i2_c_configuration", &InterconnectConfigRobotServices::SetI2CConfiguration, this);
+	m_serviceI2CRead = m_node_handle.advertiseService("interconnect_config/i2_c_read", &InterconnectConfigRobotServices::I2CRead, this);
+	m_serviceI2CReadRegister = m_node_handle.advertiseService("interconnect_config/i2_c_read_register", &InterconnectConfigRobotServices::I2CReadRegister, this);
+	m_serviceI2CWrite = m_node_handle.advertiseService("interconnect_config/i2_c_write", &InterconnectConfigRobotServices::I2CWrite, this);
+	m_serviceI2CWriteRegister = m_node_handle.advertiseService("interconnect_config/i2_c_write_register", &InterconnectConfigRobotServices::I2CWriteRegister, this);
+}
+
+bool InterconnectConfigRobotServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	m_current_device_id = req.device_id;
+
+	return true;
+}
+
+bool InterconnectConfigRobotServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	m_api_options.timeout_ms = req.input.timeout_ms;
+
+	return true;
+}
+
+
+bool InterconnectConfigRobotServices::GetUARTConfiguration(kortex_driver::GetUARTConfiguration::Request  &req, kortex_driver::GetUARTConfiguration::Response &res)
+{
+	
+	Kinova::Api::Common::UARTDeviceIdentification input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::UARTConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_interconnectconfig->GetUARTConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool InterconnectConfigRobotServices::SetUARTConfiguration(kortex_driver::SetUARTConfiguration::Request  &req, kortex_driver::SetUARTConfiguration::Response &res)
+{
+	
+	Kinova::Api::Common::UARTConfiguration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_interconnectconfig->SetUARTConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool InterconnectConfigRobotServices::GetEthernetConfiguration(kortex_driver::GetEthernetConfiguration::Request  &req, kortex_driver::GetEthernetConfiguration::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::EthernetDeviceIdentification input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::InterconnectConfig::EthernetConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_interconnectconfig->GetEthernetConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool InterconnectConfigRobotServices::SetEthernetConfiguration(kortex_driver::SetEthernetConfiguration::Request  &req, kortex_driver::SetEthernetConfiguration::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::EthernetConfiguration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_interconnectconfig->SetEthernetConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool InterconnectConfigRobotServices::GetGPIOConfiguration(kortex_driver::GetGPIOConfiguration::Request  &req, kortex_driver::GetGPIOConfiguration::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::GPIOIdentification input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::InterconnectConfig::GPIOConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_interconnectconfig->GetGPIOConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool InterconnectConfigRobotServices::SetGPIOConfiguration(kortex_driver::SetGPIOConfiguration::Request  &req, kortex_driver::SetGPIOConfiguration::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::GPIOConfiguration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_interconnectconfig->SetGPIOConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool InterconnectConfigRobotServices::GetGPIOState(kortex_driver::GetGPIOState::Request  &req, kortex_driver::GetGPIOState::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::GPIOIdentification input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::InterconnectConfig::GPIOState output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_interconnectconfig->GetGPIOState(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool InterconnectConfigRobotServices::SetGPIOState(kortex_driver::SetGPIOState::Request  &req, kortex_driver::SetGPIOState::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::GPIOState input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_interconnectconfig->SetGPIOState(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool InterconnectConfigRobotServices::GetI2CConfiguration(kortex_driver::GetI2CConfiguration::Request  &req, kortex_driver::GetI2CConfiguration::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::I2CDeviceIdentification input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::InterconnectConfig::I2CConfiguration output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_interconnectconfig->GetI2CConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool InterconnectConfigRobotServices::SetI2CConfiguration(kortex_driver::SetI2CConfiguration::Request  &req, kortex_driver::SetI2CConfiguration::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::I2CConfiguration input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_interconnectconfig->SetI2CConfiguration(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool InterconnectConfigRobotServices::I2CRead(kortex_driver::I2CRead::Request  &req, kortex_driver::I2CRead::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::I2CReadParameter input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::InterconnectConfig::I2CData output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_interconnectconfig->I2CRead(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool InterconnectConfigRobotServices::I2CReadRegister(kortex_driver::I2CReadRegister::Request  &req, kortex_driver::I2CReadRegister::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::I2CReadRegisterParameter input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::InterconnectConfig::I2CData output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_interconnectconfig->I2CReadRegister(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool InterconnectConfigRobotServices::I2CWrite(kortex_driver::I2CWrite::Request  &req, kortex_driver::I2CWrite::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::I2CWriteParameter input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_interconnectconfig->I2CWrite(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool InterconnectConfigRobotServices::I2CWriteRegister(kortex_driver::I2CWriteRegister::Request  &req, kortex_driver::I2CWriteRegister::Response &res)
+{
+	
+	Kinova::Api::InterconnectConfig::I2CWriteRegisterParameter input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_interconnectconfig->I2CWriteRegister(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
diff --git a/kortex_driver/src/generated/robot/interconnectcyclic_proto_converter.cpp b/kortex_driver/src/generated/robot/interconnectcyclic_proto_converter.cpp
new file mode 100644
index 0000000..a2aef97
--- /dev/null
+++ b/kortex_driver/src/generated/robot/interconnectcyclic_proto_converter.cpp
@@ -0,0 +1,89 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+
+int ToProtoData(kortex_driver::InterconnectCyclic_MessageId input, Kinova::Api::InterconnectCyclic::MessageId *output)
+{
+	
+	output->set_identifier(input.identifier);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::InterconnectCyclic_Command input, Kinova::Api::InterconnectCyclic::Command *output)
+{
+	 
+	ToProtoData(input.command_id, output->mutable_command_id());
+	output->set_flags(input.flags);
+	if(input.oneof_tool_command.gripper_command.size() > 0)
+	{
+		ToProtoData(input.oneof_tool_command.gripper_command[0], output->mutable_gripper_command());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::InterconnectCyclic_Feedback input, Kinova::Api::InterconnectCyclic::Feedback *output)
+{
+	 
+	ToProtoData(input.feedback_id, output->mutable_feedback_id());
+	output->set_status_flags(input.status_flags);
+	output->set_jitter_comm(input.jitter_comm);
+	output->set_imu_acceleration_x(input.imu_acceleration_x);
+	output->set_imu_acceleration_y(input.imu_acceleration_y);
+	output->set_imu_acceleration_z(input.imu_acceleration_z);
+	output->set_imu_angular_velocity_x(input.imu_angular_velocity_x);
+	output->set_imu_angular_velocity_y(input.imu_angular_velocity_y);
+	output->set_imu_angular_velocity_z(input.imu_angular_velocity_z);
+	output->set_voltage(input.voltage);
+	output->set_temperature_core(input.temperature_core);
+	output->set_fault_bank_a(input.fault_bank_a);
+	output->set_fault_bank_b(input.fault_bank_b);
+	output->set_warning_bank_a(input.warning_bank_a);
+	output->set_warning_bank_b(input.warning_bank_b);
+	if(input.oneof_tool_feedback.gripper_feedback.size() > 0)
+	{
+		ToProtoData(input.oneof_tool_feedback.gripper_feedback[0], output->mutable_gripper_feedback());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::InterconnectCyclic_CustomData input, Kinova::Api::InterconnectCyclic::CustomData *output)
+{
+	 
+	ToProtoData(input.custom_data_id, output->mutable_custom_data_id());
+	output->set_custom_data_0(input.custom_data_0);
+	output->set_custom_data_1(input.custom_data_1);
+	output->set_custom_data_2(input.custom_data_2);
+	output->set_custom_data_3(input.custom_data_3);
+	output->set_custom_data_4(input.custom_data_4);
+	output->set_custom_data_5(input.custom_data_5);
+	output->set_custom_data_6(input.custom_data_6);
+	output->set_custom_data_7(input.custom_data_7);
+	output->set_custom_data_8(input.custom_data_8);
+	output->set_custom_data_9(input.custom_data_9);
+	output->set_custom_data_10(input.custom_data_10);
+	output->set_custom_data_11(input.custom_data_11);
+	output->set_custom_data_12(input.custom_data_12);
+	output->set_custom_data_13(input.custom_data_13);
+	output->set_custom_data_14(input.custom_data_14);
+	output->set_custom_data_15(input.custom_data_15);
+	if(input.oneof_tool_customData.gripper_custom_data.size() > 0)
+	{
+		ToProtoData(input.oneof_tool_customData.gripper_custom_data[0], output->mutable_gripper_custom_data());
+	}
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/interconnectcyclic_ros_converter.cpp b/kortex_driver/src/generated/robot/interconnectcyclic_ros_converter.cpp
new file mode 100644
index 0000000..bdda1db
--- /dev/null
+++ b/kortex_driver/src/generated/robot/interconnectcyclic_ros_converter.cpp
@@ -0,0 +1,118 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+
+int ToRosData(Kinova::Api::InterconnectCyclic::MessageId input, kortex_driver::InterconnectCyclic_MessageId &output)
+{
+	
+	output.identifier = input.identifier();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectCyclic::Command input, kortex_driver::InterconnectCyclic_Command &output)
+{
+	
+	ToRosData(input.command_id(), output.command_id);
+	output.flags = input.flags();
+
+	
+	auto oneof_type_tool_command = input.tool_command_case();
+	switch(oneof_type_tool_command)
+	{ 
+	
+		case Kinova::Api::InterconnectCyclic::Command::kGripperCommand:
+		{
+			decltype(output.oneof_tool_command.gripper_command)::value_type temp;
+			ToRosData(input.gripper_command(), temp);
+			output.oneof_tool_command.gripper_command.push_back(temp);
+			break;
+		}}
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectCyclic::Feedback input, kortex_driver::InterconnectCyclic_Feedback &output)
+{
+	
+	ToRosData(input.feedback_id(), output.feedback_id);
+	output.status_flags = input.status_flags();
+	output.jitter_comm = input.jitter_comm();
+	output.imu_acceleration_x = input.imu_acceleration_x();
+	output.imu_acceleration_y = input.imu_acceleration_y();
+	output.imu_acceleration_z = input.imu_acceleration_z();
+	output.imu_angular_velocity_x = input.imu_angular_velocity_x();
+	output.imu_angular_velocity_y = input.imu_angular_velocity_y();
+	output.imu_angular_velocity_z = input.imu_angular_velocity_z();
+	output.voltage = input.voltage();
+	output.temperature_core = input.temperature_core();
+	output.fault_bank_a = input.fault_bank_a();
+	output.fault_bank_b = input.fault_bank_b();
+	output.warning_bank_a = input.warning_bank_a();
+	output.warning_bank_b = input.warning_bank_b();
+
+	
+	auto oneof_type_tool_feedback = input.tool_feedback_case();
+	switch(oneof_type_tool_feedback)
+	{ 
+	
+		case Kinova::Api::InterconnectCyclic::Feedback::kGripperFeedback:
+		{
+			decltype(output.oneof_tool_feedback.gripper_feedback)::value_type temp;
+			ToRosData(input.gripper_feedback(), temp);
+			output.oneof_tool_feedback.gripper_feedback.push_back(temp);
+			break;
+		}}
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::InterconnectCyclic::CustomData input, kortex_driver::InterconnectCyclic_CustomData &output)
+{
+	
+	ToRosData(input.custom_data_id(), output.custom_data_id);
+	output.custom_data_0 = input.custom_data_0();
+	output.custom_data_1 = input.custom_data_1();
+	output.custom_data_2 = input.custom_data_2();
+	output.custom_data_3 = input.custom_data_3();
+	output.custom_data_4 = input.custom_data_4();
+	output.custom_data_5 = input.custom_data_5();
+	output.custom_data_6 = input.custom_data_6();
+	output.custom_data_7 = input.custom_data_7();
+	output.custom_data_8 = input.custom_data_8();
+	output.custom_data_9 = input.custom_data_9();
+	output.custom_data_10 = input.custom_data_10();
+	output.custom_data_11 = input.custom_data_11();
+	output.custom_data_12 = input.custom_data_12();
+	output.custom_data_13 = input.custom_data_13();
+	output.custom_data_14 = input.custom_data_14();
+	output.custom_data_15 = input.custom_data_15();
+
+	
+	auto oneof_type_tool_customData = input.tool_customData_case();
+	switch(oneof_type_tool_customData)
+	{ 
+	
+		case Kinova::Api::InterconnectCyclic::CustomData::kGripperCustomData:
+		{
+			decltype(output.oneof_tool_customData.gripper_custom_data)::value_type temp;
+			ToRosData(input.gripper_custom_data(), temp);
+			output.oneof_tool_customData.gripper_custom_data.push_back(temp);
+			break;
+		}}
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/productconfiguration_proto_converter.cpp b/kortex_driver/src/generated/robot/productconfiguration_proto_converter.cpp
new file mode 100644
index 0000000..c93d9b8
--- /dev/null
+++ b/kortex_driver/src/generated/robot/productconfiguration_proto_converter.cpp
@@ -0,0 +1,43 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+
+int ToProtoData(kortex_driver::CompleteProductConfiguration input, Kinova::Api::ProductConfiguration::CompleteProductConfiguration *output)
+{
+	
+	output->set_kin(input.kin);
+	output->set_model((Kinova::Api::ProductConfiguration::ModelId)input.model); 
+	ToProtoData(input.country_code, output->mutable_country_code());
+	output->set_assembly_plant(input.assembly_plant);
+	output->set_model_year(input.model_year);
+	output->set_degree_of_freedom(input.degree_of_freedom);
+	output->set_base_type((Kinova::Api::ProductConfiguration::BaseType)input.base_type);
+	output->set_end_effector_type((Kinova::Api::ProductConfiguration::EndEffectorType)input.end_effector_type);
+	output->set_vision_module_type((Kinova::Api::ProductConfiguration::VisionModuleType)input.vision_module_type);
+	output->set_interface_module_type((Kinova::Api::ProductConfiguration::InterfaceModuleType)input.interface_module_type);
+	output->set_arm_laterality((Kinova::Api::ProductConfiguration::ArmLaterality)input.arm_laterality);
+	output->set_wrist_type((Kinova::Api::ProductConfiguration::WristType)input.wrist_type);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ProductConfigurationEndEffectorType input, Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType *output)
+{
+	
+	output->set_end_effector_type((Kinova::Api::ProductConfiguration::EndEffectorType)input.end_effector_type);
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/productconfiguration_ros_converter.cpp b/kortex_driver/src/generated/robot/productconfiguration_ros_converter.cpp
new file mode 100644
index 0000000..4eeb2ad
--- /dev/null
+++ b/kortex_driver/src/generated/robot/productconfiguration_ros_converter.cpp
@@ -0,0 +1,47 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+
+int ToRosData(Kinova::Api::ProductConfiguration::CompleteProductConfiguration input, kortex_driver::CompleteProductConfiguration &output)
+{
+	
+	output.kin = input.kin();
+	output.model = input.model();
+	ToRosData(input.country_code(), output.country_code);
+	output.assembly_plant = input.assembly_plant();
+	output.model_year = input.model_year();
+	output.degree_of_freedom = input.degree_of_freedom();
+	output.base_type = input.base_type();
+	output.end_effector_type = input.end_effector_type();
+	output.vision_module_type = input.vision_module_type();
+	output.interface_module_type = input.interface_module_type();
+	output.arm_laterality = input.arm_laterality();
+	output.wrist_type = input.wrist_type();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::ProductConfiguration::ProductConfigurationEndEffectorType input, kortex_driver::ProductConfigurationEndEffectorType &output)
+{
+	
+	output.end_effector_type = input.end_effector_type();
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/visionconfig_proto_converter.cpp b/kortex_driver/src/generated/robot/visionconfig_proto_converter.cpp
new file mode 100644
index 0000000..39009bb
--- /dev/null
+++ b/kortex_driver/src/generated/robot/visionconfig_proto_converter.cpp
@@ -0,0 +1,173 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+
+int ToProtoData(kortex_driver::SensorSettings input, Kinova::Api::VisionConfig::SensorSettings *output)
+{
+	
+	output->set_sensor((Kinova::Api::VisionConfig::Sensor)input.sensor);
+	output->set_resolution((Kinova::Api::VisionConfig::Resolution)input.resolution);
+	output->set_frame_rate((Kinova::Api::VisionConfig::FrameRate)input.frame_rate);
+	output->set_bit_rate((Kinova::Api::VisionConfig::BitRate)input.bit_rate);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SensorIdentifier input, Kinova::Api::VisionConfig::SensorIdentifier *output)
+{
+	
+	output->set_sensor((Kinova::Api::VisionConfig::Sensor)input.sensor);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::IntrinsicProfileIdentifier input, Kinova::Api::VisionConfig::IntrinsicProfileIdentifier *output)
+{
+	
+	output->set_sensor((Kinova::Api::VisionConfig::Sensor)input.sensor);
+	output->set_resolution((Kinova::Api::VisionConfig::Resolution)input.resolution);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::OptionIdentifier input, Kinova::Api::VisionConfig::OptionIdentifier *output)
+{
+	
+	output->set_sensor((Kinova::Api::VisionConfig::Sensor)input.sensor);
+	output->set_option((Kinova::Api::VisionConfig::Option)input.option);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::OptionValue input, Kinova::Api::VisionConfig::OptionValue *output)
+{
+	
+	output->set_sensor((Kinova::Api::VisionConfig::Sensor)input.sensor);
+	output->set_option((Kinova::Api::VisionConfig::Option)input.option);
+	output->set_value(input.value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::OptionInformation input, Kinova::Api::VisionConfig::OptionInformation *output)
+{
+	
+	output->set_sensor((Kinova::Api::VisionConfig::Sensor)input.sensor);
+	output->set_option((Kinova::Api::VisionConfig::Option)input.option);
+	output->set_supported(input.supported);
+	output->set_read_only(input.read_only);
+	output->set_minimum(input.minimum);
+	output->set_maximum(input.maximum);
+	output->set_step(input.step);
+	output->set_default_value(input.default_value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::SensorFocusAction input, Kinova::Api::VisionConfig::SensorFocusAction *output)
+{
+	
+	output->set_sensor((Kinova::Api::VisionConfig::Sensor)input.sensor);
+	output->set_focus_action((Kinova::Api::VisionConfig::FocusAction)input.focus_action);
+	if(input.oneof_action_parameters.focus_point.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.focus_point[0], output->mutable_focus_point());
+	}
+	if(input.oneof_action_parameters.manual_focus.size() > 0)
+	{
+		ToProtoData(input.oneof_action_parameters.manual_focus[0], output->mutable_manual_focus());
+	}
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::FocusPoint input, Kinova::Api::VisionConfig::FocusPoint *output)
+{
+	
+	output->set_x(input.x);
+	output->set_y(input.y);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ManualFocus input, Kinova::Api::VisionConfig::ManualFocus *output)
+{
+	
+	output->set_value(input.value);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::VisionNotification input, Kinova::Api::VisionConfig::VisionNotification *output)
+{
+	
+	output->set_event((Kinova::Api::VisionConfig::VisionEvent)input.event);
+	output->set_sensor((Kinova::Api::VisionConfig::Sensor)input.sensor);
+	output->set_option((Kinova::Api::VisionConfig::Option)input.option);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::IntrinsicParameters input, Kinova::Api::VisionConfig::IntrinsicParameters *output)
+{
+	
+	output->set_sensor((Kinova::Api::VisionConfig::Sensor)input.sensor);
+	output->set_resolution((Kinova::Api::VisionConfig::Resolution)input.resolution);
+	output->set_principal_point_x(input.principal_point_x);
+	output->set_principal_point_y(input.principal_point_y);
+	output->set_focal_length_x(input.focal_length_x);
+	output->set_focal_length_y(input.focal_length_y); 
+	ToProtoData(input.distortion_coeffs, output->mutable_distortion_coeffs());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::DistortionCoefficients input, Kinova::Api::VisionConfig::DistortionCoefficients *output)
+{
+	
+	output->set_k1(input.k1);
+	output->set_k2(input.k2);
+	output->set_k3(input.k3);
+	output->set_p1(input.p1);
+	output->set_p2(input.p2);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::ExtrinsicParameters input, Kinova::Api::VisionConfig::ExtrinsicParameters *output)
+{
+	 
+	ToProtoData(input.rotation, output->mutable_rotation()); 
+	ToProtoData(input.translation, output->mutable_translation());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::VisionConfig_RotationMatrix input, Kinova::Api::VisionConfig::RotationMatrix *output)
+{
+	 
+	ToProtoData(input.row1, output->mutable_row1()); 
+	ToProtoData(input.row2, output->mutable_row2()); 
+	ToProtoData(input.row3, output->mutable_row3());
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::VisionConfig_RotationMatrixRow input, Kinova::Api::VisionConfig::RotationMatrixRow *output)
+{
+	
+	output->set_column1(input.column1);
+	output->set_column2(input.column2);
+	output->set_column3(input.column3);
+	
+	return 0;
+}
+int ToProtoData(kortex_driver::TranslationVector input, Kinova::Api::VisionConfig::TranslationVector *output)
+{
+	
+	output->set_t_x(input.t_x);
+	output->set_t_y(input.t_y);
+	output->set_t_z(input.t_z);
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/visionconfig_ros_converter.cpp b/kortex_driver/src/generated/robot/visionconfig_ros_converter.cpp
new file mode 100644
index 0000000..caee31c
--- /dev/null
+++ b/kortex_driver/src/generated/robot/visionconfig_ros_converter.cpp
@@ -0,0 +1,216 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+
+int ToRosData(Kinova::Api::VisionConfig::SensorSettings input, kortex_driver::SensorSettings &output)
+{
+	
+	output.sensor = input.sensor();
+	output.resolution = input.resolution();
+	output.frame_rate = input.frame_rate();
+	output.bit_rate = input.bit_rate();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::SensorIdentifier input, kortex_driver::SensorIdentifier &output)
+{
+	
+	output.sensor = input.sensor();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::IntrinsicProfileIdentifier input, kortex_driver::IntrinsicProfileIdentifier &output)
+{
+	
+	output.sensor = input.sensor();
+	output.resolution = input.resolution();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::OptionIdentifier input, kortex_driver::OptionIdentifier &output)
+{
+	
+	output.sensor = input.sensor();
+	output.option = input.option();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::OptionValue input, kortex_driver::OptionValue &output)
+{
+	
+	output.sensor = input.sensor();
+	output.option = input.option();
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::OptionInformation input, kortex_driver::OptionInformation &output)
+{
+	
+	output.sensor = input.sensor();
+	output.option = input.option();
+	output.supported = input.supported();
+	output.read_only = input.read_only();
+	output.minimum = input.minimum();
+	output.maximum = input.maximum();
+	output.step = input.step();
+	output.default_value = input.default_value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::SensorFocusAction input, kortex_driver::SensorFocusAction &output)
+{
+	
+	output.sensor = input.sensor();
+	output.focus_action = input.focus_action();
+
+	
+	auto oneof_type_action_parameters = input.action_parameters_case();
+	switch(oneof_type_action_parameters)
+	{ 
+	
+		case Kinova::Api::VisionConfig::SensorFocusAction::kFocusPoint:
+		{
+			decltype(output.oneof_action_parameters.focus_point)::value_type temp;
+			ToRosData(input.focus_point(), temp);
+			output.oneof_action_parameters.focus_point.push_back(temp);
+			break;
+		} 
+	
+		case Kinova::Api::VisionConfig::SensorFocusAction::kManualFocus:
+		{
+			decltype(output.oneof_action_parameters.manual_focus)::value_type temp;
+			ToRosData(input.manual_focus(), temp);
+			output.oneof_action_parameters.manual_focus.push_back(temp);
+			break;
+		}}
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::FocusPoint input, kortex_driver::FocusPoint &output)
+{
+	
+	output.x = input.x();
+	output.y = input.y();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::ManualFocus input, kortex_driver::ManualFocus &output)
+{
+	
+	output.value = input.value();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::VisionNotification input, kortex_driver::VisionNotification &output)
+{
+	
+	output.event = input.event();
+	output.sensor = input.sensor();
+	output.option = input.option();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::IntrinsicParameters input, kortex_driver::IntrinsicParameters &output)
+{
+	
+	output.sensor = input.sensor();
+	output.resolution = input.resolution();
+	output.principal_point_x = input.principal_point_x();
+	output.principal_point_y = input.principal_point_y();
+	output.focal_length_x = input.focal_length_x();
+	output.focal_length_y = input.focal_length_y();
+	ToRosData(input.distortion_coeffs(), output.distortion_coeffs);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::DistortionCoefficients input, kortex_driver::DistortionCoefficients &output)
+{
+	
+	output.k1 = input.k1();
+	output.k2 = input.k2();
+	output.k3 = input.k3();
+	output.p1 = input.p1();
+	output.p2 = input.p2();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::ExtrinsicParameters input, kortex_driver::ExtrinsicParameters &output)
+{
+	
+	ToRosData(input.rotation(), output.rotation);
+	ToRosData(input.translation(), output.translation);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::RotationMatrix input, kortex_driver::VisionConfig_RotationMatrix &output)
+{
+	
+	ToRosData(input.row1(), output.row1);
+	ToRosData(input.row2(), output.row2);
+	ToRosData(input.row3(), output.row3);
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::RotationMatrixRow input, kortex_driver::VisionConfig_RotationMatrixRow &output)
+{
+	
+	output.column1 = input.column1();
+	output.column2 = input.column2();
+	output.column3 = input.column3();
+
+	
+	
+	return 0;
+}
+int ToRosData(Kinova::Api::VisionConfig::TranslationVector input, kortex_driver::TranslationVector &output)
+{
+	
+	output.t_x = input.t_x();
+	output.t_y = input.t_y();
+	output.t_z = input.t_z();
+
+	
+	
+	return 0;
+}
diff --git a/kortex_driver/src/generated/robot/visionconfig_services.cpp b/kortex_driver/src/generated/robot/visionconfig_services.cpp
new file mode 100644
index 0000000..a128bfb
--- /dev/null
+++ b/kortex_driver/src/generated/robot/visionconfig_services.cpp
@@ -0,0 +1,500 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_services.h"
+
+VisionConfigRobotServices::VisionConfigRobotServices(ros::NodeHandle& node_handle, Kinova::Api::VisionConfig::VisionConfigClient* visionconfig, uint32_t device_id, uint32_t timeout_ms): 
+	IVisionConfigServices(node_handle),
+	m_visionconfig(visionconfig),
+	m_current_device_id(device_id)
+{
+	m_api_options.timeout_ms = timeout_ms;
+
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+	m_pub_VisionTopic = m_node_handle.advertise<kortex_driver::VisionNotification>("vision_topic", 1000);
+	m_is_activated_VisionTopic = false;
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("vision_config/set_device_id", &VisionConfigRobotServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("vision_config/set_api_options", &VisionConfigRobotServices::SetApiOptions, this);
+
+	m_serviceSetSensorSettings = m_node_handle.advertiseService("vision_config/set_sensor_settings", &VisionConfigRobotServices::SetSensorSettings, this);
+	m_serviceGetSensorSettings = m_node_handle.advertiseService("vision_config/get_sensor_settings", &VisionConfigRobotServices::GetSensorSettings, this);
+	m_serviceGetOptionValue = m_node_handle.advertiseService("vision_config/get_option_value", &VisionConfigRobotServices::GetOptionValue, this);
+	m_serviceSetOptionValue = m_node_handle.advertiseService("vision_config/set_option_value", &VisionConfigRobotServices::SetOptionValue, this);
+	m_serviceGetOptionInformation = m_node_handle.advertiseService("vision_config/get_option_information", &VisionConfigRobotServices::GetOptionInformation, this);
+	m_serviceOnNotificationVisionTopic = m_node_handle.advertiseService("vision_config/activate_publishing_of_vision_topic", &VisionConfigRobotServices::OnNotificationVisionTopic, this);
+	m_serviceDoSensorFocusAction = m_node_handle.advertiseService("vision_config/do_sensor_focus_action", &VisionConfigRobotServices::DoSensorFocusAction, this);
+	m_serviceGetIntrinsicParameters = m_node_handle.advertiseService("vision_config/get_intrinsic_parameters", &VisionConfigRobotServices::GetIntrinsicParameters, this);
+	m_serviceGetIntrinsicParametersProfile = m_node_handle.advertiseService("vision_config/get_intrinsic_parameters_profile", &VisionConfigRobotServices::GetIntrinsicParametersProfile, this);
+	m_serviceSetIntrinsicParameters = m_node_handle.advertiseService("vision_config/set_intrinsic_parameters", &VisionConfigRobotServices::SetIntrinsicParameters, this);
+	m_serviceGetExtrinsicParameters = m_node_handle.advertiseService("vision_config/get_extrinsic_parameters", &VisionConfigRobotServices::GetExtrinsicParameters, this);
+	m_serviceSetExtrinsicParameters = m_node_handle.advertiseService("vision_config/set_extrinsic_parameters", &VisionConfigRobotServices::SetExtrinsicParameters, this);
+}
+
+bool VisionConfigRobotServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	m_current_device_id = req.device_id;
+
+	return true;
+}
+
+bool VisionConfigRobotServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	m_api_options.timeout_ms = req.input.timeout_ms;
+
+	return true;
+}
+
+
+bool VisionConfigRobotServices::SetSensorSettings(kortex_driver::SetSensorSettings::Request  &req, kortex_driver::SetSensorSettings::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::SensorSettings input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_visionconfig->SetSensorSettings(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool VisionConfigRobotServices::GetSensorSettings(kortex_driver::GetSensorSettings::Request  &req, kortex_driver::GetSensorSettings::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::SensorIdentifier input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::VisionConfig::SensorSettings output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_visionconfig->GetSensorSettings(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool VisionConfigRobotServices::GetOptionValue(kortex_driver::GetOptionValue::Request  &req, kortex_driver::GetOptionValue::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::OptionIdentifier input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::VisionConfig::OptionValue output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_visionconfig->GetOptionValue(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool VisionConfigRobotServices::SetOptionValue(kortex_driver::SetOptionValue::Request  &req, kortex_driver::SetOptionValue::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::OptionValue input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_visionconfig->SetOptionValue(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool VisionConfigRobotServices::GetOptionInformation(kortex_driver::GetOptionInformation::Request  &req, kortex_driver::GetOptionInformation::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::OptionIdentifier input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::VisionConfig::OptionInformation output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_visionconfig->GetOptionInformation(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool VisionConfigRobotServices::OnNotificationVisionTopic(kortex_driver::OnNotificationVisionTopic::Request  &req, kortex_driver::OnNotificationVisionTopic::Response &res)
+{
+	
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_VisionTopic)
+		return true;
+	Kinova::Api::Common::NotificationOptions input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::Common::NotificationHandle output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		std::function< void (Kinova::Api::VisionConfig::VisionNotification) > callback = std::bind(&VisionConfigRobotServices::cb_VisionTopic, this, std::placeholders::_1);
+		output = m_visionconfig->OnNotificationVisionTopic(callback, input, m_current_device_id);
+		m_is_activated_VisionTopic = true;
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+void VisionConfigRobotServices::cb_VisionTopic(Kinova::Api::VisionConfig::VisionNotification notif)
+{
+	kortex_driver::VisionNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_VisionTopic.publish(ros_msg);
+}
+
+bool VisionConfigRobotServices::DoSensorFocusAction(kortex_driver::DoSensorFocusAction::Request  &req, kortex_driver::DoSensorFocusAction::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::SensorFocusAction input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_visionconfig->DoSensorFocusAction(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool VisionConfigRobotServices::GetIntrinsicParameters(kortex_driver::GetIntrinsicParameters::Request  &req, kortex_driver::GetIntrinsicParameters::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::SensorIdentifier input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::VisionConfig::IntrinsicParameters output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_visionconfig->GetIntrinsicParameters(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool VisionConfigRobotServices::GetIntrinsicParametersProfile(kortex_driver::GetIntrinsicParametersProfile::Request  &req, kortex_driver::GetIntrinsicParametersProfile::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::IntrinsicProfileIdentifier input;
+	ToProtoData(req.input, &input);
+	Kinova::Api::VisionConfig::IntrinsicParameters output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_visionconfig->GetIntrinsicParametersProfile(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool VisionConfigRobotServices::SetIntrinsicParameters(kortex_driver::SetIntrinsicParameters::Request  &req, kortex_driver::SetIntrinsicParameters::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::IntrinsicParameters input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_visionconfig->SetIntrinsicParameters(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
+
+bool VisionConfigRobotServices::GetExtrinsicParameters(kortex_driver::GetExtrinsicParameters::Request  &req, kortex_driver::GetExtrinsicParameters::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::ExtrinsicParameters output;
+	
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		output = m_visionconfig->GetExtrinsicParameters(m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	ToRosData(output, res.output);
+	return true;
+}
+
+bool VisionConfigRobotServices::SetExtrinsicParameters(kortex_driver::SetExtrinsicParameters::Request  &req, kortex_driver::SetExtrinsicParameters::Response &res)
+{
+	
+	Kinova::Api::VisionConfig::ExtrinsicParameters input;
+	ToProtoData(req.input, &input);
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		m_visionconfig->SetExtrinsicParameters(input, m_current_device_id, m_api_options);
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	return true;
+}
diff --git a/kortex_driver/src/generated/simulation/actuatorconfig_services.cpp b/kortex_driver/src/generated/simulation/actuatorconfig_services.cpp
new file mode 100644
index 0000000..224c14b
--- /dev/null
+++ b/kortex_driver/src/generated/simulation/actuatorconfig_services.cpp
@@ -0,0 +1,386 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/simulation/actuatorconfig_services.h"
+
+ActuatorConfigSimulationServices::ActuatorConfigSimulationServices(ros::NodeHandle& node_handle): 
+	IActuatorConfigServices(node_handle)
+{
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("actuator_config/set_device_id", &ActuatorConfigSimulationServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("actuator_config/set_api_options", &ActuatorConfigSimulationServices::SetApiOptions, this);
+
+	m_serviceGetAxisOffsets = m_node_handle.advertiseService("actuator_config/get_axis_offsets", &ActuatorConfigSimulationServices::GetAxisOffsets, this);
+	m_serviceSetAxisOffsets = m_node_handle.advertiseService("actuator_config/set_axis_offsets", &ActuatorConfigSimulationServices::SetAxisOffsets, this);
+	m_serviceSetTorqueOffset = m_node_handle.advertiseService("actuator_config/set_torque_offset", &ActuatorConfigSimulationServices::SetTorqueOffset, this);
+	m_serviceActuatorConfig_GetControlMode = m_node_handle.advertiseService("actuator_config/get_control_mode", &ActuatorConfigSimulationServices::ActuatorConfig_GetControlMode, this);
+	m_serviceSetControlMode = m_node_handle.advertiseService("actuator_config/set_control_mode", &ActuatorConfigSimulationServices::SetControlMode, this);
+	m_serviceGetActivatedControlLoop = m_node_handle.advertiseService("actuator_config/get_activated_control_loop", &ActuatorConfigSimulationServices::GetActivatedControlLoop, this);
+	m_serviceSetActivatedControlLoop = m_node_handle.advertiseService("actuator_config/set_activated_control_loop", &ActuatorConfigSimulationServices::SetActivatedControlLoop, this);
+	m_serviceGetControlLoopParameters = m_node_handle.advertiseService("actuator_config/get_control_loop_parameters", &ActuatorConfigSimulationServices::GetControlLoopParameters, this);
+	m_serviceSetControlLoopParameters = m_node_handle.advertiseService("actuator_config/set_control_loop_parameters", &ActuatorConfigSimulationServices::SetControlLoopParameters, this);
+	m_serviceSelectCustomData = m_node_handle.advertiseService("actuator_config/select_custom_data", &ActuatorConfigSimulationServices::SelectCustomData, this);
+	m_serviceGetSelectedCustomData = m_node_handle.advertiseService("actuator_config/get_selected_custom_data", &ActuatorConfigSimulationServices::GetSelectedCustomData, this);
+	m_serviceSetCommandMode = m_node_handle.advertiseService("actuator_config/set_command_mode", &ActuatorConfigSimulationServices::SetCommandMode, this);
+	m_serviceActuatorConfig_ClearFaults = m_node_handle.advertiseService("actuator_config/clear_faults", &ActuatorConfigSimulationServices::ActuatorConfig_ClearFaults, this);
+	m_serviceSetServoing = m_node_handle.advertiseService("actuator_config/set_servoing", &ActuatorConfigSimulationServices::SetServoing, this);
+	m_serviceMoveToPosition = m_node_handle.advertiseService("actuator_config/move_to_position", &ActuatorConfigSimulationServices::MoveToPosition, this);
+	m_serviceGetCommandMode = m_node_handle.advertiseService("actuator_config/get_command_mode", &ActuatorConfigSimulationServices::GetCommandMode, this);
+	m_serviceGetServoing = m_node_handle.advertiseService("actuator_config/get_servoing", &ActuatorConfigSimulationServices::GetServoing, this);
+	m_serviceGetTorqueOffset = m_node_handle.advertiseService("actuator_config/get_torque_offset", &ActuatorConfigSimulationServices::GetTorqueOffset, this);
+	m_serviceSetCoggingFeedforwardMode = m_node_handle.advertiseService("actuator_config/set_cogging_feedforward_mode", &ActuatorConfigSimulationServices::SetCoggingFeedforwardMode, this);
+	m_serviceGetCoggingFeedforwardMode = m_node_handle.advertiseService("actuator_config/get_cogging_feedforward_mode", &ActuatorConfigSimulationServices::GetCoggingFeedforwardMode, this);
+}
+
+bool ActuatorConfigSimulationServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+
+bool ActuatorConfigSimulationServices::GetAxisOffsets(kortex_driver::GetAxisOffsets::Request  &req, kortex_driver::GetAxisOffsets::Response &res)
+{
+	
+	
+	if (GetAxisOffsetsHandler)
+	{
+		res = GetAxisOffsetsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/get_axis_offsets is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::SetAxisOffsets(kortex_driver::SetAxisOffsets::Request  &req, kortex_driver::SetAxisOffsets::Response &res)
+{
+	
+	
+	if (SetAxisOffsetsHandler)
+	{
+		res = SetAxisOffsetsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/set_axis_offsets is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::SetTorqueOffset(kortex_driver::SetTorqueOffset::Request  &req, kortex_driver::SetTorqueOffset::Response &res)
+{
+	
+	
+	if (SetTorqueOffsetHandler)
+	{
+		res = SetTorqueOffsetHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/set_torque_offset is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::ActuatorConfig_GetControlMode(kortex_driver::ActuatorConfig_GetControlMode::Request  &req, kortex_driver::ActuatorConfig_GetControlMode::Response &res)
+{
+	
+	
+	if (ActuatorConfig_GetControlModeHandler)
+	{
+		res = ActuatorConfig_GetControlModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/get_control_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::SetControlMode(kortex_driver::SetControlMode::Request  &req, kortex_driver::SetControlMode::Response &res)
+{
+	
+	
+	if (SetControlModeHandler)
+	{
+		res = SetControlModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/set_control_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::GetActivatedControlLoop(kortex_driver::GetActivatedControlLoop::Request  &req, kortex_driver::GetActivatedControlLoop::Response &res)
+{
+	
+	
+	if (GetActivatedControlLoopHandler)
+	{
+		res = GetActivatedControlLoopHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/get_activated_control_loop is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::SetActivatedControlLoop(kortex_driver::SetActivatedControlLoop::Request  &req, kortex_driver::SetActivatedControlLoop::Response &res)
+{
+	
+	
+	if (SetActivatedControlLoopHandler)
+	{
+		res = SetActivatedControlLoopHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/set_activated_control_loop is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::GetControlLoopParameters(kortex_driver::GetControlLoopParameters::Request  &req, kortex_driver::GetControlLoopParameters::Response &res)
+{
+	
+	
+	if (GetControlLoopParametersHandler)
+	{
+		res = GetControlLoopParametersHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/get_control_loop_parameters is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::SetControlLoopParameters(kortex_driver::SetControlLoopParameters::Request  &req, kortex_driver::SetControlLoopParameters::Response &res)
+{
+	
+	
+	if (SetControlLoopParametersHandler)
+	{
+		res = SetControlLoopParametersHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/set_control_loop_parameters is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::SelectCustomData(kortex_driver::SelectCustomData::Request  &req, kortex_driver::SelectCustomData::Response &res)
+{
+	
+	
+	if (SelectCustomDataHandler)
+	{
+		res = SelectCustomDataHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/select_custom_data is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::GetSelectedCustomData(kortex_driver::GetSelectedCustomData::Request  &req, kortex_driver::GetSelectedCustomData::Response &res)
+{
+	
+	
+	if (GetSelectedCustomDataHandler)
+	{
+		res = GetSelectedCustomDataHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/get_selected_custom_data is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::SetCommandMode(kortex_driver::SetCommandMode::Request  &req, kortex_driver::SetCommandMode::Response &res)
+{
+	
+	
+	if (SetCommandModeHandler)
+	{
+		res = SetCommandModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/set_command_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::ActuatorConfig_ClearFaults(kortex_driver::ActuatorConfig_ClearFaults::Request  &req, kortex_driver::ActuatorConfig_ClearFaults::Response &res)
+{
+	
+	
+	if (ActuatorConfig_ClearFaultsHandler)
+	{
+		res = ActuatorConfig_ClearFaultsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/clear_faults is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::SetServoing(kortex_driver::SetServoing::Request  &req, kortex_driver::SetServoing::Response &res)
+{
+	
+	
+	if (SetServoingHandler)
+	{
+		res = SetServoingHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/set_servoing is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::MoveToPosition(kortex_driver::MoveToPosition::Request  &req, kortex_driver::MoveToPosition::Response &res)
+{
+	
+	
+	if (MoveToPositionHandler)
+	{
+		res = MoveToPositionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/move_to_position is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::GetCommandMode(kortex_driver::GetCommandMode::Request  &req, kortex_driver::GetCommandMode::Response &res)
+{
+	
+	
+	if (GetCommandModeHandler)
+	{
+		res = GetCommandModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/get_command_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::GetServoing(kortex_driver::GetServoing::Request  &req, kortex_driver::GetServoing::Response &res)
+{
+	
+	
+	if (GetServoingHandler)
+	{
+		res = GetServoingHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/get_servoing is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::GetTorqueOffset(kortex_driver::GetTorqueOffset::Request  &req, kortex_driver::GetTorqueOffset::Response &res)
+{
+	
+	
+	if (GetTorqueOffsetHandler)
+	{
+		res = GetTorqueOffsetHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/get_torque_offset is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::SetCoggingFeedforwardMode(kortex_driver::SetCoggingFeedforwardMode::Request  &req, kortex_driver::SetCoggingFeedforwardMode::Response &res)
+{
+	
+	
+	if (SetCoggingFeedforwardModeHandler)
+	{
+		res = SetCoggingFeedforwardModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/set_cogging_feedforward_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ActuatorConfigSimulationServices::GetCoggingFeedforwardMode(kortex_driver::GetCoggingFeedforwardMode::Request  &req, kortex_driver::GetCoggingFeedforwardMode::Response &res)
+{
+	
+	
+	if (GetCoggingFeedforwardModeHandler)
+	{
+		res = GetCoggingFeedforwardModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for actuator_config/get_cogging_feedforward_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
diff --git a/kortex_driver/src/generated/simulation/base_services.cpp b/kortex_driver/src/generated/simulation/base_services.cpp
new file mode 100644
index 0000000..a8e3589
--- /dev/null
+++ b/kortex_driver/src/generated/simulation/base_services.cpp
@@ -0,0 +1,2504 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/simulation/base_services.h"
+
+BaseSimulationServices::BaseSimulationServices(ros::NodeHandle& node_handle): 
+	IBaseServices(node_handle)
+{
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+	m_pub_ConfigurationChangeTopic = m_node_handle.advertise<kortex_driver::ConfigurationChangeNotification>("configuration_change_topic", 1000);
+	m_is_activated_ConfigurationChangeTopic = false;
+	m_pub_MappingInfoTopic = m_node_handle.advertise<kortex_driver::MappingInfoNotification>("mapping_info_topic", 1000);
+	m_is_activated_MappingInfoTopic = false;
+	m_pub_ControlModeTopic = m_node_handle.advertise<kortex_driver::ControlModeNotification>("control_mode_topic", 1000);
+	m_is_activated_ControlModeTopic = false;
+	m_pub_OperatingModeTopic = m_node_handle.advertise<kortex_driver::OperatingModeNotification>("operating_mode_topic", 1000);
+	m_is_activated_OperatingModeTopic = false;
+	m_pub_SequenceInfoTopic = m_node_handle.advertise<kortex_driver::SequenceInfoNotification>("sequence_info_topic", 1000);
+	m_is_activated_SequenceInfoTopic = false;
+	m_pub_ProtectionZoneTopic = m_node_handle.advertise<kortex_driver::ProtectionZoneNotification>("protection_zone_topic", 1000);
+	m_is_activated_ProtectionZoneTopic = false;
+	m_pub_UserTopic = m_node_handle.advertise<kortex_driver::UserNotification>("user_topic", 1000);
+	m_is_activated_UserTopic = false;
+	m_pub_ControllerTopic = m_node_handle.advertise<kortex_driver::ControllerNotification>("controller_topic", 1000);
+	m_is_activated_ControllerTopic = false;
+	m_pub_ActionTopic = m_node_handle.advertise<kortex_driver::ActionNotification>("action_topic", 1000);
+	m_is_activated_ActionTopic = false;
+	m_pub_RobotEventTopic = m_node_handle.advertise<kortex_driver::RobotEventNotification>("robot_event_topic", 1000);
+	m_is_activated_RobotEventTopic = false;
+	m_pub_ServoingModeTopic = m_node_handle.advertise<kortex_driver::ServoingModeNotification>("servoing_mode_topic", 1000);
+	m_is_activated_ServoingModeTopic = false;
+	m_pub_FactoryTopic = m_node_handle.advertise<kortex_driver::FactoryNotification>("factory_topic", 1000);
+	m_is_activated_FactoryTopic = false;
+	m_pub_NetworkTopic = m_node_handle.advertise<kortex_driver::NetworkNotification>("network_topic", 1000);
+	m_is_activated_NetworkTopic = false;
+	m_pub_ArmStateTopic = m_node_handle.advertise<kortex_driver::ArmStateNotification>("arm_state_topic", 1000);
+	m_is_activated_ArmStateTopic = false;
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("base/set_device_id", &BaseSimulationServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("base/set_api_options", &BaseSimulationServices::SetApiOptions, this);
+
+	m_serviceCreateUserProfile = m_node_handle.advertiseService("base/create_user_profile", &BaseSimulationServices::CreateUserProfile, this);
+	m_serviceUpdateUserProfile = m_node_handle.advertiseService("base/update_user_profile", &BaseSimulationServices::UpdateUserProfile, this);
+	m_serviceReadUserProfile = m_node_handle.advertiseService("base/read_user_profile", &BaseSimulationServices::ReadUserProfile, this);
+	m_serviceDeleteUserProfile = m_node_handle.advertiseService("base/delete_user_profile", &BaseSimulationServices::DeleteUserProfile, this);
+	m_serviceReadAllUserProfiles = m_node_handle.advertiseService("base/read_all_user_profiles", &BaseSimulationServices::ReadAllUserProfiles, this);
+	m_serviceReadAllUsers = m_node_handle.advertiseService("base/read_all_users", &BaseSimulationServices::ReadAllUsers, this);
+	m_serviceChangePassword = m_node_handle.advertiseService("base/change_password", &BaseSimulationServices::ChangePassword, this);
+	m_serviceCreateSequence = m_node_handle.advertiseService("base/create_sequence", &BaseSimulationServices::CreateSequence, this);
+	m_serviceUpdateSequence = m_node_handle.advertiseService("base/update_sequence", &BaseSimulationServices::UpdateSequence, this);
+	m_serviceReadSequence = m_node_handle.advertiseService("base/read_sequence", &BaseSimulationServices::ReadSequence, this);
+	m_serviceDeleteSequence = m_node_handle.advertiseService("base/delete_sequence", &BaseSimulationServices::DeleteSequence, this);
+	m_serviceReadAllSequences = m_node_handle.advertiseService("base/read_all_sequences", &BaseSimulationServices::ReadAllSequences, this);
+	m_servicePlaySequence = m_node_handle.advertiseService("base/play_sequence", &BaseSimulationServices::PlaySequence, this);
+	m_servicePlayAdvancedSequence = m_node_handle.advertiseService("base/play_advanced_sequence", &BaseSimulationServices::PlayAdvancedSequence, this);
+	m_serviceStopSequence = m_node_handle.advertiseService("base/stop_sequence", &BaseSimulationServices::StopSequence, this);
+	m_servicePauseSequence = m_node_handle.advertiseService("base/pause_sequence", &BaseSimulationServices::PauseSequence, this);
+	m_serviceResumeSequence = m_node_handle.advertiseService("base/resume_sequence", &BaseSimulationServices::ResumeSequence, this);
+	m_serviceCreateProtectionZone = m_node_handle.advertiseService("base/create_protection_zone", &BaseSimulationServices::CreateProtectionZone, this);
+	m_serviceUpdateProtectionZone = m_node_handle.advertiseService("base/update_protection_zone", &BaseSimulationServices::UpdateProtectionZone, this);
+	m_serviceReadProtectionZone = m_node_handle.advertiseService("base/read_protection_zone", &BaseSimulationServices::ReadProtectionZone, this);
+	m_serviceDeleteProtectionZone = m_node_handle.advertiseService("base/delete_protection_zone", &BaseSimulationServices::DeleteProtectionZone, this);
+	m_serviceReadAllProtectionZones = m_node_handle.advertiseService("base/read_all_protection_zones", &BaseSimulationServices::ReadAllProtectionZones, this);
+	m_serviceCreateMapping = m_node_handle.advertiseService("base/create_mapping", &BaseSimulationServices::CreateMapping, this);
+	m_serviceReadMapping = m_node_handle.advertiseService("base/read_mapping", &BaseSimulationServices::ReadMapping, this);
+	m_serviceUpdateMapping = m_node_handle.advertiseService("base/update_mapping", &BaseSimulationServices::UpdateMapping, this);
+	m_serviceDeleteMapping = m_node_handle.advertiseService("base/delete_mapping", &BaseSimulationServices::DeleteMapping, this);
+	m_serviceReadAllMappings = m_node_handle.advertiseService("base/read_all_mappings", &BaseSimulationServices::ReadAllMappings, this);
+	m_serviceCreateMap = m_node_handle.advertiseService("base/create_map", &BaseSimulationServices::CreateMap, this);
+	m_serviceReadMap = m_node_handle.advertiseService("base/read_map", &BaseSimulationServices::ReadMap, this);
+	m_serviceUpdateMap = m_node_handle.advertiseService("base/update_map", &BaseSimulationServices::UpdateMap, this);
+	m_serviceDeleteMap = m_node_handle.advertiseService("base/delete_map", &BaseSimulationServices::DeleteMap, this);
+	m_serviceReadAllMaps = m_node_handle.advertiseService("base/read_all_maps", &BaseSimulationServices::ReadAllMaps, this);
+	m_serviceActivateMap = m_node_handle.advertiseService("base/activate_map", &BaseSimulationServices::ActivateMap, this);
+	m_serviceCreateAction = m_node_handle.advertiseService("base/create_action", &BaseSimulationServices::CreateAction, this);
+	m_serviceReadAction = m_node_handle.advertiseService("base/read_action", &BaseSimulationServices::ReadAction, this);
+	m_serviceReadAllActions = m_node_handle.advertiseService("base/read_all_actions", &BaseSimulationServices::ReadAllActions, this);
+	m_serviceDeleteAction = m_node_handle.advertiseService("base/delete_action", &BaseSimulationServices::DeleteAction, this);
+	m_serviceUpdateAction = m_node_handle.advertiseService("base/update_action", &BaseSimulationServices::UpdateAction, this);
+	m_serviceExecuteActionFromReference = m_node_handle.advertiseService("base/execute_action_from_reference", &BaseSimulationServices::ExecuteActionFromReference, this);
+	m_serviceExecuteAction = m_node_handle.advertiseService("base/execute_action", &BaseSimulationServices::ExecuteAction, this);
+	m_servicePauseAction = m_node_handle.advertiseService("base/pause_action", &BaseSimulationServices::PauseAction, this);
+	m_serviceStopAction = m_node_handle.advertiseService("base/stop_action", &BaseSimulationServices::StopAction, this);
+	m_serviceResumeAction = m_node_handle.advertiseService("base/resume_action", &BaseSimulationServices::ResumeAction, this);
+	m_serviceGetIPv4Configuration = m_node_handle.advertiseService("base/get_i_pv4_configuration", &BaseSimulationServices::GetIPv4Configuration, this);
+	m_serviceSetIPv4Configuration = m_node_handle.advertiseService("base/set_i_pv4_configuration", &BaseSimulationServices::SetIPv4Configuration, this);
+	m_serviceSetCommunicationInterfaceEnable = m_node_handle.advertiseService("base/set_communication_interface_enable", &BaseSimulationServices::SetCommunicationInterfaceEnable, this);
+	m_serviceIsCommunicationInterfaceEnable = m_node_handle.advertiseService("base/is_communication_interface_enable", &BaseSimulationServices::IsCommunicationInterfaceEnable, this);
+	m_serviceGetAvailableWifi = m_node_handle.advertiseService("base/get_available_wifi", &BaseSimulationServices::GetAvailableWifi, this);
+	m_serviceGetWifiInformation = m_node_handle.advertiseService("base/get_wifi_information", &BaseSimulationServices::GetWifiInformation, this);
+	m_serviceAddWifiConfiguration = m_node_handle.advertiseService("base/add_wifi_configuration", &BaseSimulationServices::AddWifiConfiguration, this);
+	m_serviceDeleteWifiConfiguration = m_node_handle.advertiseService("base/delete_wifi_configuration", &BaseSimulationServices::DeleteWifiConfiguration, this);
+	m_serviceGetAllConfiguredWifis = m_node_handle.advertiseService("base/get_all_configured_wifis", &BaseSimulationServices::GetAllConfiguredWifis, this);
+	m_serviceConnectWifi = m_node_handle.advertiseService("base/connect_wifi", &BaseSimulationServices::ConnectWifi, this);
+	m_serviceDisconnectWifi = m_node_handle.advertiseService("base/disconnect_wifi", &BaseSimulationServices::DisconnectWifi, this);
+	m_serviceGetConnectedWifiInformation = m_node_handle.advertiseService("base/get_connected_wifi_information", &BaseSimulationServices::GetConnectedWifiInformation, this);
+	m_serviceBase_Unsubscribe = m_node_handle.advertiseService("base/unsubscribe", &BaseSimulationServices::Base_Unsubscribe, this);
+	m_serviceOnNotificationConfigurationChangeTopic = m_node_handle.advertiseService("base/activate_publishing_of_configuration_change_topic", &BaseSimulationServices::OnNotificationConfigurationChangeTopic, this);
+	m_serviceOnNotificationMappingInfoTopic = m_node_handle.advertiseService("base/activate_publishing_of_mapping_info_topic", &BaseSimulationServices::OnNotificationMappingInfoTopic, this);
+	m_serviceOnNotificationControlModeTopic = m_node_handle.advertiseService("base/activate_publishing_of_control_mode_topic", &BaseSimulationServices::OnNotificationControlModeTopic, this);
+	m_serviceOnNotificationOperatingModeTopic = m_node_handle.advertiseService("base/activate_publishing_of_operating_mode_topic", &BaseSimulationServices::OnNotificationOperatingModeTopic, this);
+	m_serviceOnNotificationSequenceInfoTopic = m_node_handle.advertiseService("base/activate_publishing_of_sequence_info_topic", &BaseSimulationServices::OnNotificationSequenceInfoTopic, this);
+	m_serviceOnNotificationProtectionZoneTopic = m_node_handle.advertiseService("base/activate_publishing_of_protection_zone_topic", &BaseSimulationServices::OnNotificationProtectionZoneTopic, this);
+	m_serviceOnNotificationUserTopic = m_node_handle.advertiseService("base/activate_publishing_of_user_topic", &BaseSimulationServices::OnNotificationUserTopic, this);
+	m_serviceOnNotificationControllerTopic = m_node_handle.advertiseService("base/activate_publishing_of_controller_topic", &BaseSimulationServices::OnNotificationControllerTopic, this);
+	m_serviceOnNotificationActionTopic = m_node_handle.advertiseService("base/activate_publishing_of_action_topic", &BaseSimulationServices::OnNotificationActionTopic, this);
+	m_serviceOnNotificationRobotEventTopic = m_node_handle.advertiseService("base/activate_publishing_of_robot_event_topic", &BaseSimulationServices::OnNotificationRobotEventTopic, this);
+	m_servicePlayCartesianTrajectory = m_node_handle.advertiseService("base/play_cartesian_trajectory", &BaseSimulationServices::PlayCartesianTrajectory, this);
+	m_servicePlayCartesianTrajectoryPosition = m_node_handle.advertiseService("base/play_cartesian_trajectory_position", &BaseSimulationServices::PlayCartesianTrajectoryPosition, this);
+	m_servicePlayCartesianTrajectoryOrientation = m_node_handle.advertiseService("base/play_cartesian_trajectory_orientation", &BaseSimulationServices::PlayCartesianTrajectoryOrientation, this);
+	m_serviceStop = m_node_handle.advertiseService("base/stop", &BaseSimulationServices::Stop, this);
+	m_serviceGetMeasuredCartesianPose = m_node_handle.advertiseService("base/get_measured_cartesian_pose", &BaseSimulationServices::GetMeasuredCartesianPose, this);
+	m_serviceSendWrenchCommand = m_node_handle.advertiseService("base/send_wrench_command", &BaseSimulationServices::SendWrenchCommand, this);
+	m_serviceSendWrenchJoystickCommand = m_node_handle.advertiseService("base/send_wrench_joystick_command", &BaseSimulationServices::SendWrenchJoystickCommand, this);
+	m_serviceSendTwistJoystickCommand = m_node_handle.advertiseService("base/send_twist_joystick_command", &BaseSimulationServices::SendTwistJoystickCommand, this);
+	m_serviceSendTwistCommand = m_node_handle.advertiseService("base/send_twist_command", &BaseSimulationServices::SendTwistCommand, this);
+	m_servicePlayJointTrajectory = m_node_handle.advertiseService("base/play_joint_trajectory", &BaseSimulationServices::PlayJointTrajectory, this);
+	m_servicePlaySelectedJointTrajectory = m_node_handle.advertiseService("base/play_selected_joint_trajectory", &BaseSimulationServices::PlaySelectedJointTrajectory, this);
+	m_serviceGetMeasuredJointAngles = m_node_handle.advertiseService("base/get_measured_joint_angles", &BaseSimulationServices::GetMeasuredJointAngles, this);
+	m_serviceSendJointSpeedsCommand = m_node_handle.advertiseService("base/send_joint_speeds_command", &BaseSimulationServices::SendJointSpeedsCommand, this);
+	m_serviceSendSelectedJointSpeedCommand = m_node_handle.advertiseService("base/send_selected_joint_speed_command", &BaseSimulationServices::SendSelectedJointSpeedCommand, this);
+	m_serviceSendGripperCommand = m_node_handle.advertiseService("base/send_gripper_command", &BaseSimulationServices::SendGripperCommand, this);
+	m_serviceGetMeasuredGripperMovement = m_node_handle.advertiseService("base/get_measured_gripper_movement", &BaseSimulationServices::GetMeasuredGripperMovement, this);
+	m_serviceSetAdmittance = m_node_handle.advertiseService("base/set_admittance", &BaseSimulationServices::SetAdmittance, this);
+	m_serviceSetOperatingMode = m_node_handle.advertiseService("base/set_operating_mode", &BaseSimulationServices::SetOperatingMode, this);
+	m_serviceApplyEmergencyStop = m_node_handle.advertiseService("base/apply_emergency_stop", &BaseSimulationServices::ApplyEmergencyStop, this);
+	m_serviceBase_ClearFaults = m_node_handle.advertiseService("base/clear_faults", &BaseSimulationServices::Base_ClearFaults, this);
+	m_serviceBase_GetControlMode = m_node_handle.advertiseService("base/get_control_mode", &BaseSimulationServices::Base_GetControlMode, this);
+	m_serviceGetOperatingMode = m_node_handle.advertiseService("base/get_operating_mode", &BaseSimulationServices::GetOperatingMode, this);
+	m_serviceSetServoingMode = m_node_handle.advertiseService("base/set_servoing_mode", &BaseSimulationServices::SetServoingMode, this);
+	m_serviceGetServoingMode = m_node_handle.advertiseService("base/get_servoing_mode", &BaseSimulationServices::GetServoingMode, this);
+	m_serviceOnNotificationServoingModeTopic = m_node_handle.advertiseService("base/activate_publishing_of_servoing_mode_topic", &BaseSimulationServices::OnNotificationServoingModeTopic, this);
+	m_serviceRestoreFactorySettings = m_node_handle.advertiseService("base/restore_factory_settings", &BaseSimulationServices::RestoreFactorySettings, this);
+	m_serviceOnNotificationFactoryTopic = m_node_handle.advertiseService("base/activate_publishing_of_factory_topic", &BaseSimulationServices::OnNotificationFactoryTopic, this);
+	m_serviceGetAllConnectedControllers = m_node_handle.advertiseService("base/get_all_connected_controllers", &BaseSimulationServices::GetAllConnectedControllers, this);
+	m_serviceGetControllerState = m_node_handle.advertiseService("base/get_controller_state", &BaseSimulationServices::GetControllerState, this);
+	m_serviceGetActuatorCount = m_node_handle.advertiseService("base/get_actuator_count", &BaseSimulationServices::GetActuatorCount, this);
+	m_serviceStartWifiScan = m_node_handle.advertiseService("base/start_wifi_scan", &BaseSimulationServices::StartWifiScan, this);
+	m_serviceGetConfiguredWifi = m_node_handle.advertiseService("base/get_configured_wifi", &BaseSimulationServices::GetConfiguredWifi, this);
+	m_serviceOnNotificationNetworkTopic = m_node_handle.advertiseService("base/activate_publishing_of_network_topic", &BaseSimulationServices::OnNotificationNetworkTopic, this);
+	m_serviceGetArmState = m_node_handle.advertiseService("base/get_arm_state", &BaseSimulationServices::GetArmState, this);
+	m_serviceOnNotificationArmStateTopic = m_node_handle.advertiseService("base/activate_publishing_of_arm_state_topic", &BaseSimulationServices::OnNotificationArmStateTopic, this);
+	m_serviceGetIPv4Information = m_node_handle.advertiseService("base/get_i_pv4_information", &BaseSimulationServices::GetIPv4Information, this);
+	m_serviceSetWifiCountryCode = m_node_handle.advertiseService("base/set_wifi_country_code", &BaseSimulationServices::SetWifiCountryCode, this);
+	m_serviceGetWifiCountryCode = m_node_handle.advertiseService("base/get_wifi_country_code", &BaseSimulationServices::GetWifiCountryCode, this);
+	m_serviceBase_SetCapSenseConfig = m_node_handle.advertiseService("base/set_cap_sense_config", &BaseSimulationServices::Base_SetCapSenseConfig, this);
+	m_serviceBase_GetCapSenseConfig = m_node_handle.advertiseService("base/get_cap_sense_config", &BaseSimulationServices::Base_GetCapSenseConfig, this);
+	m_serviceGetAllJointsSpeedHardLimitation = m_node_handle.advertiseService("base/get_all_joints_speed_hard_limitation", &BaseSimulationServices::GetAllJointsSpeedHardLimitation, this);
+	m_serviceGetAllJointsTorqueHardLimitation = m_node_handle.advertiseService("base/get_all_joints_torque_hard_limitation", &BaseSimulationServices::GetAllJointsTorqueHardLimitation, this);
+	m_serviceGetTwistHardLimitation = m_node_handle.advertiseService("base/get_twist_hard_limitation", &BaseSimulationServices::GetTwistHardLimitation, this);
+	m_serviceGetWrenchHardLimitation = m_node_handle.advertiseService("base/get_wrench_hard_limitation", &BaseSimulationServices::GetWrenchHardLimitation, this);
+	m_serviceSendJointSpeedsJoystickCommand = m_node_handle.advertiseService("base/send_joint_speeds_joystick_command", &BaseSimulationServices::SendJointSpeedsJoystickCommand, this);
+	m_serviceSendSelectedJointSpeedJoystickCommand = m_node_handle.advertiseService("base/send_selected_joint_speed_joystick_command", &BaseSimulationServices::SendSelectedJointSpeedJoystickCommand, this);
+	m_serviceEnableBridge = m_node_handle.advertiseService("base/enable_bridge", &BaseSimulationServices::EnableBridge, this);
+	m_serviceDisableBridge = m_node_handle.advertiseService("base/disable_bridge", &BaseSimulationServices::DisableBridge, this);
+	m_serviceGetBridgeList = m_node_handle.advertiseService("base/get_bridge_list", &BaseSimulationServices::GetBridgeList, this);
+	m_serviceGetBridgeConfig = m_node_handle.advertiseService("base/get_bridge_config", &BaseSimulationServices::GetBridgeConfig, this);
+	m_servicePlayPreComputedJointTrajectory = m_node_handle.advertiseService("base/play_pre_computed_joint_trajectory", &BaseSimulationServices::PlayPreComputedJointTrajectory, this);
+	m_serviceGetProductConfiguration = m_node_handle.advertiseService("base/get_product_configuration", &BaseSimulationServices::GetProductConfiguration, this);
+	m_serviceUpdateEndEffectorTypeConfiguration = m_node_handle.advertiseService("base/update_end_effector_type_configuration", &BaseSimulationServices::UpdateEndEffectorTypeConfiguration, this);
+	m_serviceRestoreFactoryProductConfiguration = m_node_handle.advertiseService("base/restore_factory_product_configuration", &BaseSimulationServices::RestoreFactoryProductConfiguration, this);
+	m_serviceGetTrajectoryErrorReport = m_node_handle.advertiseService("base/get_trajectory_error_report", &BaseSimulationServices::GetTrajectoryErrorReport, this);
+	m_serviceGetAllJointsSpeedSoftLimitation = m_node_handle.advertiseService("base/get_all_joints_speed_soft_limitation", &BaseSimulationServices::GetAllJointsSpeedSoftLimitation, this);
+	m_serviceGetAllJointsTorqueSoftLimitation = m_node_handle.advertiseService("base/get_all_joints_torque_soft_limitation", &BaseSimulationServices::GetAllJointsTorqueSoftLimitation, this);
+	m_serviceGetTwistSoftLimitation = m_node_handle.advertiseService("base/get_twist_soft_limitation", &BaseSimulationServices::GetTwistSoftLimitation, this);
+	m_serviceGetWrenchSoftLimitation = m_node_handle.advertiseService("base/get_wrench_soft_limitation", &BaseSimulationServices::GetWrenchSoftLimitation, this);
+	m_serviceSetControllerConfigurationMode = m_node_handle.advertiseService("base/set_controller_configuration_mode", &BaseSimulationServices::SetControllerConfigurationMode, this);
+	m_serviceGetControllerConfigurationMode = m_node_handle.advertiseService("base/get_controller_configuration_mode", &BaseSimulationServices::GetControllerConfigurationMode, this);
+	m_serviceStartTeaching = m_node_handle.advertiseService("base/start_teaching", &BaseSimulationServices::StartTeaching, this);
+	m_serviceStopTeaching = m_node_handle.advertiseService("base/stop_teaching", &BaseSimulationServices::StopTeaching, this);
+	m_serviceAddSequenceTasks = m_node_handle.advertiseService("base/add_sequence_tasks", &BaseSimulationServices::AddSequenceTasks, this);
+	m_serviceUpdateSequenceTask = m_node_handle.advertiseService("base/update_sequence_task", &BaseSimulationServices::UpdateSequenceTask, this);
+	m_serviceSwapSequenceTasks = m_node_handle.advertiseService("base/swap_sequence_tasks", &BaseSimulationServices::SwapSequenceTasks, this);
+	m_serviceReadSequenceTask = m_node_handle.advertiseService("base/read_sequence_task", &BaseSimulationServices::ReadSequenceTask, this);
+	m_serviceReadAllSequenceTasks = m_node_handle.advertiseService("base/read_all_sequence_tasks", &BaseSimulationServices::ReadAllSequenceTasks, this);
+	m_serviceDeleteSequenceTask = m_node_handle.advertiseService("base/delete_sequence_task", &BaseSimulationServices::DeleteSequenceTask, this);
+	m_serviceDeleteAllSequenceTasks = m_node_handle.advertiseService("base/delete_all_sequence_tasks", &BaseSimulationServices::DeleteAllSequenceTasks, this);
+	m_serviceTakeSnapshot = m_node_handle.advertiseService("base/take_snapshot", &BaseSimulationServices::TakeSnapshot, this);
+	m_serviceGetFirmwareBundleVersions = m_node_handle.advertiseService("base/get_firmware_bundle_versions", &BaseSimulationServices::GetFirmwareBundleVersions, this);
+	m_serviceMoveSequenceTask = m_node_handle.advertiseService("base/move_sequence_task", &BaseSimulationServices::MoveSequenceTask, this);
+	m_serviceDuplicateMapping = m_node_handle.advertiseService("base/duplicate_mapping", &BaseSimulationServices::DuplicateMapping, this);
+	m_serviceDuplicateMap = m_node_handle.advertiseService("base/duplicate_map", &BaseSimulationServices::DuplicateMap, this);
+	m_serviceSetControllerConfiguration = m_node_handle.advertiseService("base/set_controller_configuration", &BaseSimulationServices::SetControllerConfiguration, this);
+	m_serviceGetControllerConfiguration = m_node_handle.advertiseService("base/get_controller_configuration", &BaseSimulationServices::GetControllerConfiguration, this);
+	m_serviceGetAllControllerConfigurations = m_node_handle.advertiseService("base/get_all_controller_configurations", &BaseSimulationServices::GetAllControllerConfigurations, this);
+}
+
+bool BaseSimulationServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+bool BaseSimulationServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+
+bool BaseSimulationServices::CreateUserProfile(kortex_driver::CreateUserProfile::Request  &req, kortex_driver::CreateUserProfile::Response &res)
+{
+	
+	
+	if (CreateUserProfileHandler)
+	{
+		res = CreateUserProfileHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/create_user_profile is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::UpdateUserProfile(kortex_driver::UpdateUserProfile::Request  &req, kortex_driver::UpdateUserProfile::Response &res)
+{
+	
+	
+	if (UpdateUserProfileHandler)
+	{
+		res = UpdateUserProfileHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/update_user_profile is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadUserProfile(kortex_driver::ReadUserProfile::Request  &req, kortex_driver::ReadUserProfile::Response &res)
+{
+	
+	
+	if (ReadUserProfileHandler)
+	{
+		res = ReadUserProfileHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_user_profile is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DeleteUserProfile(kortex_driver::DeleteUserProfile::Request  &req, kortex_driver::DeleteUserProfile::Response &res)
+{
+	
+	
+	if (DeleteUserProfileHandler)
+	{
+		res = DeleteUserProfileHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/delete_user_profile is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadAllUserProfiles(kortex_driver::ReadAllUserProfiles::Request  &req, kortex_driver::ReadAllUserProfiles::Response &res)
+{
+	
+	
+	if (ReadAllUserProfilesHandler)
+	{
+		res = ReadAllUserProfilesHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_all_user_profiles is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadAllUsers(kortex_driver::ReadAllUsers::Request  &req, kortex_driver::ReadAllUsers::Response &res)
+{
+	
+	
+	if (ReadAllUsersHandler)
+	{
+		res = ReadAllUsersHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_all_users is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ChangePassword(kortex_driver::ChangePassword::Request  &req, kortex_driver::ChangePassword::Response &res)
+{
+	
+	
+	if (ChangePasswordHandler)
+	{
+		res = ChangePasswordHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/change_password is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::CreateSequence(kortex_driver::CreateSequence::Request  &req, kortex_driver::CreateSequence::Response &res)
+{
+	
+	
+	if (CreateSequenceHandler)
+	{
+		res = CreateSequenceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/create_sequence is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::UpdateSequence(kortex_driver::UpdateSequence::Request  &req, kortex_driver::UpdateSequence::Response &res)
+{
+	
+	
+	if (UpdateSequenceHandler)
+	{
+		res = UpdateSequenceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/update_sequence is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadSequence(kortex_driver::ReadSequence::Request  &req, kortex_driver::ReadSequence::Response &res)
+{
+	
+	
+	if (ReadSequenceHandler)
+	{
+		res = ReadSequenceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_sequence is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DeleteSequence(kortex_driver::DeleteSequence::Request  &req, kortex_driver::DeleteSequence::Response &res)
+{
+	
+	
+	if (DeleteSequenceHandler)
+	{
+		res = DeleteSequenceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/delete_sequence is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadAllSequences(kortex_driver::ReadAllSequences::Request  &req, kortex_driver::ReadAllSequences::Response &res)
+{
+	
+	
+	if (ReadAllSequencesHandler)
+	{
+		res = ReadAllSequencesHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_all_sequences is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::PlaySequence(kortex_driver::PlaySequence::Request  &req, kortex_driver::PlaySequence::Response &res)
+{
+	
+	
+	if (PlaySequenceHandler)
+	{
+		res = PlaySequenceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/play_sequence is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::PlayAdvancedSequence(kortex_driver::PlayAdvancedSequence::Request  &req, kortex_driver::PlayAdvancedSequence::Response &res)
+{
+	
+	
+	if (PlayAdvancedSequenceHandler)
+	{
+		res = PlayAdvancedSequenceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/play_advanced_sequence is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::StopSequence(kortex_driver::StopSequence::Request  &req, kortex_driver::StopSequence::Response &res)
+{
+	
+	
+	if (StopSequenceHandler)
+	{
+		res = StopSequenceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/stop_sequence is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::PauseSequence(kortex_driver::PauseSequence::Request  &req, kortex_driver::PauseSequence::Response &res)
+{
+	
+	
+	if (PauseSequenceHandler)
+	{
+		res = PauseSequenceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/pause_sequence is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ResumeSequence(kortex_driver::ResumeSequence::Request  &req, kortex_driver::ResumeSequence::Response &res)
+{
+	
+	
+	if (ResumeSequenceHandler)
+	{
+		res = ResumeSequenceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/resume_sequence is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::CreateProtectionZone(kortex_driver::CreateProtectionZone::Request  &req, kortex_driver::CreateProtectionZone::Response &res)
+{
+	
+	
+	if (CreateProtectionZoneHandler)
+	{
+		res = CreateProtectionZoneHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/create_protection_zone is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::UpdateProtectionZone(kortex_driver::UpdateProtectionZone::Request  &req, kortex_driver::UpdateProtectionZone::Response &res)
+{
+	
+	
+	if (UpdateProtectionZoneHandler)
+	{
+		res = UpdateProtectionZoneHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/update_protection_zone is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadProtectionZone(kortex_driver::ReadProtectionZone::Request  &req, kortex_driver::ReadProtectionZone::Response &res)
+{
+	
+	
+	if (ReadProtectionZoneHandler)
+	{
+		res = ReadProtectionZoneHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_protection_zone is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DeleteProtectionZone(kortex_driver::DeleteProtectionZone::Request  &req, kortex_driver::DeleteProtectionZone::Response &res)
+{
+	
+	
+	if (DeleteProtectionZoneHandler)
+	{
+		res = DeleteProtectionZoneHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/delete_protection_zone is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadAllProtectionZones(kortex_driver::ReadAllProtectionZones::Request  &req, kortex_driver::ReadAllProtectionZones::Response &res)
+{
+	
+	
+	if (ReadAllProtectionZonesHandler)
+	{
+		res = ReadAllProtectionZonesHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_all_protection_zones is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::CreateMapping(kortex_driver::CreateMapping::Request  &req, kortex_driver::CreateMapping::Response &res)
+{
+	
+	
+	if (CreateMappingHandler)
+	{
+		res = CreateMappingHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/create_mapping is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadMapping(kortex_driver::ReadMapping::Request  &req, kortex_driver::ReadMapping::Response &res)
+{
+	
+	
+	if (ReadMappingHandler)
+	{
+		res = ReadMappingHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_mapping is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::UpdateMapping(kortex_driver::UpdateMapping::Request  &req, kortex_driver::UpdateMapping::Response &res)
+{
+	
+	
+	if (UpdateMappingHandler)
+	{
+		res = UpdateMappingHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/update_mapping is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DeleteMapping(kortex_driver::DeleteMapping::Request  &req, kortex_driver::DeleteMapping::Response &res)
+{
+	
+	
+	if (DeleteMappingHandler)
+	{
+		res = DeleteMappingHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/delete_mapping is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadAllMappings(kortex_driver::ReadAllMappings::Request  &req, kortex_driver::ReadAllMappings::Response &res)
+{
+	
+	
+	if (ReadAllMappingsHandler)
+	{
+		res = ReadAllMappingsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_all_mappings is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::CreateMap(kortex_driver::CreateMap::Request  &req, kortex_driver::CreateMap::Response &res)
+{
+	
+	
+	if (CreateMapHandler)
+	{
+		res = CreateMapHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/create_map is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadMap(kortex_driver::ReadMap::Request  &req, kortex_driver::ReadMap::Response &res)
+{
+	
+	
+	if (ReadMapHandler)
+	{
+		res = ReadMapHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_map is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::UpdateMap(kortex_driver::UpdateMap::Request  &req, kortex_driver::UpdateMap::Response &res)
+{
+	
+	
+	if (UpdateMapHandler)
+	{
+		res = UpdateMapHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/update_map is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DeleteMap(kortex_driver::DeleteMap::Request  &req, kortex_driver::DeleteMap::Response &res)
+{
+	
+	
+	if (DeleteMapHandler)
+	{
+		res = DeleteMapHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/delete_map is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadAllMaps(kortex_driver::ReadAllMaps::Request  &req, kortex_driver::ReadAllMaps::Response &res)
+{
+	
+	
+	if (ReadAllMapsHandler)
+	{
+		res = ReadAllMapsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_all_maps is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ActivateMap(kortex_driver::ActivateMap::Request  &req, kortex_driver::ActivateMap::Response &res)
+{
+	
+	
+	if (ActivateMapHandler)
+	{
+		res = ActivateMapHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_map is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::CreateAction(kortex_driver::CreateAction::Request  &req, kortex_driver::CreateAction::Response &res)
+{
+	
+	
+	if (CreateActionHandler)
+	{
+		res = CreateActionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/create_action is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadAction(kortex_driver::ReadAction::Request  &req, kortex_driver::ReadAction::Response &res)
+{
+	
+	
+	if (ReadActionHandler)
+	{
+		res = ReadActionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_action is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadAllActions(kortex_driver::ReadAllActions::Request  &req, kortex_driver::ReadAllActions::Response &res)
+{
+	
+	
+	if (ReadAllActionsHandler)
+	{
+		res = ReadAllActionsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_all_actions is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DeleteAction(kortex_driver::DeleteAction::Request  &req, kortex_driver::DeleteAction::Response &res)
+{
+	
+	
+	if (DeleteActionHandler)
+	{
+		res = DeleteActionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/delete_action is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::UpdateAction(kortex_driver::UpdateAction::Request  &req, kortex_driver::UpdateAction::Response &res)
+{
+	
+	
+	if (UpdateActionHandler)
+	{
+		res = UpdateActionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/update_action is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ExecuteActionFromReference(kortex_driver::ExecuteActionFromReference::Request  &req, kortex_driver::ExecuteActionFromReference::Response &res)
+{
+	
+	
+	if (ExecuteActionFromReferenceHandler)
+	{
+		res = ExecuteActionFromReferenceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/execute_action_from_reference is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ExecuteAction(kortex_driver::ExecuteAction::Request  &req, kortex_driver::ExecuteAction::Response &res)
+{
+	
+	
+	if (ExecuteActionHandler)
+	{
+		res = ExecuteActionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/execute_action is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::PauseAction(kortex_driver::PauseAction::Request  &req, kortex_driver::PauseAction::Response &res)
+{
+	
+	
+	if (PauseActionHandler)
+	{
+		res = PauseActionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/pause_action is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::StopAction(kortex_driver::StopAction::Request  &req, kortex_driver::StopAction::Response &res)
+{
+	
+	
+	if (StopActionHandler)
+	{
+		res = StopActionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/stop_action is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ResumeAction(kortex_driver::ResumeAction::Request  &req, kortex_driver::ResumeAction::Response &res)
+{
+	
+	
+	if (ResumeActionHandler)
+	{
+		res = ResumeActionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/resume_action is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetIPv4Configuration(kortex_driver::GetIPv4Configuration::Request  &req, kortex_driver::GetIPv4Configuration::Response &res)
+{
+	
+	
+	if (GetIPv4ConfigurationHandler)
+	{
+		res = GetIPv4ConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_i_pv4_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SetIPv4Configuration(kortex_driver::SetIPv4Configuration::Request  &req, kortex_driver::SetIPv4Configuration::Response &res)
+{
+	
+	
+	if (SetIPv4ConfigurationHandler)
+	{
+		res = SetIPv4ConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/set_i_pv4_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SetCommunicationInterfaceEnable(kortex_driver::SetCommunicationInterfaceEnable::Request  &req, kortex_driver::SetCommunicationInterfaceEnable::Response &res)
+{
+	
+	
+	if (SetCommunicationInterfaceEnableHandler)
+	{
+		res = SetCommunicationInterfaceEnableHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/set_communication_interface_enable is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::IsCommunicationInterfaceEnable(kortex_driver::IsCommunicationInterfaceEnable::Request  &req, kortex_driver::IsCommunicationInterfaceEnable::Response &res)
+{
+	
+	
+	if (IsCommunicationInterfaceEnableHandler)
+	{
+		res = IsCommunicationInterfaceEnableHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/is_communication_interface_enable is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetAvailableWifi(kortex_driver::GetAvailableWifi::Request  &req, kortex_driver::GetAvailableWifi::Response &res)
+{
+	
+	
+	if (GetAvailableWifiHandler)
+	{
+		res = GetAvailableWifiHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_available_wifi is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetWifiInformation(kortex_driver::GetWifiInformation::Request  &req, kortex_driver::GetWifiInformation::Response &res)
+{
+	
+	
+	if (GetWifiInformationHandler)
+	{
+		res = GetWifiInformationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_wifi_information is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::AddWifiConfiguration(kortex_driver::AddWifiConfiguration::Request  &req, kortex_driver::AddWifiConfiguration::Response &res)
+{
+	
+	
+	if (AddWifiConfigurationHandler)
+	{
+		res = AddWifiConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/add_wifi_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DeleteWifiConfiguration(kortex_driver::DeleteWifiConfiguration::Request  &req, kortex_driver::DeleteWifiConfiguration::Response &res)
+{
+	
+	
+	if (DeleteWifiConfigurationHandler)
+	{
+		res = DeleteWifiConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/delete_wifi_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetAllConfiguredWifis(kortex_driver::GetAllConfiguredWifis::Request  &req, kortex_driver::GetAllConfiguredWifis::Response &res)
+{
+	
+	
+	if (GetAllConfiguredWifisHandler)
+	{
+		res = GetAllConfiguredWifisHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_all_configured_wifis is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ConnectWifi(kortex_driver::ConnectWifi::Request  &req, kortex_driver::ConnectWifi::Response &res)
+{
+	
+	
+	if (ConnectWifiHandler)
+	{
+		res = ConnectWifiHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/connect_wifi is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DisconnectWifi(kortex_driver::DisconnectWifi::Request  &req, kortex_driver::DisconnectWifi::Response &res)
+{
+	
+	
+	if (DisconnectWifiHandler)
+	{
+		res = DisconnectWifiHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/disconnect_wifi is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetConnectedWifiInformation(kortex_driver::GetConnectedWifiInformation::Request  &req, kortex_driver::GetConnectedWifiInformation::Response &res)
+{
+	
+	
+	if (GetConnectedWifiInformationHandler)
+	{
+		res = GetConnectedWifiInformationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_connected_wifi_information is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::Base_Unsubscribe(kortex_driver::Base_Unsubscribe::Request  &req, kortex_driver::Base_Unsubscribe::Response &res)
+{
+	
+	
+	if (Base_UnsubscribeHandler)
+	{
+		res = Base_UnsubscribeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/unsubscribe is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::OnNotificationConfigurationChangeTopic(kortex_driver::OnNotificationConfigurationChangeTopic::Request  &req, kortex_driver::OnNotificationConfigurationChangeTopic::Response &res)
+{
+	
+	m_is_activated_ConfigurationChangeTopic = true;
+	
+	if (OnNotificationConfigurationChangeTopicHandler)
+	{
+		res = OnNotificationConfigurationChangeTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_configuration_change_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_ConfigurationChangeTopic(Kinova::Api::Base::ConfigurationChangeNotification notif)
+{
+	kortex_driver::ConfigurationChangeNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ConfigurationChangeTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::OnNotificationMappingInfoTopic(kortex_driver::OnNotificationMappingInfoTopic::Request  &req, kortex_driver::OnNotificationMappingInfoTopic::Response &res)
+{
+	
+	m_is_activated_MappingInfoTopic = true;
+	
+	if (OnNotificationMappingInfoTopicHandler)
+	{
+		res = OnNotificationMappingInfoTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_mapping_info_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_MappingInfoTopic(Kinova::Api::Base::MappingInfoNotification notif)
+{
+	kortex_driver::MappingInfoNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_MappingInfoTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::OnNotificationControlModeTopic(kortex_driver::OnNotificationControlModeTopic::Request  &req, kortex_driver::OnNotificationControlModeTopic::Response &res)
+{
+	
+	m_is_activated_ControlModeTopic = true;
+	
+	if (OnNotificationControlModeTopicHandler)
+	{
+		res = OnNotificationControlModeTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_control_mode_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_ControlModeTopic(Kinova::Api::Base::ControlModeNotification notif)
+{
+	kortex_driver::ControlModeNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ControlModeTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::OnNotificationOperatingModeTopic(kortex_driver::OnNotificationOperatingModeTopic::Request  &req, kortex_driver::OnNotificationOperatingModeTopic::Response &res)
+{
+	
+	m_is_activated_OperatingModeTopic = true;
+	
+	if (OnNotificationOperatingModeTopicHandler)
+	{
+		res = OnNotificationOperatingModeTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_operating_mode_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_OperatingModeTopic(Kinova::Api::Base::OperatingModeNotification notif)
+{
+	kortex_driver::OperatingModeNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_OperatingModeTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::OnNotificationSequenceInfoTopic(kortex_driver::OnNotificationSequenceInfoTopic::Request  &req, kortex_driver::OnNotificationSequenceInfoTopic::Response &res)
+{
+	
+	m_is_activated_SequenceInfoTopic = true;
+	
+	if (OnNotificationSequenceInfoTopicHandler)
+	{
+		res = OnNotificationSequenceInfoTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_sequence_info_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_SequenceInfoTopic(Kinova::Api::Base::SequenceInfoNotification notif)
+{
+	kortex_driver::SequenceInfoNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_SequenceInfoTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::OnNotificationProtectionZoneTopic(kortex_driver::OnNotificationProtectionZoneTopic::Request  &req, kortex_driver::OnNotificationProtectionZoneTopic::Response &res)
+{
+	
+	m_is_activated_ProtectionZoneTopic = true;
+	
+	if (OnNotificationProtectionZoneTopicHandler)
+	{
+		res = OnNotificationProtectionZoneTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_protection_zone_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_ProtectionZoneTopic(Kinova::Api::Base::ProtectionZoneNotification notif)
+{
+	kortex_driver::ProtectionZoneNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ProtectionZoneTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::OnNotificationUserTopic(kortex_driver::OnNotificationUserTopic::Request  &req, kortex_driver::OnNotificationUserTopic::Response &res)
+{
+	
+	m_is_activated_UserTopic = true;
+	
+	if (OnNotificationUserTopicHandler)
+	{
+		res = OnNotificationUserTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_user_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_UserTopic(Kinova::Api::Base::UserNotification notif)
+{
+	kortex_driver::UserNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_UserTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::OnNotificationControllerTopic(kortex_driver::OnNotificationControllerTopic::Request  &req, kortex_driver::OnNotificationControllerTopic::Response &res)
+{
+	
+	m_is_activated_ControllerTopic = true;
+	
+	if (OnNotificationControllerTopicHandler)
+	{
+		res = OnNotificationControllerTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_controller_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_ControllerTopic(Kinova::Api::Base::ControllerNotification notif)
+{
+	kortex_driver::ControllerNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ControllerTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::OnNotificationActionTopic(kortex_driver::OnNotificationActionTopic::Request  &req, kortex_driver::OnNotificationActionTopic::Response &res)
+{
+	
+	m_is_activated_ActionTopic = true;
+	
+	if (OnNotificationActionTopicHandler)
+	{
+		res = OnNotificationActionTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_action_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_ActionTopic(Kinova::Api::Base::ActionNotification notif)
+{
+	kortex_driver::ActionNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ActionTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::OnNotificationRobotEventTopic(kortex_driver::OnNotificationRobotEventTopic::Request  &req, kortex_driver::OnNotificationRobotEventTopic::Response &res)
+{
+	
+	m_is_activated_RobotEventTopic = true;
+	
+	if (OnNotificationRobotEventTopicHandler)
+	{
+		res = OnNotificationRobotEventTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_robot_event_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_RobotEventTopic(Kinova::Api::Base::RobotEventNotification notif)
+{
+	kortex_driver::RobotEventNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_RobotEventTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::PlayCartesianTrajectory(kortex_driver::PlayCartesianTrajectory::Request  &req, kortex_driver::PlayCartesianTrajectory::Response &res)
+{
+	
+	
+	if (PlayCartesianTrajectoryHandler)
+	{
+		res = PlayCartesianTrajectoryHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/play_cartesian_trajectory is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::PlayCartesianTrajectoryPosition(kortex_driver::PlayCartesianTrajectoryPosition::Request  &req, kortex_driver::PlayCartesianTrajectoryPosition::Response &res)
+{
+	
+	
+	if (PlayCartesianTrajectoryPositionHandler)
+	{
+		res = PlayCartesianTrajectoryPositionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/play_cartesian_trajectory_position is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::PlayCartesianTrajectoryOrientation(kortex_driver::PlayCartesianTrajectoryOrientation::Request  &req, kortex_driver::PlayCartesianTrajectoryOrientation::Response &res)
+{
+	
+	
+	if (PlayCartesianTrajectoryOrientationHandler)
+	{
+		res = PlayCartesianTrajectoryOrientationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/play_cartesian_trajectory_orientation is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::Stop(kortex_driver::Stop::Request  &req, kortex_driver::Stop::Response &res)
+{
+	
+	
+	if (StopHandler)
+	{
+		res = StopHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/stop is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetMeasuredCartesianPose(kortex_driver::GetMeasuredCartesianPose::Request  &req, kortex_driver::GetMeasuredCartesianPose::Response &res)
+{
+	
+	
+	if (GetMeasuredCartesianPoseHandler)
+	{
+		res = GetMeasuredCartesianPoseHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_measured_cartesian_pose is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SendWrenchCommand(kortex_driver::SendWrenchCommand::Request  &req, kortex_driver::SendWrenchCommand::Response &res)
+{
+	
+	
+	if (SendWrenchCommandHandler)
+	{
+		res = SendWrenchCommandHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/send_wrench_command is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SendWrenchJoystickCommand(kortex_driver::SendWrenchJoystickCommand::Request  &req, kortex_driver::SendWrenchJoystickCommand::Response &res)
+{
+	
+	
+	if (SendWrenchJoystickCommandHandler)
+	{
+		res = SendWrenchJoystickCommandHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/send_wrench_joystick_command is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SendTwistJoystickCommand(kortex_driver::SendTwistJoystickCommand::Request  &req, kortex_driver::SendTwistJoystickCommand::Response &res)
+{
+	
+	
+	if (SendTwistJoystickCommandHandler)
+	{
+		res = SendTwistJoystickCommandHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/send_twist_joystick_command is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SendTwistCommand(kortex_driver::SendTwistCommand::Request  &req, kortex_driver::SendTwistCommand::Response &res)
+{
+	
+	
+	if (SendTwistCommandHandler)
+	{
+		res = SendTwistCommandHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/send_twist_command is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::PlayJointTrajectory(kortex_driver::PlayJointTrajectory::Request  &req, kortex_driver::PlayJointTrajectory::Response &res)
+{
+	
+	
+	if (PlayJointTrajectoryHandler)
+	{
+		res = PlayJointTrajectoryHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/play_joint_trajectory is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::PlaySelectedJointTrajectory(kortex_driver::PlaySelectedJointTrajectory::Request  &req, kortex_driver::PlaySelectedJointTrajectory::Response &res)
+{
+	
+	
+	if (PlaySelectedJointTrajectoryHandler)
+	{
+		res = PlaySelectedJointTrajectoryHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/play_selected_joint_trajectory is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetMeasuredJointAngles(kortex_driver::GetMeasuredJointAngles::Request  &req, kortex_driver::GetMeasuredJointAngles::Response &res)
+{
+	
+	
+	if (GetMeasuredJointAnglesHandler)
+	{
+		res = GetMeasuredJointAnglesHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_measured_joint_angles is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SendJointSpeedsCommand(kortex_driver::SendJointSpeedsCommand::Request  &req, kortex_driver::SendJointSpeedsCommand::Response &res)
+{
+	
+	
+	if (SendJointSpeedsCommandHandler)
+	{
+		res = SendJointSpeedsCommandHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/send_joint_speeds_command is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SendSelectedJointSpeedCommand(kortex_driver::SendSelectedJointSpeedCommand::Request  &req, kortex_driver::SendSelectedJointSpeedCommand::Response &res)
+{
+	
+	
+	if (SendSelectedJointSpeedCommandHandler)
+	{
+		res = SendSelectedJointSpeedCommandHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/send_selected_joint_speed_command is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SendGripperCommand(kortex_driver::SendGripperCommand::Request  &req, kortex_driver::SendGripperCommand::Response &res)
+{
+	
+	
+	if (SendGripperCommandHandler)
+	{
+		res = SendGripperCommandHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/send_gripper_command is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetMeasuredGripperMovement(kortex_driver::GetMeasuredGripperMovement::Request  &req, kortex_driver::GetMeasuredGripperMovement::Response &res)
+{
+	
+	
+	if (GetMeasuredGripperMovementHandler)
+	{
+		res = GetMeasuredGripperMovementHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_measured_gripper_movement is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SetAdmittance(kortex_driver::SetAdmittance::Request  &req, kortex_driver::SetAdmittance::Response &res)
+{
+	
+	
+	if (SetAdmittanceHandler)
+	{
+		res = SetAdmittanceHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/set_admittance is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SetOperatingMode(kortex_driver::SetOperatingMode::Request  &req, kortex_driver::SetOperatingMode::Response &res)
+{
+	
+	
+	if (SetOperatingModeHandler)
+	{
+		res = SetOperatingModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/set_operating_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ApplyEmergencyStop(kortex_driver::ApplyEmergencyStop::Request  &req, kortex_driver::ApplyEmergencyStop::Response &res)
+{
+	
+	
+	if (ApplyEmergencyStopHandler)
+	{
+		res = ApplyEmergencyStopHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/apply_emergency_stop is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::Base_ClearFaults(kortex_driver::Base_ClearFaults::Request  &req, kortex_driver::Base_ClearFaults::Response &res)
+{
+	
+	
+	if (Base_ClearFaultsHandler)
+	{
+		res = Base_ClearFaultsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/clear_faults is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::Base_GetControlMode(kortex_driver::Base_GetControlMode::Request  &req, kortex_driver::Base_GetControlMode::Response &res)
+{
+	
+	
+	if (Base_GetControlModeHandler)
+	{
+		res = Base_GetControlModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_control_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetOperatingMode(kortex_driver::GetOperatingMode::Request  &req, kortex_driver::GetOperatingMode::Response &res)
+{
+	
+	
+	if (GetOperatingModeHandler)
+	{
+		res = GetOperatingModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_operating_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SetServoingMode(kortex_driver::SetServoingMode::Request  &req, kortex_driver::SetServoingMode::Response &res)
+{
+	
+	
+	if (SetServoingModeHandler)
+	{
+		res = SetServoingModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/set_servoing_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetServoingMode(kortex_driver::GetServoingMode::Request  &req, kortex_driver::GetServoingMode::Response &res)
+{
+	
+	
+	if (GetServoingModeHandler)
+	{
+		res = GetServoingModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_servoing_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::OnNotificationServoingModeTopic(kortex_driver::OnNotificationServoingModeTopic::Request  &req, kortex_driver::OnNotificationServoingModeTopic::Response &res)
+{
+	
+	m_is_activated_ServoingModeTopic = true;
+	
+	if (OnNotificationServoingModeTopicHandler)
+	{
+		res = OnNotificationServoingModeTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_servoing_mode_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_ServoingModeTopic(Kinova::Api::Base::ServoingModeNotification notif)
+{
+	kortex_driver::ServoingModeNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ServoingModeTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::RestoreFactorySettings(kortex_driver::RestoreFactorySettings::Request  &req, kortex_driver::RestoreFactorySettings::Response &res)
+{
+	
+	
+	if (RestoreFactorySettingsHandler)
+	{
+		res = RestoreFactorySettingsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/restore_factory_settings is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::OnNotificationFactoryTopic(kortex_driver::OnNotificationFactoryTopic::Request  &req, kortex_driver::OnNotificationFactoryTopic::Response &res)
+{
+	
+	m_is_activated_FactoryTopic = true;
+	
+	if (OnNotificationFactoryTopicHandler)
+	{
+		res = OnNotificationFactoryTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_factory_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_FactoryTopic(Kinova::Api::Base::FactoryNotification notif)
+{
+	kortex_driver::FactoryNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_FactoryTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::GetAllConnectedControllers(kortex_driver::GetAllConnectedControllers::Request  &req, kortex_driver::GetAllConnectedControllers::Response &res)
+{
+	
+	
+	if (GetAllConnectedControllersHandler)
+	{
+		res = GetAllConnectedControllersHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_all_connected_controllers is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetControllerState(kortex_driver::GetControllerState::Request  &req, kortex_driver::GetControllerState::Response &res)
+{
+	
+	
+	if (GetControllerStateHandler)
+	{
+		res = GetControllerStateHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_controller_state is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetActuatorCount(kortex_driver::GetActuatorCount::Request  &req, kortex_driver::GetActuatorCount::Response &res)
+{
+	
+	
+	if (GetActuatorCountHandler)
+	{
+		res = GetActuatorCountHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_actuator_count is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::StartWifiScan(kortex_driver::StartWifiScan::Request  &req, kortex_driver::StartWifiScan::Response &res)
+{
+	
+	
+	if (StartWifiScanHandler)
+	{
+		res = StartWifiScanHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/start_wifi_scan is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetConfiguredWifi(kortex_driver::GetConfiguredWifi::Request  &req, kortex_driver::GetConfiguredWifi::Response &res)
+{
+	
+	
+	if (GetConfiguredWifiHandler)
+	{
+		res = GetConfiguredWifiHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_configured_wifi is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::OnNotificationNetworkTopic(kortex_driver::OnNotificationNetworkTopic::Request  &req, kortex_driver::OnNotificationNetworkTopic::Response &res)
+{
+	
+	m_is_activated_NetworkTopic = true;
+	
+	if (OnNotificationNetworkTopicHandler)
+	{
+		res = OnNotificationNetworkTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_network_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_NetworkTopic(Kinova::Api::Base::NetworkNotification notif)
+{
+	kortex_driver::NetworkNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_NetworkTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::GetArmState(kortex_driver::GetArmState::Request  &req, kortex_driver::GetArmState::Response &res)
+{
+	
+	
+	if (GetArmStateHandler)
+	{
+		res = GetArmStateHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_arm_state is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::OnNotificationArmStateTopic(kortex_driver::OnNotificationArmStateTopic::Request  &req, kortex_driver::OnNotificationArmStateTopic::Response &res)
+{
+	
+	m_is_activated_ArmStateTopic = true;
+	
+	if (OnNotificationArmStateTopicHandler)
+	{
+		res = OnNotificationArmStateTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/activate_publishing_of_arm_state_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void BaseSimulationServices::cb_ArmStateTopic(Kinova::Api::Base::ArmStateNotification notif)
+{
+	kortex_driver::ArmStateNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ArmStateTopic.publish(ros_msg);
+}
+
+bool BaseSimulationServices::GetIPv4Information(kortex_driver::GetIPv4Information::Request  &req, kortex_driver::GetIPv4Information::Response &res)
+{
+	
+	
+	if (GetIPv4InformationHandler)
+	{
+		res = GetIPv4InformationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_i_pv4_information is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SetWifiCountryCode(kortex_driver::SetWifiCountryCode::Request  &req, kortex_driver::SetWifiCountryCode::Response &res)
+{
+	
+	
+	if (SetWifiCountryCodeHandler)
+	{
+		res = SetWifiCountryCodeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/set_wifi_country_code is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetWifiCountryCode(kortex_driver::GetWifiCountryCode::Request  &req, kortex_driver::GetWifiCountryCode::Response &res)
+{
+	
+	
+	if (GetWifiCountryCodeHandler)
+	{
+		res = GetWifiCountryCodeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_wifi_country_code is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::Base_SetCapSenseConfig(kortex_driver::Base_SetCapSenseConfig::Request  &req, kortex_driver::Base_SetCapSenseConfig::Response &res)
+{
+	
+	
+	if (Base_SetCapSenseConfigHandler)
+	{
+		res = Base_SetCapSenseConfigHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/set_cap_sense_config is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::Base_GetCapSenseConfig(kortex_driver::Base_GetCapSenseConfig::Request  &req, kortex_driver::Base_GetCapSenseConfig::Response &res)
+{
+	
+	
+	if (Base_GetCapSenseConfigHandler)
+	{
+		res = Base_GetCapSenseConfigHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_cap_sense_config is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetAllJointsSpeedHardLimitation(kortex_driver::GetAllJointsSpeedHardLimitation::Request  &req, kortex_driver::GetAllJointsSpeedHardLimitation::Response &res)
+{
+	ROS_WARN("The base/get_all_joints_speed_hard_limitation service is now deprecated and will be removed in a future release.");
+	
+	
+	if (GetAllJointsSpeedHardLimitationHandler)
+	{
+		res = GetAllJointsSpeedHardLimitationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_all_joints_speed_hard_limitation is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetAllJointsTorqueHardLimitation(kortex_driver::GetAllJointsTorqueHardLimitation::Request  &req, kortex_driver::GetAllJointsTorqueHardLimitation::Response &res)
+{
+	ROS_WARN("The base/get_all_joints_torque_hard_limitation service is now deprecated and will be removed in a future release.");
+	
+	
+	if (GetAllJointsTorqueHardLimitationHandler)
+	{
+		res = GetAllJointsTorqueHardLimitationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_all_joints_torque_hard_limitation is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetTwistHardLimitation(kortex_driver::GetTwistHardLimitation::Request  &req, kortex_driver::GetTwistHardLimitation::Response &res)
+{
+	ROS_WARN("The base/get_twist_hard_limitation service is now deprecated and will be removed in a future release.");
+	
+	
+	if (GetTwistHardLimitationHandler)
+	{
+		res = GetTwistHardLimitationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_twist_hard_limitation is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetWrenchHardLimitation(kortex_driver::GetWrenchHardLimitation::Request  &req, kortex_driver::GetWrenchHardLimitation::Response &res)
+{
+	ROS_WARN("The base/get_wrench_hard_limitation service is now deprecated and will be removed in a future release.");
+	
+	
+	if (GetWrenchHardLimitationHandler)
+	{
+		res = GetWrenchHardLimitationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_wrench_hard_limitation is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SendJointSpeedsJoystickCommand(kortex_driver::SendJointSpeedsJoystickCommand::Request  &req, kortex_driver::SendJointSpeedsJoystickCommand::Response &res)
+{
+	
+	
+	if (SendJointSpeedsJoystickCommandHandler)
+	{
+		res = SendJointSpeedsJoystickCommandHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/send_joint_speeds_joystick_command is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SendSelectedJointSpeedJoystickCommand(kortex_driver::SendSelectedJointSpeedJoystickCommand::Request  &req, kortex_driver::SendSelectedJointSpeedJoystickCommand::Response &res)
+{
+	
+	
+	if (SendSelectedJointSpeedJoystickCommandHandler)
+	{
+		res = SendSelectedJointSpeedJoystickCommandHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/send_selected_joint_speed_joystick_command is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::EnableBridge(kortex_driver::EnableBridge::Request  &req, kortex_driver::EnableBridge::Response &res)
+{
+	
+	
+	if (EnableBridgeHandler)
+	{
+		res = EnableBridgeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/enable_bridge is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DisableBridge(kortex_driver::DisableBridge::Request  &req, kortex_driver::DisableBridge::Response &res)
+{
+	
+	
+	if (DisableBridgeHandler)
+	{
+		res = DisableBridgeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/disable_bridge is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetBridgeList(kortex_driver::GetBridgeList::Request  &req, kortex_driver::GetBridgeList::Response &res)
+{
+	
+	
+	if (GetBridgeListHandler)
+	{
+		res = GetBridgeListHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_bridge_list is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetBridgeConfig(kortex_driver::GetBridgeConfig::Request  &req, kortex_driver::GetBridgeConfig::Response &res)
+{
+	
+	
+	if (GetBridgeConfigHandler)
+	{
+		res = GetBridgeConfigHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_bridge_config is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::PlayPreComputedJointTrajectory(kortex_driver::PlayPreComputedJointTrajectory::Request  &req, kortex_driver::PlayPreComputedJointTrajectory::Response &res)
+{
+	
+	
+	if (PlayPreComputedJointTrajectoryHandler)
+	{
+		res = PlayPreComputedJointTrajectoryHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/play_pre_computed_joint_trajectory is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetProductConfiguration(kortex_driver::GetProductConfiguration::Request  &req, kortex_driver::GetProductConfiguration::Response &res)
+{
+	
+	
+	if (GetProductConfigurationHandler)
+	{
+		res = GetProductConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_product_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::UpdateEndEffectorTypeConfiguration(kortex_driver::UpdateEndEffectorTypeConfiguration::Request  &req, kortex_driver::UpdateEndEffectorTypeConfiguration::Response &res)
+{
+	
+	
+	if (UpdateEndEffectorTypeConfigurationHandler)
+	{
+		res = UpdateEndEffectorTypeConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/update_end_effector_type_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::RestoreFactoryProductConfiguration(kortex_driver::RestoreFactoryProductConfiguration::Request  &req, kortex_driver::RestoreFactoryProductConfiguration::Response &res)
+{
+	
+	
+	if (RestoreFactoryProductConfigurationHandler)
+	{
+		res = RestoreFactoryProductConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/restore_factory_product_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetTrajectoryErrorReport(kortex_driver::GetTrajectoryErrorReport::Request  &req, kortex_driver::GetTrajectoryErrorReport::Response &res)
+{
+	
+	
+	if (GetTrajectoryErrorReportHandler)
+	{
+		res = GetTrajectoryErrorReportHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_trajectory_error_report is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetAllJointsSpeedSoftLimitation(kortex_driver::GetAllJointsSpeedSoftLimitation::Request  &req, kortex_driver::GetAllJointsSpeedSoftLimitation::Response &res)
+{
+	ROS_WARN("The base/get_all_joints_speed_soft_limitation service is now deprecated and will be removed in a future release.");
+	
+	
+	if (GetAllJointsSpeedSoftLimitationHandler)
+	{
+		res = GetAllJointsSpeedSoftLimitationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_all_joints_speed_soft_limitation is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetAllJointsTorqueSoftLimitation(kortex_driver::GetAllJointsTorqueSoftLimitation::Request  &req, kortex_driver::GetAllJointsTorqueSoftLimitation::Response &res)
+{
+	ROS_WARN("The base/get_all_joints_torque_soft_limitation service is now deprecated and will be removed in a future release.");
+	
+	
+	if (GetAllJointsTorqueSoftLimitationHandler)
+	{
+		res = GetAllJointsTorqueSoftLimitationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_all_joints_torque_soft_limitation is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetTwistSoftLimitation(kortex_driver::GetTwistSoftLimitation::Request  &req, kortex_driver::GetTwistSoftLimitation::Response &res)
+{
+	ROS_WARN("The base/get_twist_soft_limitation service is now deprecated and will be removed in a future release.");
+	
+	
+	if (GetTwistSoftLimitationHandler)
+	{
+		res = GetTwistSoftLimitationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_twist_soft_limitation is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetWrenchSoftLimitation(kortex_driver::GetWrenchSoftLimitation::Request  &req, kortex_driver::GetWrenchSoftLimitation::Response &res)
+{
+	ROS_WARN("The base/get_wrench_soft_limitation service is now deprecated and will be removed in a future release.");
+	
+	
+	if (GetWrenchSoftLimitationHandler)
+	{
+		res = GetWrenchSoftLimitationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_wrench_soft_limitation is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SetControllerConfigurationMode(kortex_driver::SetControllerConfigurationMode::Request  &req, kortex_driver::SetControllerConfigurationMode::Response &res)
+{
+	
+	
+	if (SetControllerConfigurationModeHandler)
+	{
+		res = SetControllerConfigurationModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/set_controller_configuration_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetControllerConfigurationMode(kortex_driver::GetControllerConfigurationMode::Request  &req, kortex_driver::GetControllerConfigurationMode::Response &res)
+{
+	
+	
+	if (GetControllerConfigurationModeHandler)
+	{
+		res = GetControllerConfigurationModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_controller_configuration_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::StartTeaching(kortex_driver::StartTeaching::Request  &req, kortex_driver::StartTeaching::Response &res)
+{
+	
+	
+	if (StartTeachingHandler)
+	{
+		res = StartTeachingHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/start_teaching is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::StopTeaching(kortex_driver::StopTeaching::Request  &req, kortex_driver::StopTeaching::Response &res)
+{
+	
+	
+	if (StopTeachingHandler)
+	{
+		res = StopTeachingHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/stop_teaching is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::AddSequenceTasks(kortex_driver::AddSequenceTasks::Request  &req, kortex_driver::AddSequenceTasks::Response &res)
+{
+	
+	
+	if (AddSequenceTasksHandler)
+	{
+		res = AddSequenceTasksHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/add_sequence_tasks is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::UpdateSequenceTask(kortex_driver::UpdateSequenceTask::Request  &req, kortex_driver::UpdateSequenceTask::Response &res)
+{
+	
+	
+	if (UpdateSequenceTaskHandler)
+	{
+		res = UpdateSequenceTaskHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/update_sequence_task is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SwapSequenceTasks(kortex_driver::SwapSequenceTasks::Request  &req, kortex_driver::SwapSequenceTasks::Response &res)
+{
+	
+	
+	if (SwapSequenceTasksHandler)
+	{
+		res = SwapSequenceTasksHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/swap_sequence_tasks is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadSequenceTask(kortex_driver::ReadSequenceTask::Request  &req, kortex_driver::ReadSequenceTask::Response &res)
+{
+	
+	
+	if (ReadSequenceTaskHandler)
+	{
+		res = ReadSequenceTaskHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_sequence_task is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::ReadAllSequenceTasks(kortex_driver::ReadAllSequenceTasks::Request  &req, kortex_driver::ReadAllSequenceTasks::Response &res)
+{
+	
+	
+	if (ReadAllSequenceTasksHandler)
+	{
+		res = ReadAllSequenceTasksHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/read_all_sequence_tasks is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DeleteSequenceTask(kortex_driver::DeleteSequenceTask::Request  &req, kortex_driver::DeleteSequenceTask::Response &res)
+{
+	
+	
+	if (DeleteSequenceTaskHandler)
+	{
+		res = DeleteSequenceTaskHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/delete_sequence_task is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DeleteAllSequenceTasks(kortex_driver::DeleteAllSequenceTasks::Request  &req, kortex_driver::DeleteAllSequenceTasks::Response &res)
+{
+	
+	
+	if (DeleteAllSequenceTasksHandler)
+	{
+		res = DeleteAllSequenceTasksHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/delete_all_sequence_tasks is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::TakeSnapshot(kortex_driver::TakeSnapshot::Request  &req, kortex_driver::TakeSnapshot::Response &res)
+{
+	
+	
+	if (TakeSnapshotHandler)
+	{
+		res = TakeSnapshotHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/take_snapshot is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetFirmwareBundleVersions(kortex_driver::GetFirmwareBundleVersions::Request  &req, kortex_driver::GetFirmwareBundleVersions::Response &res)
+{
+	
+	
+	if (GetFirmwareBundleVersionsHandler)
+	{
+		res = GetFirmwareBundleVersionsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_firmware_bundle_versions is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::MoveSequenceTask(kortex_driver::MoveSequenceTask::Request  &req, kortex_driver::MoveSequenceTask::Response &res)
+{
+	
+	
+	if (MoveSequenceTaskHandler)
+	{
+		res = MoveSequenceTaskHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/move_sequence_task is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DuplicateMapping(kortex_driver::DuplicateMapping::Request  &req, kortex_driver::DuplicateMapping::Response &res)
+{
+	
+	
+	if (DuplicateMappingHandler)
+	{
+		res = DuplicateMappingHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/duplicate_mapping is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::DuplicateMap(kortex_driver::DuplicateMap::Request  &req, kortex_driver::DuplicateMap::Response &res)
+{
+	
+	
+	if (DuplicateMapHandler)
+	{
+		res = DuplicateMapHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/duplicate_map is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::SetControllerConfiguration(kortex_driver::SetControllerConfiguration::Request  &req, kortex_driver::SetControllerConfiguration::Response &res)
+{
+	
+	
+	if (SetControllerConfigurationHandler)
+	{
+		res = SetControllerConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/set_controller_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetControllerConfiguration(kortex_driver::GetControllerConfiguration::Request  &req, kortex_driver::GetControllerConfiguration::Response &res)
+{
+	
+	
+	if (GetControllerConfigurationHandler)
+	{
+		res = GetControllerConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_controller_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool BaseSimulationServices::GetAllControllerConfigurations(kortex_driver::GetAllControllerConfigurations::Request  &req, kortex_driver::GetAllControllerConfigurations::Response &res)
+{
+	
+	
+	if (GetAllControllerConfigurationsHandler)
+	{
+		res = GetAllControllerConfigurationsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for base/get_all_controller_configurations is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
diff --git a/kortex_driver/src/generated/simulation/controlconfig_services.cpp b/kortex_driver/src/generated/simulation/controlconfig_services.cpp
new file mode 100644
index 0000000..1dfd266
--- /dev/null
+++ b/kortex_driver/src/generated/simulation/controlconfig_services.cpp
@@ -0,0 +1,539 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/simulation/controlconfig_services.h"
+
+ControlConfigSimulationServices::ControlConfigSimulationServices(ros::NodeHandle& node_handle): 
+	IControlConfigServices(node_handle)
+{
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+	m_pub_ControlConfigurationTopic = m_node_handle.advertise<kortex_driver::ControlConfigurationNotification>("control_configuration_topic", 1000);
+	m_is_activated_ControlConfigurationTopic = false;
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("control_config/set_device_id", &ControlConfigSimulationServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("control_config/set_api_options", &ControlConfigSimulationServices::SetApiOptions, this);
+
+	m_serviceSetGravityVector = m_node_handle.advertiseService("control_config/set_gravity_vector", &ControlConfigSimulationServices::SetGravityVector, this);
+	m_serviceGetGravityVector = m_node_handle.advertiseService("control_config/get_gravity_vector", &ControlConfigSimulationServices::GetGravityVector, this);
+	m_serviceSetPayloadInformation = m_node_handle.advertiseService("control_config/set_payload_information", &ControlConfigSimulationServices::SetPayloadInformation, this);
+	m_serviceGetPayloadInformation = m_node_handle.advertiseService("control_config/get_payload_information", &ControlConfigSimulationServices::GetPayloadInformation, this);
+	m_serviceSetToolConfiguration = m_node_handle.advertiseService("control_config/set_tool_configuration", &ControlConfigSimulationServices::SetToolConfiguration, this);
+	m_serviceGetToolConfiguration = m_node_handle.advertiseService("control_config/get_tool_configuration", &ControlConfigSimulationServices::GetToolConfiguration, this);
+	m_serviceOnNotificationControlConfigurationTopic = m_node_handle.advertiseService("control_config/activate_publishing_of_control_configuration_topic", &ControlConfigSimulationServices::OnNotificationControlConfigurationTopic, this);
+	m_serviceControlConfig_Unsubscribe = m_node_handle.advertiseService("control_config/unsubscribe", &ControlConfigSimulationServices::ControlConfig_Unsubscribe, this);
+	m_serviceSetCartesianReferenceFrame = m_node_handle.advertiseService("control_config/set_cartesian_reference_frame", &ControlConfigSimulationServices::SetCartesianReferenceFrame, this);
+	m_serviceGetCartesianReferenceFrame = m_node_handle.advertiseService("control_config/get_cartesian_reference_frame", &ControlConfigSimulationServices::GetCartesianReferenceFrame, this);
+	m_serviceControlConfig_GetControlMode = m_node_handle.advertiseService("control_config/get_control_mode", &ControlConfigSimulationServices::ControlConfig_GetControlMode, this);
+	m_serviceSetJointSpeedSoftLimits = m_node_handle.advertiseService("control_config/set_joint_speed_soft_limits", &ControlConfigSimulationServices::SetJointSpeedSoftLimits, this);
+	m_serviceSetTwistLinearSoftLimit = m_node_handle.advertiseService("control_config/set_twist_linear_soft_limit", &ControlConfigSimulationServices::SetTwistLinearSoftLimit, this);
+	m_serviceSetTwistAngularSoftLimit = m_node_handle.advertiseService("control_config/set_twist_angular_soft_limit", &ControlConfigSimulationServices::SetTwistAngularSoftLimit, this);
+	m_serviceSetJointAccelerationSoftLimits = m_node_handle.advertiseService("control_config/set_joint_acceleration_soft_limits", &ControlConfigSimulationServices::SetJointAccelerationSoftLimits, this);
+	m_serviceGetKinematicHardLimits = m_node_handle.advertiseService("control_config/get_kinematic_hard_limits", &ControlConfigSimulationServices::GetKinematicHardLimits, this);
+	m_serviceGetKinematicSoftLimits = m_node_handle.advertiseService("control_config/get_kinematic_soft_limits", &ControlConfigSimulationServices::GetKinematicSoftLimits, this);
+	m_serviceGetAllKinematicSoftLimits = m_node_handle.advertiseService("control_config/get_all_kinematic_soft_limits", &ControlConfigSimulationServices::GetAllKinematicSoftLimits, this);
+	m_serviceSetDesiredLinearTwist = m_node_handle.advertiseService("control_config/set_desired_linear_twist", &ControlConfigSimulationServices::SetDesiredLinearTwist, this);
+	m_serviceSetDesiredAngularTwist = m_node_handle.advertiseService("control_config/set_desired_angular_twist", &ControlConfigSimulationServices::SetDesiredAngularTwist, this);
+	m_serviceSetDesiredJointSpeeds = m_node_handle.advertiseService("control_config/set_desired_joint_speeds", &ControlConfigSimulationServices::SetDesiredJointSpeeds, this);
+	m_serviceGetDesiredSpeeds = m_node_handle.advertiseService("control_config/get_desired_speeds", &ControlConfigSimulationServices::GetDesiredSpeeds, this);
+	m_serviceResetGravityVector = m_node_handle.advertiseService("control_config/reset_gravity_vector", &ControlConfigSimulationServices::ResetGravityVector, this);
+	m_serviceResetPayloadInformation = m_node_handle.advertiseService("control_config/reset_payload_information", &ControlConfigSimulationServices::ResetPayloadInformation, this);
+	m_serviceResetToolConfiguration = m_node_handle.advertiseService("control_config/reset_tool_configuration", &ControlConfigSimulationServices::ResetToolConfiguration, this);
+	m_serviceResetJointSpeedSoftLimits = m_node_handle.advertiseService("control_config/reset_joint_speed_soft_limits", &ControlConfigSimulationServices::ResetJointSpeedSoftLimits, this);
+	m_serviceResetTwistLinearSoftLimit = m_node_handle.advertiseService("control_config/reset_twist_linear_soft_limit", &ControlConfigSimulationServices::ResetTwistLinearSoftLimit, this);
+	m_serviceResetTwistAngularSoftLimit = m_node_handle.advertiseService("control_config/reset_twist_angular_soft_limit", &ControlConfigSimulationServices::ResetTwistAngularSoftLimit, this);
+	m_serviceResetJointAccelerationSoftLimits = m_node_handle.advertiseService("control_config/reset_joint_acceleration_soft_limits", &ControlConfigSimulationServices::ResetJointAccelerationSoftLimits, this);
+}
+
+bool ControlConfigSimulationServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+
+bool ControlConfigSimulationServices::SetGravityVector(kortex_driver::SetGravityVector::Request  &req, kortex_driver::SetGravityVector::Response &res)
+{
+	
+	
+	if (SetGravityVectorHandler)
+	{
+		res = SetGravityVectorHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_gravity_vector is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::GetGravityVector(kortex_driver::GetGravityVector::Request  &req, kortex_driver::GetGravityVector::Response &res)
+{
+	
+	
+	if (GetGravityVectorHandler)
+	{
+		res = GetGravityVectorHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/get_gravity_vector is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetPayloadInformation(kortex_driver::SetPayloadInformation::Request  &req, kortex_driver::SetPayloadInformation::Response &res)
+{
+	
+	
+	if (SetPayloadInformationHandler)
+	{
+		res = SetPayloadInformationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_payload_information is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::GetPayloadInformation(kortex_driver::GetPayloadInformation::Request  &req, kortex_driver::GetPayloadInformation::Response &res)
+{
+	
+	
+	if (GetPayloadInformationHandler)
+	{
+		res = GetPayloadInformationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/get_payload_information is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetToolConfiguration(kortex_driver::SetToolConfiguration::Request  &req, kortex_driver::SetToolConfiguration::Response &res)
+{
+	
+	
+	if (SetToolConfigurationHandler)
+	{
+		res = SetToolConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_tool_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::GetToolConfiguration(kortex_driver::GetToolConfiguration::Request  &req, kortex_driver::GetToolConfiguration::Response &res)
+{
+	
+	
+	if (GetToolConfigurationHandler)
+	{
+		res = GetToolConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/get_tool_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::OnNotificationControlConfigurationTopic(kortex_driver::OnNotificationControlConfigurationTopic::Request  &req, kortex_driver::OnNotificationControlConfigurationTopic::Response &res)
+{
+	
+	m_is_activated_ControlConfigurationTopic = true;
+	
+	if (OnNotificationControlConfigurationTopicHandler)
+	{
+		res = OnNotificationControlConfigurationTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/activate_publishing_of_control_configuration_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void ControlConfigSimulationServices::cb_ControlConfigurationTopic(Kinova::Api::ControlConfig::ControlConfigurationNotification notif)
+{
+	kortex_driver::ControlConfigurationNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_ControlConfigurationTopic.publish(ros_msg);
+}
+
+bool ControlConfigSimulationServices::ControlConfig_Unsubscribe(kortex_driver::ControlConfig_Unsubscribe::Request  &req, kortex_driver::ControlConfig_Unsubscribe::Response &res)
+{
+	
+	
+	if (ControlConfig_UnsubscribeHandler)
+	{
+		res = ControlConfig_UnsubscribeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/unsubscribe is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetCartesianReferenceFrame(kortex_driver::SetCartesianReferenceFrame::Request  &req, kortex_driver::SetCartesianReferenceFrame::Response &res)
+{
+	
+	
+	if (SetCartesianReferenceFrameHandler)
+	{
+		res = SetCartesianReferenceFrameHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_cartesian_reference_frame is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::GetCartesianReferenceFrame(kortex_driver::GetCartesianReferenceFrame::Request  &req, kortex_driver::GetCartesianReferenceFrame::Response &res)
+{
+	
+	
+	if (GetCartesianReferenceFrameHandler)
+	{
+		res = GetCartesianReferenceFrameHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/get_cartesian_reference_frame is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::ControlConfig_GetControlMode(kortex_driver::ControlConfig_GetControlMode::Request  &req, kortex_driver::ControlConfig_GetControlMode::Response &res)
+{
+	
+	
+	if (ControlConfig_GetControlModeHandler)
+	{
+		res = ControlConfig_GetControlModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/get_control_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetJointSpeedSoftLimits(kortex_driver::SetJointSpeedSoftLimits::Request  &req, kortex_driver::SetJointSpeedSoftLimits::Response &res)
+{
+	
+	
+	if (SetJointSpeedSoftLimitsHandler)
+	{
+		res = SetJointSpeedSoftLimitsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_joint_speed_soft_limits is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetTwistLinearSoftLimit(kortex_driver::SetTwistLinearSoftLimit::Request  &req, kortex_driver::SetTwistLinearSoftLimit::Response &res)
+{
+	
+	
+	if (SetTwistLinearSoftLimitHandler)
+	{
+		res = SetTwistLinearSoftLimitHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_twist_linear_soft_limit is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetTwistAngularSoftLimit(kortex_driver::SetTwistAngularSoftLimit::Request  &req, kortex_driver::SetTwistAngularSoftLimit::Response &res)
+{
+	
+	
+	if (SetTwistAngularSoftLimitHandler)
+	{
+		res = SetTwistAngularSoftLimitHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_twist_angular_soft_limit is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetJointAccelerationSoftLimits(kortex_driver::SetJointAccelerationSoftLimits::Request  &req, kortex_driver::SetJointAccelerationSoftLimits::Response &res)
+{
+	
+	
+	if (SetJointAccelerationSoftLimitsHandler)
+	{
+		res = SetJointAccelerationSoftLimitsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_joint_acceleration_soft_limits is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::GetKinematicHardLimits(kortex_driver::GetKinematicHardLimits::Request  &req, kortex_driver::GetKinematicHardLimits::Response &res)
+{
+	
+	
+	if (GetKinematicHardLimitsHandler)
+	{
+		res = GetKinematicHardLimitsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/get_kinematic_hard_limits is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::GetKinematicSoftLimits(kortex_driver::GetKinematicSoftLimits::Request  &req, kortex_driver::GetKinematicSoftLimits::Response &res)
+{
+	
+	
+	if (GetKinematicSoftLimitsHandler)
+	{
+		res = GetKinematicSoftLimitsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/get_kinematic_soft_limits is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::GetAllKinematicSoftLimits(kortex_driver::GetAllKinematicSoftLimits::Request  &req, kortex_driver::GetAllKinematicSoftLimits::Response &res)
+{
+	
+	
+	if (GetAllKinematicSoftLimitsHandler)
+	{
+		res = GetAllKinematicSoftLimitsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/get_all_kinematic_soft_limits is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetDesiredLinearTwist(kortex_driver::SetDesiredLinearTwist::Request  &req, kortex_driver::SetDesiredLinearTwist::Response &res)
+{
+	
+	
+	if (SetDesiredLinearTwistHandler)
+	{
+		res = SetDesiredLinearTwistHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_desired_linear_twist is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetDesiredAngularTwist(kortex_driver::SetDesiredAngularTwist::Request  &req, kortex_driver::SetDesiredAngularTwist::Response &res)
+{
+	
+	
+	if (SetDesiredAngularTwistHandler)
+	{
+		res = SetDesiredAngularTwistHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_desired_angular_twist is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::SetDesiredJointSpeeds(kortex_driver::SetDesiredJointSpeeds::Request  &req, kortex_driver::SetDesiredJointSpeeds::Response &res)
+{
+	
+	
+	if (SetDesiredJointSpeedsHandler)
+	{
+		res = SetDesiredJointSpeedsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/set_desired_joint_speeds is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::GetDesiredSpeeds(kortex_driver::GetDesiredSpeeds::Request  &req, kortex_driver::GetDesiredSpeeds::Response &res)
+{
+	
+	
+	if (GetDesiredSpeedsHandler)
+	{
+		res = GetDesiredSpeedsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/get_desired_speeds is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::ResetGravityVector(kortex_driver::ResetGravityVector::Request  &req, kortex_driver::ResetGravityVector::Response &res)
+{
+	
+	
+	if (ResetGravityVectorHandler)
+	{
+		res = ResetGravityVectorHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/reset_gravity_vector is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::ResetPayloadInformation(kortex_driver::ResetPayloadInformation::Request  &req, kortex_driver::ResetPayloadInformation::Response &res)
+{
+	
+	
+	if (ResetPayloadInformationHandler)
+	{
+		res = ResetPayloadInformationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/reset_payload_information is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::ResetToolConfiguration(kortex_driver::ResetToolConfiguration::Request  &req, kortex_driver::ResetToolConfiguration::Response &res)
+{
+	
+	
+	if (ResetToolConfigurationHandler)
+	{
+		res = ResetToolConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/reset_tool_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::ResetJointSpeedSoftLimits(kortex_driver::ResetJointSpeedSoftLimits::Request  &req, kortex_driver::ResetJointSpeedSoftLimits::Response &res)
+{
+	
+	
+	if (ResetJointSpeedSoftLimitsHandler)
+	{
+		res = ResetJointSpeedSoftLimitsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/reset_joint_speed_soft_limits is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::ResetTwistLinearSoftLimit(kortex_driver::ResetTwistLinearSoftLimit::Request  &req, kortex_driver::ResetTwistLinearSoftLimit::Response &res)
+{
+	
+	
+	if (ResetTwistLinearSoftLimitHandler)
+	{
+		res = ResetTwistLinearSoftLimitHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/reset_twist_linear_soft_limit is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::ResetTwistAngularSoftLimit(kortex_driver::ResetTwistAngularSoftLimit::Request  &req, kortex_driver::ResetTwistAngularSoftLimit::Response &res)
+{
+	
+	
+	if (ResetTwistAngularSoftLimitHandler)
+	{
+		res = ResetTwistAngularSoftLimitHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/reset_twist_angular_soft_limit is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool ControlConfigSimulationServices::ResetJointAccelerationSoftLimits(kortex_driver::ResetJointAccelerationSoftLimits::Request  &req, kortex_driver::ResetJointAccelerationSoftLimits::Response &res)
+{
+	
+	
+	if (ResetJointAccelerationSoftLimitsHandler)
+	{
+		res = ResetJointAccelerationSoftLimitsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for control_config/reset_joint_acceleration_soft_limits is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
diff --git a/kortex_driver/src/generated/simulation/deviceconfig_services.cpp b/kortex_driver/src/generated/simulation/deviceconfig_services.cpp
new file mode 100644
index 0000000..0f17821
--- /dev/null
+++ b/kortex_driver/src/generated/simulation/deviceconfig_services.cpp
@@ -0,0 +1,587 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/simulation/deviceconfig_services.h"
+
+DeviceConfigSimulationServices::DeviceConfigSimulationServices(ros::NodeHandle& node_handle): 
+	IDeviceConfigServices(node_handle)
+{
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+	m_pub_SafetyTopic = m_node_handle.advertise<kortex_driver::SafetyNotification>("safety_topic", 1000);
+	m_is_activated_SafetyTopic = false;
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("device_config/set_device_id", &DeviceConfigSimulationServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("device_config/set_api_options", &DeviceConfigSimulationServices::SetApiOptions, this);
+
+	m_serviceGetRunMode = m_node_handle.advertiseService("device_config/get_run_mode", &DeviceConfigSimulationServices::GetRunMode, this);
+	m_serviceSetRunMode = m_node_handle.advertiseService("device_config/set_run_mode", &DeviceConfigSimulationServices::SetRunMode, this);
+	m_serviceGetDeviceType = m_node_handle.advertiseService("device_config/get_device_type", &DeviceConfigSimulationServices::GetDeviceType, this);
+	m_serviceGetFirmwareVersion = m_node_handle.advertiseService("device_config/get_firmware_version", &DeviceConfigSimulationServices::GetFirmwareVersion, this);
+	m_serviceGetBootloaderVersion = m_node_handle.advertiseService("device_config/get_bootloader_version", &DeviceConfigSimulationServices::GetBootloaderVersion, this);
+	m_serviceGetModelNumber = m_node_handle.advertiseService("device_config/get_model_number", &DeviceConfigSimulationServices::GetModelNumber, this);
+	m_serviceGetPartNumber = m_node_handle.advertiseService("device_config/get_part_number", &DeviceConfigSimulationServices::GetPartNumber, this);
+	m_serviceGetSerialNumber = m_node_handle.advertiseService("device_config/get_serial_number", &DeviceConfigSimulationServices::GetSerialNumber, this);
+	m_serviceGetMACAddress = m_node_handle.advertiseService("device_config/get_m_a_c_address", &DeviceConfigSimulationServices::GetMACAddress, this);
+	m_serviceGetIPv4Settings = m_node_handle.advertiseService("device_config/get_i_pv4_settings", &DeviceConfigSimulationServices::GetIPv4Settings, this);
+	m_serviceSetIPv4Settings = m_node_handle.advertiseService("device_config/set_i_pv4_settings", &DeviceConfigSimulationServices::SetIPv4Settings, this);
+	m_serviceGetPartNumberRevision = m_node_handle.advertiseService("device_config/get_part_number_revision", &DeviceConfigSimulationServices::GetPartNumberRevision, this);
+	m_serviceRebootRequest = m_node_handle.advertiseService("device_config/reboot_request", &DeviceConfigSimulationServices::RebootRequest, this);
+	m_serviceSetSafetyEnable = m_node_handle.advertiseService("device_config/set_safety_enable", &DeviceConfigSimulationServices::SetSafetyEnable, this);
+	m_serviceSetSafetyErrorThreshold = m_node_handle.advertiseService("device_config/set_safety_error_threshold", &DeviceConfigSimulationServices::SetSafetyErrorThreshold, this);
+	m_serviceSetSafetyWarningThreshold = m_node_handle.advertiseService("device_config/set_safety_warning_threshold", &DeviceConfigSimulationServices::SetSafetyWarningThreshold, this);
+	m_serviceSetSafetyConfiguration = m_node_handle.advertiseService("device_config/set_safety_configuration", &DeviceConfigSimulationServices::SetSafetyConfiguration, this);
+	m_serviceGetSafetyConfiguration = m_node_handle.advertiseService("device_config/get_safety_configuration", &DeviceConfigSimulationServices::GetSafetyConfiguration, this);
+	m_serviceGetSafetyInformation = m_node_handle.advertiseService("device_config/get_safety_information", &DeviceConfigSimulationServices::GetSafetyInformation, this);
+	m_serviceGetSafetyEnable = m_node_handle.advertiseService("device_config/get_safety_enable", &DeviceConfigSimulationServices::GetSafetyEnable, this);
+	m_serviceGetSafetyStatus = m_node_handle.advertiseService("device_config/get_safety_status", &DeviceConfigSimulationServices::GetSafetyStatus, this);
+	m_serviceClearAllSafetyStatus = m_node_handle.advertiseService("device_config/clear_all_safety_status", &DeviceConfigSimulationServices::ClearAllSafetyStatus, this);
+	m_serviceClearSafetyStatus = m_node_handle.advertiseService("device_config/clear_safety_status", &DeviceConfigSimulationServices::ClearSafetyStatus, this);
+	m_serviceGetAllSafetyConfiguration = m_node_handle.advertiseService("device_config/get_all_safety_configuration", &DeviceConfigSimulationServices::GetAllSafetyConfiguration, this);
+	m_serviceGetAllSafetyInformation = m_node_handle.advertiseService("device_config/get_all_safety_information", &DeviceConfigSimulationServices::GetAllSafetyInformation, this);
+	m_serviceResetSafetyDefaults = m_node_handle.advertiseService("device_config/reset_safety_defaults", &DeviceConfigSimulationServices::ResetSafetyDefaults, this);
+	m_serviceOnNotificationSafetyTopic = m_node_handle.advertiseService("device_config/activate_publishing_of_safety_topic", &DeviceConfigSimulationServices::OnNotificationSafetyTopic, this);
+	m_serviceExecuteCalibration = m_node_handle.advertiseService("device_config/execute_calibration", &DeviceConfigSimulationServices::ExecuteCalibration, this);
+	m_serviceGetCalibrationResult = m_node_handle.advertiseService("device_config/get_calibration_result", &DeviceConfigSimulationServices::GetCalibrationResult, this);
+	m_serviceStopCalibration = m_node_handle.advertiseService("device_config/stop_calibration", &DeviceConfigSimulationServices::StopCalibration, this);
+	m_serviceDeviceConfig_SetCapSenseConfig = m_node_handle.advertiseService("device_config/set_cap_sense_config", &DeviceConfigSimulationServices::DeviceConfig_SetCapSenseConfig, this);
+	m_serviceDeviceConfig_GetCapSenseConfig = m_node_handle.advertiseService("device_config/get_cap_sense_config", &DeviceConfigSimulationServices::DeviceConfig_GetCapSenseConfig, this);
+}
+
+bool DeviceConfigSimulationServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+bool DeviceConfigSimulationServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+
+bool DeviceConfigSimulationServices::GetRunMode(kortex_driver::GetRunMode::Request  &req, kortex_driver::GetRunMode::Response &res)
+{
+	
+	
+	if (GetRunModeHandler)
+	{
+		res = GetRunModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_run_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::SetRunMode(kortex_driver::SetRunMode::Request  &req, kortex_driver::SetRunMode::Response &res)
+{
+	
+	
+	if (SetRunModeHandler)
+	{
+		res = SetRunModeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/set_run_mode is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetDeviceType(kortex_driver::GetDeviceType::Request  &req, kortex_driver::GetDeviceType::Response &res)
+{
+	
+	
+	if (GetDeviceTypeHandler)
+	{
+		res = GetDeviceTypeHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_device_type is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetFirmwareVersion(kortex_driver::GetFirmwareVersion::Request  &req, kortex_driver::GetFirmwareVersion::Response &res)
+{
+	
+	
+	if (GetFirmwareVersionHandler)
+	{
+		res = GetFirmwareVersionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_firmware_version is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetBootloaderVersion(kortex_driver::GetBootloaderVersion::Request  &req, kortex_driver::GetBootloaderVersion::Response &res)
+{
+	
+	
+	if (GetBootloaderVersionHandler)
+	{
+		res = GetBootloaderVersionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_bootloader_version is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetModelNumber(kortex_driver::GetModelNumber::Request  &req, kortex_driver::GetModelNumber::Response &res)
+{
+	
+	
+	if (GetModelNumberHandler)
+	{
+		res = GetModelNumberHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_model_number is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetPartNumber(kortex_driver::GetPartNumber::Request  &req, kortex_driver::GetPartNumber::Response &res)
+{
+	
+	
+	if (GetPartNumberHandler)
+	{
+		res = GetPartNumberHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_part_number is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetSerialNumber(kortex_driver::GetSerialNumber::Request  &req, kortex_driver::GetSerialNumber::Response &res)
+{
+	
+	
+	if (GetSerialNumberHandler)
+	{
+		res = GetSerialNumberHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_serial_number is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetMACAddress(kortex_driver::GetMACAddress::Request  &req, kortex_driver::GetMACAddress::Response &res)
+{
+	
+	
+	if (GetMACAddressHandler)
+	{
+		res = GetMACAddressHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_m_a_c_address is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetIPv4Settings(kortex_driver::GetIPv4Settings::Request  &req, kortex_driver::GetIPv4Settings::Response &res)
+{
+	
+	
+	if (GetIPv4SettingsHandler)
+	{
+		res = GetIPv4SettingsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_i_pv4_settings is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::SetIPv4Settings(kortex_driver::SetIPv4Settings::Request  &req, kortex_driver::SetIPv4Settings::Response &res)
+{
+	
+	
+	if (SetIPv4SettingsHandler)
+	{
+		res = SetIPv4SettingsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/set_i_pv4_settings is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetPartNumberRevision(kortex_driver::GetPartNumberRevision::Request  &req, kortex_driver::GetPartNumberRevision::Response &res)
+{
+	
+	
+	if (GetPartNumberRevisionHandler)
+	{
+		res = GetPartNumberRevisionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_part_number_revision is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::RebootRequest(kortex_driver::RebootRequest::Request  &req, kortex_driver::RebootRequest::Response &res)
+{
+	
+	
+	if (RebootRequestHandler)
+	{
+		res = RebootRequestHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/reboot_request is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::SetSafetyEnable(kortex_driver::SetSafetyEnable::Request  &req, kortex_driver::SetSafetyEnable::Response &res)
+{
+	
+	
+	if (SetSafetyEnableHandler)
+	{
+		res = SetSafetyEnableHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/set_safety_enable is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::SetSafetyErrorThreshold(kortex_driver::SetSafetyErrorThreshold::Request  &req, kortex_driver::SetSafetyErrorThreshold::Response &res)
+{
+	
+	
+	if (SetSafetyErrorThresholdHandler)
+	{
+		res = SetSafetyErrorThresholdHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/set_safety_error_threshold is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::SetSafetyWarningThreshold(kortex_driver::SetSafetyWarningThreshold::Request  &req, kortex_driver::SetSafetyWarningThreshold::Response &res)
+{
+	
+	
+	if (SetSafetyWarningThresholdHandler)
+	{
+		res = SetSafetyWarningThresholdHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/set_safety_warning_threshold is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::SetSafetyConfiguration(kortex_driver::SetSafetyConfiguration::Request  &req, kortex_driver::SetSafetyConfiguration::Response &res)
+{
+	
+	
+	if (SetSafetyConfigurationHandler)
+	{
+		res = SetSafetyConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/set_safety_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetSafetyConfiguration(kortex_driver::GetSafetyConfiguration::Request  &req, kortex_driver::GetSafetyConfiguration::Response &res)
+{
+	
+	
+	if (GetSafetyConfigurationHandler)
+	{
+		res = GetSafetyConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_safety_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetSafetyInformation(kortex_driver::GetSafetyInformation::Request  &req, kortex_driver::GetSafetyInformation::Response &res)
+{
+	
+	
+	if (GetSafetyInformationHandler)
+	{
+		res = GetSafetyInformationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_safety_information is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetSafetyEnable(kortex_driver::GetSafetyEnable::Request  &req, kortex_driver::GetSafetyEnable::Response &res)
+{
+	
+	
+	if (GetSafetyEnableHandler)
+	{
+		res = GetSafetyEnableHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_safety_enable is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetSafetyStatus(kortex_driver::GetSafetyStatus::Request  &req, kortex_driver::GetSafetyStatus::Response &res)
+{
+	
+	
+	if (GetSafetyStatusHandler)
+	{
+		res = GetSafetyStatusHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_safety_status is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::ClearAllSafetyStatus(kortex_driver::ClearAllSafetyStatus::Request  &req, kortex_driver::ClearAllSafetyStatus::Response &res)
+{
+	
+	
+	if (ClearAllSafetyStatusHandler)
+	{
+		res = ClearAllSafetyStatusHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/clear_all_safety_status is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::ClearSafetyStatus(kortex_driver::ClearSafetyStatus::Request  &req, kortex_driver::ClearSafetyStatus::Response &res)
+{
+	
+	
+	if (ClearSafetyStatusHandler)
+	{
+		res = ClearSafetyStatusHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/clear_safety_status is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetAllSafetyConfiguration(kortex_driver::GetAllSafetyConfiguration::Request  &req, kortex_driver::GetAllSafetyConfiguration::Response &res)
+{
+	
+	
+	if (GetAllSafetyConfigurationHandler)
+	{
+		res = GetAllSafetyConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_all_safety_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetAllSafetyInformation(kortex_driver::GetAllSafetyInformation::Request  &req, kortex_driver::GetAllSafetyInformation::Response &res)
+{
+	
+	
+	if (GetAllSafetyInformationHandler)
+	{
+		res = GetAllSafetyInformationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_all_safety_information is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::ResetSafetyDefaults(kortex_driver::ResetSafetyDefaults::Request  &req, kortex_driver::ResetSafetyDefaults::Response &res)
+{
+	
+	
+	if (ResetSafetyDefaultsHandler)
+	{
+		res = ResetSafetyDefaultsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/reset_safety_defaults is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::OnNotificationSafetyTopic(kortex_driver::OnNotificationSafetyTopic::Request  &req, kortex_driver::OnNotificationSafetyTopic::Response &res)
+{
+	
+	m_is_activated_SafetyTopic = true;
+	
+	if (OnNotificationSafetyTopicHandler)
+	{
+		res = OnNotificationSafetyTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/activate_publishing_of_safety_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void DeviceConfigSimulationServices::cb_SafetyTopic(Kinova::Api::Common::SafetyNotification notif)
+{
+	kortex_driver::SafetyNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_SafetyTopic.publish(ros_msg);
+}
+
+bool DeviceConfigSimulationServices::ExecuteCalibration(kortex_driver::ExecuteCalibration::Request  &req, kortex_driver::ExecuteCalibration::Response &res)
+{
+	
+	
+	if (ExecuteCalibrationHandler)
+	{
+		res = ExecuteCalibrationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/execute_calibration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::GetCalibrationResult(kortex_driver::GetCalibrationResult::Request  &req, kortex_driver::GetCalibrationResult::Response &res)
+{
+	
+	
+	if (GetCalibrationResultHandler)
+	{
+		res = GetCalibrationResultHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_calibration_result is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::StopCalibration(kortex_driver::StopCalibration::Request  &req, kortex_driver::StopCalibration::Response &res)
+{
+	
+	
+	if (StopCalibrationHandler)
+	{
+		res = StopCalibrationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/stop_calibration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::DeviceConfig_SetCapSenseConfig(kortex_driver::DeviceConfig_SetCapSenseConfig::Request  &req, kortex_driver::DeviceConfig_SetCapSenseConfig::Response &res)
+{
+	
+	
+	if (DeviceConfig_SetCapSenseConfigHandler)
+	{
+		res = DeviceConfig_SetCapSenseConfigHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/set_cap_sense_config is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool DeviceConfigSimulationServices::DeviceConfig_GetCapSenseConfig(kortex_driver::DeviceConfig_GetCapSenseConfig::Request  &req, kortex_driver::DeviceConfig_GetCapSenseConfig::Response &res)
+{
+	
+	
+	if (DeviceConfig_GetCapSenseConfigHandler)
+	{
+		res = DeviceConfig_GetCapSenseConfigHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_config/get_cap_sense_config is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
diff --git a/kortex_driver/src/generated/simulation/devicemanager_services.cpp b/kortex_driver/src/generated/simulation/devicemanager_services.cpp
new file mode 100644
index 0000000..f0be4c0
--- /dev/null
+++ b/kortex_driver/src/generated/simulation/devicemanager_services.cpp
@@ -0,0 +1,82 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/simulation/devicemanager_services.h"
+
+DeviceManagerSimulationServices::DeviceManagerSimulationServices(ros::NodeHandle& node_handle): 
+	IDeviceManagerServices(node_handle)
+{
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("device_manager/set_device_id", &DeviceManagerSimulationServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("device_manager/set_api_options", &DeviceManagerSimulationServices::SetApiOptions, this);
+
+	m_serviceReadAllDevices = m_node_handle.advertiseService("device_manager/read_all_devices", &DeviceManagerSimulationServices::ReadAllDevices, this);
+}
+
+bool DeviceManagerSimulationServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+bool DeviceManagerSimulationServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+
+bool DeviceManagerSimulationServices::ReadAllDevices(kortex_driver::ReadAllDevices::Request  &req, kortex_driver::ReadAllDevices::Response &res)
+{
+	
+	
+	if (ReadAllDevicesHandler)
+	{
+		res = ReadAllDevicesHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for device_manager/read_all_devices is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
diff --git a/kortex_driver/src/generated/simulation/interconnectconfig_services.cpp b/kortex_driver/src/generated/simulation/interconnectconfig_services.cpp
new file mode 100644
index 0000000..32287a2
--- /dev/null
+++ b/kortex_driver/src/generated/simulation/interconnectconfig_services.cpp
@@ -0,0 +1,290 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/simulation/interconnectconfig_services.h"
+
+InterconnectConfigSimulationServices::InterconnectConfigSimulationServices(ros::NodeHandle& node_handle): 
+	IInterconnectConfigServices(node_handle)
+{
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("interconnect_config/set_device_id", &InterconnectConfigSimulationServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("interconnect_config/set_api_options", &InterconnectConfigSimulationServices::SetApiOptions, this);
+
+	m_serviceGetUARTConfiguration = m_node_handle.advertiseService("interconnect_config/get_u_a_r_t_configuration", &InterconnectConfigSimulationServices::GetUARTConfiguration, this);
+	m_serviceSetUARTConfiguration = m_node_handle.advertiseService("interconnect_config/set_u_a_r_t_configuration", &InterconnectConfigSimulationServices::SetUARTConfiguration, this);
+	m_serviceGetEthernetConfiguration = m_node_handle.advertiseService("interconnect_config/get_ethernet_configuration", &InterconnectConfigSimulationServices::GetEthernetConfiguration, this);
+	m_serviceSetEthernetConfiguration = m_node_handle.advertiseService("interconnect_config/set_ethernet_configuration", &InterconnectConfigSimulationServices::SetEthernetConfiguration, this);
+	m_serviceGetGPIOConfiguration = m_node_handle.advertiseService("interconnect_config/get_g_p_i_o_configuration", &InterconnectConfigSimulationServices::GetGPIOConfiguration, this);
+	m_serviceSetGPIOConfiguration = m_node_handle.advertiseService("interconnect_config/set_g_p_i_o_configuration", &InterconnectConfigSimulationServices::SetGPIOConfiguration, this);
+	m_serviceGetGPIOState = m_node_handle.advertiseService("interconnect_config/get_g_p_i_o_state", &InterconnectConfigSimulationServices::GetGPIOState, this);
+	m_serviceSetGPIOState = m_node_handle.advertiseService("interconnect_config/set_g_p_i_o_state", &InterconnectConfigSimulationServices::SetGPIOState, this);
+	m_serviceGetI2CConfiguration = m_node_handle.advertiseService("interconnect_config/get_i2_c_configuration", &InterconnectConfigSimulationServices::GetI2CConfiguration, this);
+	m_serviceSetI2CConfiguration = m_node_handle.advertiseService("interconnect_config/set_i2_c_configuration", &InterconnectConfigSimulationServices::SetI2CConfiguration, this);
+	m_serviceI2CRead = m_node_handle.advertiseService("interconnect_config/i2_c_read", &InterconnectConfigSimulationServices::I2CRead, this);
+	m_serviceI2CReadRegister = m_node_handle.advertiseService("interconnect_config/i2_c_read_register", &InterconnectConfigSimulationServices::I2CReadRegister, this);
+	m_serviceI2CWrite = m_node_handle.advertiseService("interconnect_config/i2_c_write", &InterconnectConfigSimulationServices::I2CWrite, this);
+	m_serviceI2CWriteRegister = m_node_handle.advertiseService("interconnect_config/i2_c_write_register", &InterconnectConfigSimulationServices::I2CWriteRegister, this);
+}
+
+bool InterconnectConfigSimulationServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+
+bool InterconnectConfigSimulationServices::GetUARTConfiguration(kortex_driver::GetUARTConfiguration::Request  &req, kortex_driver::GetUARTConfiguration::Response &res)
+{
+	
+	
+	if (GetUARTConfigurationHandler)
+	{
+		res = GetUARTConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/get_u_a_r_t_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::SetUARTConfiguration(kortex_driver::SetUARTConfiguration::Request  &req, kortex_driver::SetUARTConfiguration::Response &res)
+{
+	
+	
+	if (SetUARTConfigurationHandler)
+	{
+		res = SetUARTConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/set_u_a_r_t_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::GetEthernetConfiguration(kortex_driver::GetEthernetConfiguration::Request  &req, kortex_driver::GetEthernetConfiguration::Response &res)
+{
+	
+	
+	if (GetEthernetConfigurationHandler)
+	{
+		res = GetEthernetConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/get_ethernet_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::SetEthernetConfiguration(kortex_driver::SetEthernetConfiguration::Request  &req, kortex_driver::SetEthernetConfiguration::Response &res)
+{
+	
+	
+	if (SetEthernetConfigurationHandler)
+	{
+		res = SetEthernetConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/set_ethernet_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::GetGPIOConfiguration(kortex_driver::GetGPIOConfiguration::Request  &req, kortex_driver::GetGPIOConfiguration::Response &res)
+{
+	
+	
+	if (GetGPIOConfigurationHandler)
+	{
+		res = GetGPIOConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/get_g_p_i_o_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::SetGPIOConfiguration(kortex_driver::SetGPIOConfiguration::Request  &req, kortex_driver::SetGPIOConfiguration::Response &res)
+{
+	
+	
+	if (SetGPIOConfigurationHandler)
+	{
+		res = SetGPIOConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/set_g_p_i_o_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::GetGPIOState(kortex_driver::GetGPIOState::Request  &req, kortex_driver::GetGPIOState::Response &res)
+{
+	
+	
+	if (GetGPIOStateHandler)
+	{
+		res = GetGPIOStateHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/get_g_p_i_o_state is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::SetGPIOState(kortex_driver::SetGPIOState::Request  &req, kortex_driver::SetGPIOState::Response &res)
+{
+	
+	
+	if (SetGPIOStateHandler)
+	{
+		res = SetGPIOStateHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/set_g_p_i_o_state is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::GetI2CConfiguration(kortex_driver::GetI2CConfiguration::Request  &req, kortex_driver::GetI2CConfiguration::Response &res)
+{
+	
+	
+	if (GetI2CConfigurationHandler)
+	{
+		res = GetI2CConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/get_i2_c_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::SetI2CConfiguration(kortex_driver::SetI2CConfiguration::Request  &req, kortex_driver::SetI2CConfiguration::Response &res)
+{
+	
+	
+	if (SetI2CConfigurationHandler)
+	{
+		res = SetI2CConfigurationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/set_i2_c_configuration is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::I2CRead(kortex_driver::I2CRead::Request  &req, kortex_driver::I2CRead::Response &res)
+{
+	
+	
+	if (I2CReadHandler)
+	{
+		res = I2CReadHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/i2_c_read is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::I2CReadRegister(kortex_driver::I2CReadRegister::Request  &req, kortex_driver::I2CReadRegister::Response &res)
+{
+	
+	
+	if (I2CReadRegisterHandler)
+	{
+		res = I2CReadRegisterHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/i2_c_read_register is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::I2CWrite(kortex_driver::I2CWrite::Request  &req, kortex_driver::I2CWrite::Response &res)
+{
+	
+	
+	if (I2CWriteHandler)
+	{
+		res = I2CWriteHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/i2_c_write is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool InterconnectConfigSimulationServices::I2CWriteRegister(kortex_driver::I2CWriteRegister::Request  &req, kortex_driver::I2CWriteRegister::Response &res)
+{
+	
+	
+	if (I2CWriteRegisterHandler)
+	{
+		res = I2CWriteRegisterHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for interconnect_config/i2_c_write_register is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
diff --git a/kortex_driver/src/generated/simulation/visionconfig_services.cpp b/kortex_driver/src/generated/simulation/visionconfig_services.cpp
new file mode 100644
index 0000000..b50c05c
--- /dev/null
+++ b/kortex_driver/src/generated/simulation/visionconfig_services.cpp
@@ -0,0 +1,267 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "kortex_driver/generated/robot/common_proto_converter.h"
+#include "kortex_driver/generated/robot/common_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/actuatorcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_proto_converter.h"
+#include "kortex_driver/generated/robot/productconfiguration_ros_converter.h"
+#include "kortex_driver/generated/robot/base_proto_converter.h"
+#include "kortex_driver/generated/robot/base_ros_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/grippercyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectcyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_proto_converter.h"
+#include "kortex_driver/generated/robot/basecyclic_ros_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/controlconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/deviceconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_proto_converter.h"
+#include "kortex_driver/generated/robot/devicemanager_ros_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/interconnectconfig_ros_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_proto_converter.h"
+#include "kortex_driver/generated/robot/visionconfig_ros_converter.h"
+#include "kortex_driver/generated/simulation/visionconfig_services.h"
+
+VisionConfigSimulationServices::VisionConfigSimulationServices(ros::NodeHandle& node_handle): 
+	IVisionConfigServices(node_handle)
+{
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+	m_pub_VisionTopic = m_node_handle.advertise<kortex_driver::VisionNotification>("vision_topic", 1000);
+	m_is_activated_VisionTopic = false;
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("vision_config/set_device_id", &VisionConfigSimulationServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("vision_config/set_api_options", &VisionConfigSimulationServices::SetApiOptions, this);
+
+	m_serviceSetSensorSettings = m_node_handle.advertiseService("vision_config/set_sensor_settings", &VisionConfigSimulationServices::SetSensorSettings, this);
+	m_serviceGetSensorSettings = m_node_handle.advertiseService("vision_config/get_sensor_settings", &VisionConfigSimulationServices::GetSensorSettings, this);
+	m_serviceGetOptionValue = m_node_handle.advertiseService("vision_config/get_option_value", &VisionConfigSimulationServices::GetOptionValue, this);
+	m_serviceSetOptionValue = m_node_handle.advertiseService("vision_config/set_option_value", &VisionConfigSimulationServices::SetOptionValue, this);
+	m_serviceGetOptionInformation = m_node_handle.advertiseService("vision_config/get_option_information", &VisionConfigSimulationServices::GetOptionInformation, this);
+	m_serviceOnNotificationVisionTopic = m_node_handle.advertiseService("vision_config/activate_publishing_of_vision_topic", &VisionConfigSimulationServices::OnNotificationVisionTopic, this);
+	m_serviceDoSensorFocusAction = m_node_handle.advertiseService("vision_config/do_sensor_focus_action", &VisionConfigSimulationServices::DoSensorFocusAction, this);
+	m_serviceGetIntrinsicParameters = m_node_handle.advertiseService("vision_config/get_intrinsic_parameters", &VisionConfigSimulationServices::GetIntrinsicParameters, this);
+	m_serviceGetIntrinsicParametersProfile = m_node_handle.advertiseService("vision_config/get_intrinsic_parameters_profile", &VisionConfigSimulationServices::GetIntrinsicParametersProfile, this);
+	m_serviceSetIntrinsicParameters = m_node_handle.advertiseService("vision_config/set_intrinsic_parameters", &VisionConfigSimulationServices::SetIntrinsicParameters, this);
+	m_serviceGetExtrinsicParameters = m_node_handle.advertiseService("vision_config/get_extrinsic_parameters", &VisionConfigSimulationServices::GetExtrinsicParameters, this);
+	m_serviceSetExtrinsicParameters = m_node_handle.advertiseService("vision_config/set_extrinsic_parameters", &VisionConfigSimulationServices::SetExtrinsicParameters, this);
+}
+
+bool VisionConfigSimulationServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+bool VisionConfigSimulationServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+
+bool VisionConfigSimulationServices::SetSensorSettings(kortex_driver::SetSensorSettings::Request  &req, kortex_driver::SetSensorSettings::Response &res)
+{
+	
+	
+	if (SetSensorSettingsHandler)
+	{
+		res = SetSensorSettingsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/set_sensor_settings is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool VisionConfigSimulationServices::GetSensorSettings(kortex_driver::GetSensorSettings::Request  &req, kortex_driver::GetSensorSettings::Response &res)
+{
+	
+	
+	if (GetSensorSettingsHandler)
+	{
+		res = GetSensorSettingsHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/get_sensor_settings is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool VisionConfigSimulationServices::GetOptionValue(kortex_driver::GetOptionValue::Request  &req, kortex_driver::GetOptionValue::Response &res)
+{
+	
+	
+	if (GetOptionValueHandler)
+	{
+		res = GetOptionValueHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/get_option_value is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool VisionConfigSimulationServices::SetOptionValue(kortex_driver::SetOptionValue::Request  &req, kortex_driver::SetOptionValue::Response &res)
+{
+	
+	
+	if (SetOptionValueHandler)
+	{
+		res = SetOptionValueHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/set_option_value is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool VisionConfigSimulationServices::GetOptionInformation(kortex_driver::GetOptionInformation::Request  &req, kortex_driver::GetOptionInformation::Response &res)
+{
+	
+	
+	if (GetOptionInformationHandler)
+	{
+		res = GetOptionInformationHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/get_option_information is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool VisionConfigSimulationServices::OnNotificationVisionTopic(kortex_driver::OnNotificationVisionTopic::Request  &req, kortex_driver::OnNotificationVisionTopic::Response &res)
+{
+	
+	m_is_activated_VisionTopic = true;
+	
+	if (OnNotificationVisionTopicHandler)
+	{
+		res = OnNotificationVisionTopicHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/activate_publishing_of_vision_topic is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+void VisionConfigSimulationServices::cb_VisionTopic(Kinova::Api::VisionConfig::VisionNotification notif)
+{
+	kortex_driver::VisionNotification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_VisionTopic.publish(ros_msg);
+}
+
+bool VisionConfigSimulationServices::DoSensorFocusAction(kortex_driver::DoSensorFocusAction::Request  &req, kortex_driver::DoSensorFocusAction::Response &res)
+{
+	
+	
+	if (DoSensorFocusActionHandler)
+	{
+		res = DoSensorFocusActionHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/do_sensor_focus_action is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool VisionConfigSimulationServices::GetIntrinsicParameters(kortex_driver::GetIntrinsicParameters::Request  &req, kortex_driver::GetIntrinsicParameters::Response &res)
+{
+	
+	
+	if (GetIntrinsicParametersHandler)
+	{
+		res = GetIntrinsicParametersHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/get_intrinsic_parameters is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool VisionConfigSimulationServices::GetIntrinsicParametersProfile(kortex_driver::GetIntrinsicParametersProfile::Request  &req, kortex_driver::GetIntrinsicParametersProfile::Response &res)
+{
+	
+	
+	if (GetIntrinsicParametersProfileHandler)
+	{
+		res = GetIntrinsicParametersProfileHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/get_intrinsic_parameters_profile is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool VisionConfigSimulationServices::SetIntrinsicParameters(kortex_driver::SetIntrinsicParameters::Request  &req, kortex_driver::SetIntrinsicParameters::Response &res)
+{
+	
+	
+	if (SetIntrinsicParametersHandler)
+	{
+		res = SetIntrinsicParametersHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/set_intrinsic_parameters is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool VisionConfigSimulationServices::GetExtrinsicParameters(kortex_driver::GetExtrinsicParameters::Request  &req, kortex_driver::GetExtrinsicParameters::Response &res)
+{
+	
+	
+	if (GetExtrinsicParametersHandler)
+	{
+		res = GetExtrinsicParametersHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/get_extrinsic_parameters is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+
+bool VisionConfigSimulationServices::SetExtrinsicParameters(kortex_driver::SetExtrinsicParameters::Request  &req, kortex_driver::SetExtrinsicParameters::Response &res)
+{
+	
+	
+	if (SetExtrinsicParametersHandler)
+	{
+		res = SetExtrinsicParametersHandler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for vision_config/set_extrinsic_parameters is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
diff --git a/kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp b/kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp
new file mode 100644
index 0000000..e266547
--- /dev/null
+++ b/kortex_driver/src/non-generated/driver/kortex_arm_driver.cpp
@@ -0,0 +1,685 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include "kortex_driver/non-generated/kortex_arm_driver.h"
+
+KortexArmDriver::KortexArmDriver(ros::NodeHandle nh):   m_node_handle(nh), 
+                                                        m_node_is_running(true), 
+                                                        m_consecutive_base_cyclic_timeouts(0),
+                                                        m_is_interconnect_module_present(false),
+                                                        m_is_vision_module_present(false),
+                                                        m_simulator{}
+{
+    // Parameter to let the other nodes know this node is up
+    ros::param::set("is_initialized", false);
+
+    parseRosArguments();
+    
+    // If with a real robot, start the robot-specific stuff
+    if (m_is_real_robot)
+    {
+        initApi();
+        verifyProductConfiguration();
+        initSubscribers();
+        startActionServers();
+    }    
+
+    // ROS Services are always started
+    initRosServices();
+
+    // Enable ROS Service simulation if not with a real robot
+    if (!m_is_real_robot)
+    {
+        m_simulator.reset(new KortexArmSimulation(nh));
+        registerSimulationHandlers();
+    }
+
+    // Start the thread to publish the feedback and joint states
+    m_pub_base_feedback = m_node_handle.advertise<kortex_driver::BaseCyclic_Feedback>("base_feedback", 1000);
+    m_pub_joint_state = m_node_handle.advertise<sensor_msgs::JointState>("base_feedback/joint_state", 1000);
+    if (m_is_real_robot)
+    {
+        m_publish_feedback_thread = std::thread(&KortexArmDriver::publishRobotFeedback, this);
+    }
+    else
+    {
+        m_publish_feedback_thread = std::thread(&KortexArmDriver::publishSimulationFeedback, this);
+    }
+
+    // If we get here and no error was thrown we started the node correctly
+    ROS_INFO("%sThe Kortex driver has been initialized correctly!%s", GREEN_COLOR_CONSOLE, RESET_COLOR_CONSOLE);
+    ros::param::set("is_initialized", true);
+}
+
+KortexArmDriver::~KortexArmDriver()
+{
+    // Kill the thread that publishes the joint states and feedback
+    m_node_is_running = false;
+    if (m_publish_feedback_thread.joinable())
+    {
+        m_publish_feedback_thread.join();
+    }
+
+    delete m_actuator_config_ros_services;
+    delete m_base_ros_services;
+    delete m_control_config_ros_services;
+    delete m_device_config_ros_services;
+    delete m_device_manager_ros_services;
+    if (m_interconnect_config_ros_services)
+    {
+        delete m_interconnect_config_ros_services;
+    }
+    if (m_vision_config_ros_services)
+    {
+        delete m_vision_config_ros_services;
+    }
+
+    if (!m_is_real_robot)
+    {
+
+        delete m_action_server_follow_joint_trajectory;
+        if (m_action_server_gripper_command)
+        {
+            delete m_action_server_gripper_command;
+        }
+
+        delete m_topic_subscribers;
+
+        m_tcp_session_manager->CloseSession();
+        m_udp_session_manager->CloseSession();
+        m_tcp_router->SetActivationStatus(false);
+        m_udp_router->SetActivationStatus(false);
+        m_tcp_transport->disconnect();
+        m_udp_transport->disconnect();
+        
+        delete m_actuator_config;
+        delete m_base;
+        delete m_control_config;
+        delete m_device_config;
+        delete m_device_manager;
+        delete m_interconnect_config;
+        delete m_vision_config;
+        delete m_base_cyclic;
+        
+        delete m_tcp_session_manager;
+        delete m_udp_session_manager;
+            
+        delete m_tcp_router;
+        delete m_udp_router;
+        delete m_tcp_transport;
+        delete m_udp_transport;
+    }
+}
+
+void KortexArmDriver::parseRosArguments()
+{
+    bool sim;
+    if (!ros::param::get("~sim", sim))
+    {
+        std::string error_string = "Simulation was not specified in the launch file, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+    m_is_real_robot = !sim;
+
+    // Some parameters are only necessary with a real robot
+    if (m_is_real_robot)
+    {
+        bool use_sim_time = false;
+        if (ros::param::get("/use_sim_time", use_sim_time))
+        {
+            if (use_sim_time)
+            {
+                std::string error_string = "ROS parameter /use_sim_time is true : you may experience problems and you should set it to false and restart the driver.";
+                ROS_WARN("%s", error_string.c_str());
+            }
+        }
+
+        if (!ros::param::get("~ip_address", m_ip_address))
+        {
+            std::string error_string = "IP address of the robot was not specified in the launch file, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+
+        if (!ros::param::get("~username", m_username))
+        {
+            std::string error_string = "Username for the robot session was not specified in the launch file, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+
+        if (!ros::param::get("~password", m_password))
+        {
+            std::string error_string = "Password for the robot session was not specified in the launch file, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+
+        if (!ros::param::get("~use_hard_limits", m_use_hard_limits))
+        {
+            std::string error_string = "Usage of hard limits as soft was not specified in the launch file, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+
+        if (!ros::param::get("~api_rpc_timeout_ms", m_api_rpc_timeout_ms))
+        {
+            std::string error_string = "API RPC timeout duration was not specified in the launch file, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+
+        if (!ros::param::get("~api_session_inactivity_timeout_ms", m_api_session_inactivity_timeout_ms))
+        {
+            std::string error_string = "API session inactivity timeout duration was not specified in the launch file, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+        
+        if (!ros::param::get("~api_connection_inactivity_timeout_ms", m_api_connection_inactivity_timeout_ms))
+        {
+            std::string error_string = "API connection inactivity timeout duration was not specified in the launch file, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+    }
+    
+
+    if (!ros::param::get("~cyclic_data_publish_rate", m_cyclic_data_publish_rate))
+    {
+        std::string error_string = "Publish rate of the cyclic data was not specified in the launch file, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+
+    if (!ros::param::get("~arm", m_arm_name))
+    {
+        std::string error_string = "Arm name was not specified in the launch file, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+
+    if (!ros::param::get("~dof", m_degrees_of_freedom))
+    {
+        std::string error_string = "Number of degrees of freedom was not specified in the launch file, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+
+    if (!ros::param::get("~joint_names", m_arm_joint_names))
+    {
+        std::string error_string = "Arm joint_names were not specified, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }    
+
+    if (!ros::param::get("~gripper", m_gripper_name))
+    {
+        std::string error_string = "Gripper name was not specified in the launch file, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+    std::string robot_name;
+    if (!ros::param::get("~robot_name", robot_name))
+    {
+        std::string error_string = "Robot name was not specified in the launch file, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+    if (!ros::param::get("~prefix", m_prefix))
+    {
+        std::string error_string = "Prefix name was not specified in the launch file, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+
+    if (isGripperPresent())
+    {
+        // Get the gripper_joint_names size
+        if (!ros::param::get("~gripper_joint_names", m_gripper_joint_names))
+        {
+            std::string error_string = "Gripper joint names were not specified in the launch file, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+
+        // Get the gripper_joint_limits size
+        if (!ros::param::get("~gripper_joint_limits_min", m_gripper_joint_limits_min))
+        {
+            std::string error_string = "Gripper joint min limits were not specified in the launch file, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+
+        // Get the gripper_joint_limits size
+        if (!ros::param::get("~gripper_joint_limits_max", m_gripper_joint_limits_max))
+        {
+            std::string error_string = "Gripper joint max limits were not specified in the launch file, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+    }
+}
+
+void KortexArmDriver::initApi()
+{
+    // Create the transport objects and connect to the robot
+    // TCP for all the Config services
+    // UDP for the Cyclic services (the feedback)
+    m_tcp_transport = new Kinova::Api::TransportClientTcp();
+    m_udp_transport = new Kinova::Api::TransportClientUdp();
+    m_tcp_transport->connect(m_ip_address, TCP_PORT);
+    m_udp_transport->connect(m_ip_address, UDP_PORT);
+
+    // Create the routers
+	m_tcp_router = new Kinova::Api::RouterClient(m_tcp_transport, [](Kinova::Api::KError err) { ROS_ERROR("Kortex API error was encountered with the TCP router: %s", err.toString().c_str()); });
+	m_udp_router = new Kinova::Api::RouterClient(m_udp_transport, [](Kinova::Api::KError err) { ROS_ERROR("Kortex API error was encountered with the UDP router: %s", err.toString().c_str()); });
+    
+    // Create the Protobuf services we are going to use in the ServiceProxy's
+    m_actuator_config = new Kinova::Api::ActuatorConfig::ActuatorConfigClient(m_tcp_router);
+    m_base = new Kinova::Api::Base::BaseClient(m_tcp_router);
+    m_control_config = new Kinova::Api::ControlConfig::ControlConfigClient(m_tcp_router);
+    m_device_config = new Kinova::Api::DeviceConfig::DeviceConfigClient(m_tcp_router);
+    m_device_manager = new Kinova::Api::DeviceManager::DeviceManagerClient(m_tcp_router);
+    m_interconnect_config = new Kinova::Api::InterconnectConfig::InterconnectConfigClient(m_tcp_router);
+    m_vision_config = new Kinova::Api::VisionConfig::VisionConfigClient(m_tcp_router);
+    
+    // Create the BaseCyclic Protobuf service for the feedback 
+    m_base_cyclic = new Kinova::Api::BaseCyclic::BaseCyclicClient(m_udp_router);
+    	
+    // Create the sessions so we can start using the robot
+    auto createSessionInfo = Kinova::Api::Session::CreateSessionInfo();
+	createSessionInfo.set_username(m_username);
+	createSessionInfo.set_password(m_password);
+	createSessionInfo.set_session_inactivity_timeout(m_api_session_inactivity_timeout_ms);
+    createSessionInfo.set_connection_inactivity_timeout(m_api_connection_inactivity_timeout_ms);
+
+	m_tcp_session_manager = new Kinova::Api::SessionManager(m_tcp_router);
+	m_udp_session_manager = new Kinova::Api::SessionManager(m_udp_router);
+
+    try 
+    {
+        m_tcp_session_manager->CreateSession(createSessionInfo);
+        ROS_INFO("Session created successfully for TCP services");
+
+        m_udp_session_manager->CreateSession(createSessionInfo);
+        ROS_INFO("Session created successfully for UDP services");
+    }
+    catch(std::runtime_error& ex_runtime)
+    {
+        std::string error_string = "The node could not connect to the arm. Did you specify the right IP address and is the arm powered on?";
+        ROS_ERROR("%s", error_string.c_str());
+        throw ex_runtime;
+    }
+}
+
+void KortexArmDriver::verifyProductConfiguration()
+{
+    // Retrieve the Product Configuration
+    Kinova::Api::ProductConfiguration::CompleteProductConfiguration product_config = m_base->GetProductConfiguration();
+    
+    // Compare arm model (ModelId)
+    if (m_arm_name == "gen3")
+    {
+        if (product_config.model() != Kinova::Api::ProductConfiguration::ModelId::MODEL_ID_L53)
+        {
+            std::string error_string = "The arm model specified in the launch file doesn't match the detected arm's model, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+        // Set Angular Trajectories soft limits to max if the option is true in the launch file
+        if (m_use_hard_limits)
+        {
+            setAngularTrajectorySoftLimitsToMax();   
+        }
+    }
+    else if (m_arm_name == "gen3_lite")
+    {
+        if (product_config.model() != Kinova::Api::ProductConfiguration::ModelId::MODEL_ID_L31)
+        {
+            std::string error_string = "The arm model specified in the launch file doesn't match the detected arm's model, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+    }
+    else
+    {
+        std::string error_string = "The arm model specified in the launch file is not supported, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+    // Compare number of degrees of freedom specified in the launch file with the number of detected actuators
+    if (product_config.degree_of_freedom() != m_degrees_of_freedom)
+    {
+        std::string error_string = "The degrees of freedom specified in the launch file doesn't match the detected number of actuators, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+
+    // Compare gripper type (EndEffectorType)
+    if (!isGripperPresent())
+    {
+        if (product_config.end_effector_type() != Kinova::Api::ProductConfiguration::EndEffectorType::END_EFFECTOR_TYPE_NOT_INSTALLED)
+        {
+            std::string error_string = "The gripper model specified in the launch file doesn't match the detected arm's gripper model, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+    }
+    else if (m_gripper_name == "robotiq_2f_85")
+    {
+        if (product_config.end_effector_type() != Kinova::Api::ProductConfiguration::EndEffectorType::END_EFFECTOR_TYPE_ROBOTIQ_2F_85)
+        {
+            std::string error_string = "The gripper model specified in the launch file doesn't match the detected arm's gripper model, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+    }
+    else if (m_gripper_name == "robotiq_2f_140")
+    {
+        if (product_config.end_effector_type() != Kinova::Api::ProductConfiguration::EndEffectorType::END_EFFECTOR_TYPE_ROBOTIQ_2F_140)
+        {
+            std::string error_string = "The gripper model specified in the launch file doesn't match the detected arm's gripper model, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+    }
+    else if (m_gripper_name == "gen3_lite_2f")
+    {
+        if (product_config.end_effector_type() != Kinova::Api::ProductConfiguration::EndEffectorType::END_EFFECTOR_TYPE_L31_GRIPPER_2F)
+        {
+            std::string error_string = "The gripper model specified in the launch file doesn't match the detected arm's gripper model, shutting down the node...";
+            ROS_ERROR("%s", error_string.c_str());
+            throw new std::runtime_error(error_string);
+        }
+    }
+    else 
+    {
+        std::string error_string = "The gripper model specified in the launch file is not supported, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+
+    // Find all the devices and print the device ID's
+    ROS_INFO("-------------------------------------------------");
+    ROS_INFO("Scanning all devices in robot... ");
+
+// Loop through the devices to find the device ID's
+    auto devices = m_device_manager->ReadAllDevices();
+    for (auto device : devices.device_handle())
+    {
+        if (device.device_type() == Kinova::Api::Common::DeviceTypes::BASE)
+        {
+            ROS_INFO("Base device was found on device identifier %u", device.device_identifier());
+        }
+        else if (device.device_type() == Kinova::Api::Common::DeviceTypes::SMALL_ACTUATOR 
+                 || device.device_type() == Kinova::Api::Common::DeviceTypes::MEDIUM_ACTUATOR
+                 || device.device_type() == Kinova::Api::Common::DeviceTypes::BIG_ACTUATOR
+                 || device.device_type() == Kinova::Api::Common::DeviceTypes::XBIG_ACTUATOR)
+        {
+            ROS_INFO("Actuator device of type %s was found on device identifier %u", Kinova::Api::Common::DeviceTypes_Name(device.device_type()).c_str(), device.device_identifier());
+        }
+        else if (device.device_type() == Kinova::Api::Common::DeviceTypes::INTERCONNECT)
+        {
+            m_interconnect_device_id = device.device_identifier();
+            m_is_interconnect_module_present = true;
+            ROS_INFO("Interconnect device was found on device identifier %u", m_interconnect_device_id);
+        }
+        else if (device.device_type() == Kinova::Api::Common::DeviceTypes::VISION)
+        {
+            m_vision_device_id = device.device_identifier();
+            m_is_vision_module_present = true;
+            ROS_INFO("Vision device was found on device identifier %u", m_vision_device_id);
+        }
+    }
+    ROS_INFO("-------------------------------------------------");
+	
+	// Set the ROS Param for the degrees of freedom
+    m_node_handle.setParam("degrees_of_freedom", int(product_config.degree_of_freedom()));
+    m_node_handle.setParam("is_gripper_present", isGripperPresent());
+    m_node_handle.setParam("gripper_joint_names", m_gripper_joint_names);
+	m_node_handle.setParam("has_vision_module", m_is_vision_module_present);
+    m_node_handle.setParam("has_interconnect_module", m_is_interconnect_module_present);
+}
+
+void KortexArmDriver::initSubscribers()
+{
+    m_topic_subscribers = new KortexSubscribers(m_node_handle, m_base);
+}
+
+void KortexArmDriver::initRosServices()
+{
+    ROS_INFO("-------------------------------------------------");
+    ROS_INFO("Initializing Kortex Driver's services...");
+    if (m_is_real_robot)
+    {
+        m_actuator_config_ros_services = new ActuatorConfigRobotServices(m_node_handle, m_actuator_config, 0, m_api_rpc_timeout_ms);
+        m_base_ros_services = new BaseRobotServices(m_node_handle, m_base, 0, m_api_rpc_timeout_ms);
+        m_control_config_ros_services = new ControlConfigRobotServices(m_node_handle, m_control_config, 0, m_api_rpc_timeout_ms);
+        m_device_config_ros_services = new DeviceConfigRobotServices(m_node_handle, m_device_config, 0, m_api_rpc_timeout_ms);
+        m_device_manager_ros_services = new DeviceManagerRobotServices(m_node_handle, m_device_manager, 0, m_api_rpc_timeout_ms);
+        if (m_is_interconnect_module_present)
+        {
+            m_interconnect_config_ros_services = new InterconnectConfigRobotServices(m_node_handle, m_interconnect_config, m_interconnect_device_id, m_api_rpc_timeout_ms);
+        }
+        else 
+        {
+            m_interconnect_config_ros_services = nullptr;
+        }
+        if (m_is_vision_module_present)
+        {
+            m_vision_config_ros_services = new VisionConfigRobotServices(m_node_handle, m_vision_config, m_vision_device_id, m_api_rpc_timeout_ms);
+        }
+        else
+        {
+            m_vision_config_ros_services = nullptr;
+        }
+    }
+    else
+    {
+        m_actuator_config_ros_services = new ActuatorConfigSimulationServices(m_node_handle);
+        m_base_ros_services = new BaseSimulationServices(m_node_handle);
+        m_control_config_ros_services = new ControlConfigSimulationServices(m_node_handle);
+        m_device_config_ros_services = new DeviceConfigSimulationServices(m_node_handle);
+        m_device_manager_ros_services = new DeviceManagerSimulationServices(m_node_handle);
+        if (m_is_interconnect_module_present)
+        {
+            m_interconnect_config_ros_services = new InterconnectConfigSimulationServices(m_node_handle);
+        }
+        else 
+        {
+            m_interconnect_config_ros_services = nullptr;
+        }
+        if (m_is_vision_module_present)
+        {
+            m_vision_config_ros_services = new VisionConfigSimulationServices(m_node_handle);
+        }
+        else
+        {
+            m_vision_config_ros_services = nullptr;
+        }
+    }
+    std::this_thread::sleep_for(std::chrono::milliseconds(2000));
+    ROS_INFO("Kortex Driver's services initialized correctly.");
+    ROS_INFO("-------------------------------------------------");
+}
+
+void KortexArmDriver::startActionServers()
+{
+    // Start Action servers
+    m_action_server_follow_joint_trajectory = new PreComputedJointTrajectoryActionServer(m_arm_name + "_joint_trajectory_controller/follow_joint_trajectory", m_node_handle, m_base, m_base_cyclic);
+    // Start Gripper Action Server if the arm has a gripper
+    m_action_server_gripper_command = nullptr;
+    if (isGripperPresent())
+    {
+        m_action_server_gripper_command = new RobotiqGripperCommandActionServer(m_gripper_name + "_gripper_controller/gripper_cmd", m_gripper_joint_names[0], m_gripper_joint_limits_min[0], m_gripper_joint_limits_max[0], m_node_handle, m_base, m_base_cyclic);
+    }
+}
+
+bool KortexArmDriver::isGripperPresent()
+{
+    return m_gripper_name != "";
+}
+
+void KortexArmDriver::setAngularTrajectorySoftLimitsToMax()
+{
+    try
+    {
+        auto hard_limits = m_control_config->GetKinematicHardLimits();
+        Kinova::Api::ControlConfig::ControlMode target_control_mode = Kinova::Api::ControlConfig::ANGULAR_TRAJECTORY;
+        
+        // Set Joint Speed limits to max
+        Kinova::Api::ControlConfig::JointSpeedSoftLimits jpsl;
+        jpsl.set_control_mode(target_control_mode);
+        for (auto j : hard_limits.joint_speed_limits())
+        {
+            jpsl.add_joint_speed_soft_limits(j);
+        }
+        m_control_config->SetJointSpeedSoftLimits(jpsl);
+
+        // Set Joint Acceleration limits to max
+        Kinova::Api::ControlConfig::JointAccelerationSoftLimits jasl;
+        jasl.set_control_mode(target_control_mode);
+        for (auto j : hard_limits.joint_acceleration_limits())
+        {
+            jasl.add_joint_acceleration_soft_limits(j);
+        }
+        m_control_config->SetJointAccelerationSoftLimits(jasl);
+    }
+    catch (Kinova::Api::KDetailedException& ex)
+    {
+        ROS_WARN("Kortex exception while getting the base_feedback");
+        ROS_WARN("Error code: %s\n", Kinova::Api::ErrorCodes_Name(ex.getErrorInfo().getError().error_code()).c_str());
+        ROS_WARN("Error sub code: %s\n", Kinova::Api::SubErrorCodes_Name(Kinova::Api::SubErrorCodes(ex.getErrorInfo().getError().error_sub_code())).c_str());
+        ROS_WARN("Error description: %s\n", ex.what());
+    }
+}
+
+void KortexArmDriver::publishRobotFeedback()
+{
+
+    Kinova::Api::BaseCyclic::Feedback feedback_from_api;
+    sensor_msgs::JointState joint_state;
+
+    ros::Rate rate(m_cyclic_data_publish_rate);
+    while (m_node_is_running)
+    {
+        try 
+        {
+            feedback_from_api = m_base_cyclic->RefreshFeedback();
+        }
+        catch (Kinova::Api::KDetailedException& ex)
+        {
+            ROS_WARN("Kortex exception while getting the base_feedback");
+		    ROS_WARN("Error code: %s\n", Kinova::Api::ErrorCodes_Name(ex.getErrorInfo().getError().error_code()).c_str());
+		    ROS_WARN("Error sub code: %s\n", Kinova::Api::SubErrorCodes_Name(Kinova::Api::SubErrorCodes(ex.getErrorInfo().getError().error_sub_code())).c_str());
+		    ROS_WARN("Error description: %s\n", ex.what());
+        }
+        catch (std::runtime_error& ex_runtime)
+        {
+            ROS_DEBUG("Runtime exception detected while getting feedback! %d", ++m_consecutive_base_cyclic_timeouts);
+            ROS_DEBUG("%s", ex_runtime.what());
+        }
+        catch (std::future_error& ex_future)
+        {
+            ROS_DEBUG("Future exception detected while getting feedback : %s", ex_future.what());
+        }
+
+        // If the arm has disconnected, the node cannot continue running
+        if (m_consecutive_base_cyclic_timeouts > MAX_CONSECUTIVE_TIMEOUTS_BEFORE_SHUTDOWN)
+        {
+            std::string error_string = "Too many consecutive timeouts : killing the node.";
+            ROS_ERROR("%s", error_string.c_str());
+            ros::shutdown();
+            return;
+        }
+
+        m_consecutive_base_cyclic_timeouts = 0;
+        kortex_driver::BaseCyclic_Feedback base_feedback;
+        ToRosData(feedback_from_api, base_feedback);
+
+        joint_state.name.resize(base_feedback.actuators.size() + base_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor.size());
+        joint_state.position.resize(base_feedback.actuators.size() + base_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor.size());
+        joint_state.velocity.resize(base_feedback.actuators.size() + base_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor.size());
+        joint_state.effort.resize(base_feedback.actuators.size() + base_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor.size());
+        joint_state.header.stamp = ros::Time::now();
+
+        for (int i = 0; i < base_feedback.actuators.size(); i++)
+        {
+            joint_state.name[i] = m_arm_joint_names[i];
+            joint_state.position[i] = m_math_util.wrapRadiansFromMinusPiToPi(m_math_util.toRad(base_feedback.actuators[i].position));
+            joint_state.velocity[i] = m_math_util.toRad(base_feedback.actuators[i].velocity);
+            joint_state.effort[i] = base_feedback.actuators[i].torque;
+        }
+
+        if (isGripperPresent())
+        {
+            for (int i = 0; i < base_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor.size(); i++)
+            {
+                int joint_state_index = base_feedback.actuators.size() + i;
+                joint_state.name[joint_state_index] = m_gripper_joint_names[i];
+                // Arm feedback is between 0 and 100, and limits in URDF are specified in gripper_joint_limits_min[i] and gripper_joint_limits_max[i] parameters
+                joint_state.position[joint_state_index] = m_math_util.absolute_position_from_relative(base_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor[i].position / 100.0, m_gripper_joint_limits_min[i], m_gripper_joint_limits_max[i]);
+                joint_state.velocity[joint_state_index] = base_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor[i].velocity;
+                // Not supported for now
+                joint_state.effort[joint_state_index] = 0.0;
+            }
+        }
+
+        m_pub_base_feedback.publish(base_feedback);
+        m_pub_joint_state.publish(joint_state);
+
+        rate.sleep();
+    }
+}
+
+void KortexArmDriver::publishSimulationFeedback()
+{
+    ros::Rate rate(m_cyclic_data_publish_rate);
+    while (m_node_is_running)
+    {
+        m_pub_base_feedback.publish(m_simulator->GetFeedback());
+        rate.sleep();
+    }
+}
+
+void KortexArmDriver::registerSimulationHandlers()
+{
+    BaseSimulationServices* base_services_simulation = dynamic_cast<BaseSimulationServices*>(m_base_ros_services);
+    // Link the m_simulator handlers to the ROS services callbacks
+    // Action services
+    base_services_simulation->CreateActionHandler = std::bind(&KortexArmSimulation::CreateAction, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->ReadActionHandler = std::bind(&KortexArmSimulation::ReadAction, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->ReadAllActionsHandler = std::bind(&KortexArmSimulation::ReadAllActions, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->DeleteActionHandler = std::bind(&KortexArmSimulation::DeleteAction, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->UpdateActionHandler = std::bind(&KortexArmSimulation::UpdateAction, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->ExecuteActionFromReferenceHandler = std::bind(&KortexArmSimulation::ExecuteActionFromReference, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->ExecuteActionHandler = std::bind(&KortexArmSimulation::ExecuteAction, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->StopActionHandler = std::bind(&KortexArmSimulation::StopAction, m_simulator.get(), std::placeholders::_1);
+    // Other services
+    base_services_simulation->PlayCartesianTrajectoryHandler = std::bind(&KortexArmSimulation::PlayCartesianTrajectory, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->PlayJointTrajectoryHandler = std::bind(&KortexArmSimulation::PlayJointTrajectory, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->SendJointSpeedsCommandHandler = std::bind(&KortexArmSimulation::SendJointSpeedsCommand, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->SendGripperCommandHandler = std::bind(&KortexArmSimulation::SendGripperCommand, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->StopHandler = std::bind(&KortexArmSimulation::Stop, m_simulator.get(), std::placeholders::_1);
+    base_services_simulation->ApplyEmergencyStopHandler = std::bind(&KortexArmSimulation::ApplyEmergencyStop, m_simulator.get(), std::placeholders::_1);
+
+    // Uncomment this SendTwistCommand handler to use the twist command simulation - not stable
+    // base_services_simulation->SendTwistCommandHandler = std::bind(&KortexArmSimulation::SendTwistCommand, m_simulator.get(), std::placeholders::_1);
+
+    // Prospects
+    //SendSelectedJointSpeedCommand
+    //PlaySelectedJointTrajectory
+    //PlayCartesianTrajectoryPosition
+    //PlayCartesianTrajectoryOrientation
+}
\ No newline at end of file
diff --git a/kortex_driver/src/non-generated/driver/kortex_arm_simulation.cpp b/kortex_driver/src/non-generated/driver/kortex_arm_simulation.cpp
new file mode 100644
index 0000000..bfd61bc
--- /dev/null
+++ b/kortex_driver/src/non-generated/driver/kortex_arm_simulation.cpp
@@ -0,0 +1,1652 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2020 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include "kortex_driver/non-generated/kortex_arm_simulation.h"
+#include "kortex_driver/ErrorCodes.h"
+#include "kortex_driver/SubErrorCodes.h"
+#include "kortex_driver/ActionNotification.h"
+#include "kortex_driver/ActionEvent.h"
+#include "kortex_driver/JointTrajectoryConstraintType.h"
+#include "kortex_driver/GripperMode.h"
+#include "kortex_driver/CartesianReferenceFrame.h"
+
+#include "trajectory_msgs/JointTrajectory.h"
+#include "controller_manager_msgs/SwitchController.h"
+#include "std_msgs/Float64.h"
+
+#include <kdl_parser/kdl_parser.hpp>
+#include <kdl/path_line.hpp>
+#include <kdl/rotational_interpolation_sa.hpp>
+#include <kdl/trajectory_segment.hpp>
+
+#include <urdf/model.h>
+
+#include <set>
+#include <chrono>
+
+namespace 
+{
+    static const std::string ARM_PLANNING_GROUP = "arm";
+    static const std::string GRIPPER_PLANNING_GROUP = "gripper";
+    static constexpr unsigned int FIRST_CREATED_ACTION_ID = 10000;
+    static const std::set<unsigned int> DEFAULT_ACTIONS_IDENTIFIERS{1,2,3};
+    static constexpr double JOINT_TRAJECTORY_TIMESTEP_SECONDS = 0.01;
+    static constexpr double MINIMUM_JOINT_VELOCITY_RAD_PER_SECONDS = 0.001;
+}
+
+KortexArmSimulation::KortexArmSimulation(ros::NodeHandle& node_handle): m_node_handle(node_handle),
+                                                                        m_map_actions{},
+                                                                        m_is_action_being_executed{false},
+                                                                        m_action_preempted{false},
+                                                                        m_current_action_type{0},
+                                                                        m_first_state_received{false},
+                                                                        m_active_controller_type{ControllerType::kTrajectory}
+{
+    // Namespacing and prefixing information
+    ros::param::get("~robot_name", m_robot_name);
+    ros::param::get("~prefix", m_prefix);
+
+    // Arm information
+    urdf::Model model;
+    model.initParam("/" + m_robot_name + "/robot_description");
+    ros::param::get("~dof", m_degrees_of_freedom);
+    ros::param::get("~arm", m_arm_name);
+    ros::param::get("~joint_names", m_arm_joint_names);
+    ros::param::get("~maximum_velocities", m_arm_velocity_max_limits);
+    ros::param::get("~maximum_accelerations", m_arm_acceleration_max_limits);
+    m_arm_joint_limits_min.resize(GetDOF());
+    m_arm_joint_limits_max.resize(GetDOF());
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        auto joint = model.getJoint(m_arm_joint_names[i]);
+        m_arm_joint_limits_min[i] = joint->limits->lower;
+        m_arm_joint_limits_max[i] = joint->limits->upper;
+    }
+
+    // Cartesian Twist limits
+    ros::param::get("~maximum_linear_velocity", m_max_cartesian_twist_linear);
+    ros::param::get("~maximum_angular_velocity", m_max_cartesian_twist_angular);
+    ros::param::get("~maximum_linear_acceleration", m_max_cartesian_acceleration_linear);
+    ros::param::get("~maximum_angular_acceleration", m_max_cartesian_acceleration_angular);
+    
+    // Gripper information
+    ros::param::get("~gripper", m_gripper_name);
+    if (IsGripperPresent())
+    {
+        ros::param::get("~gripper_joint_names", m_gripper_joint_names);
+
+        // The joint_states feedback uses alphabetical order for the indexes
+        // If the gripper joint is before
+        if (m_gripper_joint_names[0] < m_arm_joint_names[0])
+        {
+            m_gripper_joint_index = 0;
+            m_first_arm_joint_index = 1;
+        }
+        // If the gripper joint is after the arm joints
+        else
+        {
+            m_gripper_joint_index = GetDOF();
+            m_first_arm_joint_index = 0;
+        }
+
+        for (auto s : m_gripper_joint_names)
+        {
+            s.insert(0, m_prefix);
+        }
+        ros::param::get("~gripper_joint_limits_max", m_gripper_joint_limits_max);
+        ros::param::get("~gripper_joint_limits_min", m_gripper_joint_limits_min);
+    }
+
+    // Print out simulation configuration
+    ROS_INFO("Simulating arm with following characteristics:");
+    ROS_INFO("Arm type : %s", m_arm_name.c_str());
+    ROS_INFO("Gripper type : %s", m_gripper_name.empty() ? "None" : m_gripper_name.c_str());
+    ROS_INFO("Arm namespace : %s", m_robot_name.c_str());
+    ROS_INFO("URDF prefix : %s", m_prefix.c_str());
+
+    // Building the KDL chain from the robot description
+    // The chain goes from 'base_link' to 'tool_frame'
+    KDL::Tree tree;
+    if (!kdl_parser::treeFromParam("robot_description", tree))
+    {
+        const std::string error_string("Failed to parse robot_description parameter to build the kinematic tree!"); 
+        ROS_ERROR("%s", error_string.c_str());
+        throw(std::runtime_error(error_string));
+    }
+    if (!tree.getChain(m_prefix + "base_link", m_prefix + "tool_frame", m_chain))
+    {
+        const std::string error_string("Failed to extract kinematic chain from parsed tree!"); 
+        ROS_ERROR("%s", error_string.c_str());
+        throw(std::runtime_error(error_string));
+    }
+    m_fk_solver.reset(new KDL::ChainFkSolverPos_recursive(m_chain));
+    m_ik_vel_solver.reset(new KDL::ChainIkSolverVel_pinv(m_chain));
+    m_ik_pos_solver.reset(new KDL::ChainIkSolverPos_NR(m_chain, *m_fk_solver, *m_ik_vel_solver));
+
+    // Build the velocity profile for each joint using the max velocities and max accelerations
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        m_velocity_trap_profiles.push_back(KDL::VelocityProfile_Trap(m_arm_velocity_max_limits[i], m_arm_acceleration_max_limits[i]));
+    }
+
+    // Start MoveIt client
+    m_moveit_arm_interface.reset(new moveit::planning_interface::MoveGroupInterface(ARM_PLANNING_GROUP));
+    if (IsGripperPresent())
+    {
+        m_moveit_gripper_interface.reset(new moveit::planning_interface::MoveGroupInterface(GRIPPER_PLANNING_GROUP));   
+    }
+
+    // Create default actions
+    CreateDefaultActions();
+
+    // Create publishers and subscribers
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        m_pub_position_controllers.push_back(m_node_handle.advertise<std_msgs::Float64>(
+            "/" + m_robot_name + "/" + m_prefix + "joint_" + std::to_string(i+1) + "_position_controller/command", 1000));
+    }
+    m_pub_action_topic = m_node_handle.advertise<kortex_driver::ActionNotification>("action_topic", 1000);
+    m_sub_joint_state = m_node_handle.subscribe("/" + m_robot_name + "/" + "joint_states", 1, &KortexArmSimulation::cb_joint_states, this);
+    m_feedback.actuators.resize(GetDOF());
+    m_feedback.interconnect.oneof_tool_feedback.gripper_feedback.resize(1);
+    m_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor.resize(1);
+
+    m_sub_joint_speeds = m_node_handle.subscribe("in/joint_velocity", 1, &KortexArmSimulation::new_joint_speeds_cb, this);
+    m_sub_twist = m_node_handle.subscribe("in/cartesian_velocity", 1, &KortexArmSimulation::new_twist_cb, this);
+    m_sub_clear_faults = m_node_handle.subscribe("in/clear_faults", 1, &KortexArmSimulation::clear_faults_cb, this);
+    m_sub_stop = m_node_handle.subscribe("in/stop", 1, &KortexArmSimulation::stop_cb, this);
+    m_sub_emergency_stop = m_node_handle.subscribe("in/emergency_stop", 1, &KortexArmSimulation::emergency_stop_cb, this);
+
+    // Create service clients
+    m_client_switch_controllers = m_node_handle.serviceClient<controller_manager_msgs::SwitchController>
+        ("/" + m_robot_name + "/controller_manager/switch_controller");
+    
+    // Fill controllers'names
+    m_trajectory_controllers_list.push_back(m_prefix + m_arm_name + "_joint_trajectory_controller"); // only one trajectory controller
+    m_position_controllers_list.resize(GetDOF()); // one position controller per 
+    std::generate(m_position_controllers_list.begin(), 
+                    m_position_controllers_list.end(), 
+                    [this]() -> std::string
+                    {
+                        static int i = 1;
+                        return m_prefix + "joint_" + std::to_string(i++) + "_position_controller";
+                    });
+
+    // Initialize the velocity commands to null
+    m_velocity_commands.resize(GetDOF());
+    std::fill(m_velocity_commands.begin(), m_velocity_commands.end(), 0.0);
+
+    // Create and connect action clients
+    m_follow_joint_trajectory_action_client.reset(new actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction>(
+        "/" + m_robot_name + "/" + m_prefix + m_arm_name + "_joint_trajectory_controller" + "/follow_joint_trajectory", true));
+    m_follow_joint_trajectory_action_client->waitForServer();
+    if (IsGripperPresent())
+    {
+        m_gripper_action_client.reset(new actionlib::SimpleActionClient<control_msgs::GripperCommandAction>(
+            "/" + m_robot_name + "/" + m_prefix + m_gripper_name + "_gripper_controller" + "/gripper_cmd", true));
+        m_gripper_action_client->waitForServer();
+    }
+
+    // Create usual ROS parameters
+    m_node_handle.setParam("degrees_of_freedom", m_degrees_of_freedom);
+    m_node_handle.setParam("is_gripper_present", IsGripperPresent());
+    m_node_handle.setParam("gripper_joint_names", m_gripper_joint_names);
+	m_node_handle.setParam("has_vision_module", false);
+    m_node_handle.setParam("has_interconnect_module", false);
+}
+
+KortexArmSimulation::~KortexArmSimulation()
+{
+    JoinThreadAndCancelAction();
+}
+
+kortex_driver::BaseCyclic_Feedback KortexArmSimulation::GetFeedback()
+{
+    // If the feedback is not yet received, return now
+    if (!m_first_state_received)
+    {
+        return m_feedback;
+    }
+
+    // Make a copy of current state
+    sensor_msgs::JointState current;
+    {
+        const std::lock_guard<std::mutex> lock(m_state_mutex);
+        current = m_current_state;
+    }
+
+    // Fill joint angles feedback
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        m_feedback.actuators[i].position = m_math_util.wrapDegreesFromZeroTo360(m_math_util.toDeg(current.position[m_first_arm_joint_index + i]));
+        m_feedback.actuators[i].velocity = m_math_util.toDeg(current.velocity[m_first_arm_joint_index + i]);
+    }
+
+    // Calculate FK to get end effector pose
+    auto frame = KDL::Frame();
+    Eigen::VectorXd positions_eigen(GetDOF());
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        positions_eigen[i] = current.position[m_first_arm_joint_index + i];
+    }
+    KDL::JntArray current_kdl(GetDOF());
+    current_kdl.data = positions_eigen;
+    m_fk_solver->JntToCart(current_kdl, frame);
+    m_feedback.base.tool_pose_x = frame.p.x();
+    m_feedback.base.commanded_tool_pose_x = frame.p.x();
+    m_feedback.base.tool_pose_y = frame.p.y();
+    m_feedback.base.commanded_tool_pose_y = frame.p.y();
+    m_feedback.base.tool_pose_z = frame.p.z();
+    m_feedback.base.commanded_tool_pose_z = frame.p.z();
+    double alpha, beta, gamma;
+    frame.M.GetEulerZYX(alpha, beta, gamma);
+    m_feedback.base.tool_pose_theta_x = m_math_util.toDeg(gamma);
+    m_feedback.base.commanded_tool_pose_theta_x = m_math_util.toDeg(gamma);
+    m_feedback.base.tool_pose_theta_y = m_math_util.toDeg(beta);
+    m_feedback.base.commanded_tool_pose_theta_y = m_math_util.toDeg(beta);
+    m_feedback.base.tool_pose_theta_z = m_math_util.toDeg(alpha);
+    m_feedback.base.commanded_tool_pose_theta_z = m_math_util.toDeg(alpha);
+
+    // Fill gripper information
+    if (IsGripperPresent())
+    {
+        // Gripper index is right after last actuator and is expressed in % in the base feedback (not in absolute position like in joint_states)
+        m_feedback.interconnect.oneof_tool_feedback.gripper_feedback[0].motor[0].position = 100.0 * m_math_util.relative_position_from_absolute(current.position[m_gripper_joint_index], m_gripper_joint_limits_min[0], m_gripper_joint_limits_max[0]);
+    }
+
+    return m_feedback;
+}
+
+kortex_driver::CreateAction::Response KortexArmSimulation::CreateAction(const kortex_driver::CreateAction::Request& req)
+{
+    auto new_action = req.input;
+    unsigned int identifier = FIRST_CREATED_ACTION_ID;
+    bool identifier_taken = true;
+    // Find unique identifier for new action
+    while (identifier_taken)
+    {
+        identifier_taken = m_map_actions.count(identifier) == 1;
+        if (identifier_taken)
+        {
+            ++identifier;
+        }
+    }
+    // Add Action to map if type is supported
+    switch (new_action.handle.action_type)
+    {
+        case kortex_driver::ActionType::REACH_JOINT_ANGLES:
+        case kortex_driver::ActionType::REACH_POSE:
+        case kortex_driver::ActionType::SEND_GRIPPER_COMMAND:
+        case kortex_driver::ActionType::TIME_DELAY:
+            new_action.handle.identifier = identifier;
+            new_action.handle.permission = 7;
+            m_map_actions.emplace(std::make_pair(identifier, new_action));
+            break;
+        default:
+            ROS_ERROR("Unsupported action type %d : could not create simulated action.", new_action.handle.action_type);
+            break;
+    }
+    // Return ActionHandle for added action
+    kortex_driver::CreateAction::Response response;
+    response.output = new_action.handle;
+    return response;
+}
+
+kortex_driver::ReadAction::Response KortexArmSimulation::ReadAction(const kortex_driver::ReadAction::Request& req)
+{
+    auto input = req.input;
+    kortex_driver::ReadAction::Response response;
+    auto it = m_map_actions.find(input.identifier);
+    if (it != m_map_actions.end())
+    {
+        response.output = it->second;
+    }
+    return response;
+}
+
+kortex_driver::ReadAllActions::Response KortexArmSimulation::ReadAllActions(const kortex_driver::ReadAllActions::Request& req)
+{
+    auto input = req.input;
+    kortex_driver::ReadAllActions::Response response;
+    kortex_driver::ActionList action_list;
+    for (auto a : m_map_actions)
+    {
+        // If requested action type is specified and matches iterated action's type, add it to the list
+        if (input.action_type == 0 || input.action_type == a.second.handle.action_type)
+        {
+            action_list.action_list.push_back(a.second);
+        }
+        
+    }
+    response.output = action_list;
+    return response;
+}
+
+kortex_driver::DeleteAction::Response KortexArmSimulation::DeleteAction(const kortex_driver::DeleteAction::Request& req)
+{
+    auto handle = req.input;
+    // If the action is not a default action
+    if (DEFAULT_ACTIONS_IDENTIFIERS.find(handle.identifier) == DEFAULT_ACTIONS_IDENTIFIERS.end())
+    {
+        auto it = m_map_actions.find(handle.identifier);
+        if (it != m_map_actions.end())
+        {
+            m_map_actions.erase(it);
+            ROS_INFO("Simulated action #%u properly deleted.", handle.identifier);
+        }
+        else
+        {
+            ROS_WARN("Could not find simulated action #%u to delete in actions map.", handle.identifier);
+        }
+    }
+    else
+    {
+        ROS_ERROR("Cannot delete default simulated actions.");
+    }
+    
+    return kortex_driver::DeleteAction::Response();
+}
+
+kortex_driver::UpdateAction::Response KortexArmSimulation::UpdateAction(const kortex_driver::UpdateAction::Request& req)
+{
+    auto action = req.input;
+    // If the action is not a default action
+    if (DEFAULT_ACTIONS_IDENTIFIERS.find(action.handle.identifier) == DEFAULT_ACTIONS_IDENTIFIERS.end())
+    {
+        auto it = m_map_actions.find(action.handle.identifier);
+        if (it != m_map_actions.end())
+        {
+            if (it->second.handle.action_type == action.handle.action_type)
+            {
+                it->second = action;
+                ROS_INFO("Simulated action #%u properly updated.", action.handle.identifier);
+            }
+            else
+            {
+                ROS_ERROR("Cannot update action with different type.");
+            }
+        }
+        else
+        {
+            ROS_ERROR("Could not find simulated action #%u to update in actions map.", action.handle.identifier);
+        }
+    }
+    else
+    {
+       ROS_ERROR("Cannot update default simulated actions."); 
+    }
+
+    return kortex_driver::UpdateAction::Response();
+}
+
+kortex_driver::ExecuteActionFromReference::Response KortexArmSimulation::ExecuteActionFromReference(const kortex_driver::ExecuteActionFromReference::Request& req)
+{
+    auto handle = req.input;
+    auto it = m_map_actions.find(handle.identifier);
+    if (it != m_map_actions.end())
+    {
+        JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
+        m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, it->second);
+    }
+    else
+    {
+        ROS_ERROR("Could not find action with given identifier %d", handle.identifier);
+    }
+    
+    return kortex_driver::ExecuteActionFromReference::Response();
+}
+
+kortex_driver::ExecuteAction::Response KortexArmSimulation::ExecuteAction(const kortex_driver::ExecuteAction::Request& req)
+{
+    auto action = req.input;
+    // Add Action to map if type is supported
+    switch (action.handle.action_type)
+    {
+        case kortex_driver::ActionType::REACH_JOINT_ANGLES:
+        case kortex_driver::ActionType::REACH_POSE:
+        case kortex_driver::ActionType::SEND_GRIPPER_COMMAND:
+        case kortex_driver::ActionType::TIME_DELAY:
+            JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
+            m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
+            break;
+        default:
+            ROS_ERROR("Unsupported action type %d : could not execute simulated action.", action.handle.action_type);
+            break;
+    }
+
+    return kortex_driver::ExecuteAction::Response();
+}
+
+kortex_driver::StopAction::Response KortexArmSimulation::StopAction(const kortex_driver::StopAction::Request& req)
+{
+    if (m_is_action_being_executed.load())
+    {
+        JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
+    }
+
+    m_follow_joint_trajectory_action_client->cancelAllGoals();
+    if (IsGripperPresent())
+    {
+        m_gripper_action_client->cancelAllGoals();
+    }
+    
+    return kortex_driver::StopAction::Response();
+}
+
+kortex_driver::PlayCartesianTrajectory::Response KortexArmSimulation::PlayCartesianTrajectory(const kortex_driver::PlayCartesianTrajectory::Request& req)
+{
+    auto constrained_pose = req.input;
+    kortex_driver::Action action;
+    action.name = "PlayCartesianTrajectory";
+    action.handle.action_type = kortex_driver::ActionType::REACH_POSE;
+    action.oneof_action_parameters.reach_pose.push_back(constrained_pose);
+
+    JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
+    m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
+    
+    return kortex_driver::PlayCartesianTrajectory::Response();
+}
+
+kortex_driver::SendTwistCommand::Response KortexArmSimulation::SendTwistCommand(const kortex_driver::SendTwistCommand::Request& req)
+{
+    auto twist_command = req.input;
+    kortex_driver::Action action;
+    action.name = "SendTwistCommand";
+    action.handle.action_type = kortex_driver::ActionType::SEND_TWIST_COMMAND;
+    action.oneof_action_parameters.send_twist_command.push_back(twist_command);
+
+    // Convert orientations to rad
+    m_twist_command.angular_x = m_math_util.toRad(m_twist_command.angular_x);
+    m_twist_command.angular_x = m_math_util.toRad(m_twist_command.angular_y);
+    m_twist_command.angular_x = m_math_util.toRad(m_twist_command.angular_z);
+    
+    // Fill the twist command
+    m_twist_command = twist_command.twist;
+
+    // If we are already executing twist control, don't cancel the thread
+    if (m_current_action_type != kortex_driver::ActionType::SEND_TWIST_COMMAND)
+    {
+        JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
+        m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
+    }
+
+    return kortex_driver::SendTwistCommand::Response();
+}
+
+kortex_driver::PlayJointTrajectory::Response KortexArmSimulation::PlayJointTrajectory(const kortex_driver::PlayJointTrajectory::Request& req)
+{
+    auto constrained_joint_angles = req.input;
+    kortex_driver::Action action;
+    action.name = "PlayJointTrajectory";
+    action.handle.action_type = kortex_driver::ActionType::REACH_JOINT_ANGLES;
+    action.oneof_action_parameters.reach_joint_angles.push_back(constrained_joint_angles);
+
+    JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
+    m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
+    
+    return kortex_driver::PlayJointTrajectory::Response();
+}
+
+kortex_driver::SendJointSpeedsCommand::Response KortexArmSimulation::SendJointSpeedsCommand(const kortex_driver::SendJointSpeedsCommand::Request& req)
+{
+    auto joint_speeds = req.input;
+    kortex_driver::Action action;
+    action.name = "SendJointSpeedsCommand";
+    action.handle.action_type = kortex_driver::ActionType::SEND_JOINT_SPEEDS;
+    action.oneof_action_parameters.send_joint_speeds.push_back(joint_speeds);
+
+    // Fill the velocity commands vector
+    int n = 0;
+    std::generate(m_velocity_commands.begin(),
+        m_velocity_commands.end(), 
+        [this, &action, &n]() -> double
+        {
+            return m_math_util.toRad(action.oneof_action_parameters.send_joint_speeds[0].joint_speeds[n++].value);
+        });
+
+    // If we are already executing joint speed control, don't cancel the thread
+    if (m_current_action_type != kortex_driver::ActionType::SEND_JOINT_SPEEDS)
+    {
+        JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
+        m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
+    }
+    
+    return kortex_driver::SendJointSpeedsCommand::Response();
+}
+
+kortex_driver::SendGripperCommand::Response KortexArmSimulation::SendGripperCommand(const kortex_driver::SendGripperCommand::Request& req)
+{
+    auto gripper_command = req.input;
+    kortex_driver::Action action;
+    action.name = "GripperCommand";
+    action.handle.action_type = kortex_driver::ActionType::SEND_GRIPPER_COMMAND;
+    action.oneof_action_parameters.send_gripper_command.push_back(gripper_command);
+
+    JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
+    m_action_executor_thread = std::thread(&KortexArmSimulation::PlayAction, this, action);
+    
+    return kortex_driver::SendGripperCommand::Response();
+}
+
+kortex_driver::Stop::Response KortexArmSimulation::Stop(const kortex_driver::Stop::Request& req)
+{
+    // If an action is ongoing, cancel it first
+    if (m_is_action_being_executed.load())
+    {
+        JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
+    }
+    m_follow_joint_trajectory_action_client->cancelAllGoals();
+    if (IsGripperPresent())
+    {
+        m_gripper_action_client->cancelAllGoals();
+    }
+    return kortex_driver::Stop::Response();
+}
+
+kortex_driver::ApplyEmergencyStop::Response KortexArmSimulation::ApplyEmergencyStop(const kortex_driver::ApplyEmergencyStop::Request& req)
+{
+    // If an action is ongoing, cancel it first
+    if (m_is_action_being_executed.load())
+    {
+        JoinThreadAndCancelAction(); // this will block until the thread is joined and current action finished
+    }
+    m_follow_joint_trajectory_action_client->cancelAllGoals();
+    if (IsGripperPresent())
+    {
+        m_gripper_action_client->cancelAllGoals();
+    }
+    return kortex_driver::ApplyEmergencyStop::Response();
+}
+
+void KortexArmSimulation::cb_joint_states(const sensor_msgs::JointState& state)
+{
+    const std::lock_guard<std::mutex> lock(m_state_mutex);
+    m_first_state_received = true;
+    m_current_state = state;
+}
+
+void KortexArmSimulation::CreateDefaultActions()
+{
+    kortex_driver::Action retract, home, zero;
+    kortex_driver::ConstrainedJointAngles retract_angles, home_angles, zero_angles;
+    // Retract
+    retract.handle.identifier = 1;
+    retract.handle.action_type = kortex_driver::ActionType::REACH_JOINT_ANGLES;
+    retract.handle.permission = 7;
+    retract.name = "Retract";
+    for (int i = 0; i < m_degrees_of_freedom; i++)
+    {
+        kortex_driver::JointAngle a;
+        a.joint_identifier = i;
+        auto named_target = m_moveit_arm_interface->getNamedTargetValues("retract");
+        double moveit_angle = named_target["joint_"+std::to_string(i+1)]; // rad
+        a.value = m_math_util.wrapDegreesFromZeroTo360(m_math_util.toDeg(moveit_angle));
+        retract_angles.joint_angles.joint_angles.push_back(a);
+    }
+    retract.oneof_action_parameters.reach_joint_angles.push_back(retract_angles);
+    // Home
+    home.handle.identifier = 2;
+    home.handle.action_type = kortex_driver::ActionType::REACH_JOINT_ANGLES;
+    home.handle.permission = 7;
+    home.name = "Home";
+    for (int i = 0; i < m_degrees_of_freedom; i++)
+    {
+        kortex_driver::JointAngle a;
+        a.joint_identifier = i;
+        auto named_target = m_moveit_arm_interface->getNamedTargetValues("home");
+        double moveit_angle = named_target["joint_"+std::to_string(i+1)]; // rad
+        a.value = m_math_util.wrapDegreesFromZeroTo360(m_math_util.toDeg(moveit_angle));
+        home_angles.joint_angles.joint_angles.push_back(a);
+    }
+    home.oneof_action_parameters.reach_joint_angles.push_back(home_angles);
+    // Zero
+    zero.handle.identifier = 3;
+    zero.handle.action_type = kortex_driver::ActionType::REACH_JOINT_ANGLES;
+    zero.handle.permission = 7;
+    zero.name = "Zero";
+    for (int i = 0; i < m_degrees_of_freedom; i++)
+    {
+        kortex_driver::JointAngle a;
+        a.joint_identifier = i;
+        auto named_target = m_moveit_arm_interface->getNamedTargetValues("vertical");
+        double moveit_angle = named_target["joint_"+std::to_string(i+1)]; // rad
+        a.value = m_math_util.wrapDegreesFromZeroTo360(m_math_util.toDeg(moveit_angle));
+        zero_angles.joint_angles.joint_angles.push_back(a);
+    }
+    zero.oneof_action_parameters.reach_joint_angles.push_back(zero_angles);
+    // Add actions
+    m_map_actions.emplace(std::make_pair(retract.handle.identifier, retract));
+    m_map_actions.emplace(std::make_pair(home.handle.identifier, home));
+    m_map_actions.emplace(std::make_pair(zero.handle.identifier, zero));
+}
+
+bool KortexArmSimulation::SwitchControllerType(ControllerType new_type)
+{
+    bool success = true;
+    controller_manager_msgs::SwitchController service;
+    service.request.strictness = service.request.STRICT;
+    if (m_active_controller_type != new_type)
+    {
+        // Set the controllers we want to switch to
+        switch (new_type)
+        {
+            case ControllerType::kTrajectory:
+                service.request.start_controllers = m_trajectory_controllers_list;
+                service.request.stop_controllers = m_position_controllers_list;
+                break;
+            case ControllerType::kIndividual:
+                service.request.start_controllers = m_position_controllers_list;
+                service.request.stop_controllers = m_trajectory_controllers_list;
+                break;
+            default:
+                ROS_ERROR("Kortex arm simulator : Unsupported controller type %d", int(new_type));
+                return false;
+        }
+
+        // Call the service
+        if (!m_client_switch_controllers.call(service))
+        {
+            ROS_ERROR("Failed to call the service for switching controllers");
+            success = false;
+        }
+        else
+        {
+            success = service.response.ok;
+        }
+
+        // Update active type if the switch was successful
+        if (success)
+        {
+            m_active_controller_type = new_type;
+        }
+    }
+
+    return success;
+}
+
+kortex_driver::KortexError KortexArmSimulation::FillKortexError(uint32_t code, uint32_t subCode, const std::string& description) const
+{
+    kortex_driver::KortexError error;
+    error.code = code;
+    error.subCode = subCode;
+    error.description = description;
+    return error;
+}
+
+void KortexArmSimulation::JoinThreadAndCancelAction()
+{
+    // Tell the thread to stop and join it
+    m_action_preempted = true;
+    if (m_action_executor_thread.joinable())
+    {
+        m_action_executor_thread.join();
+    }
+    m_current_action_type = 0;
+    m_action_preempted = false;
+}
+
+void KortexArmSimulation::PlayAction(const kortex_driver::Action& action)
+{
+    auto action_result = FillKortexError(kortex_driver::ErrorCodes::ERROR_NONE, kortex_driver::SubErrorCodes::SUB_ERROR_NONE);
+
+    // Notify action started
+    kortex_driver::ActionNotification start_notif;
+    start_notif.handle = action.handle;
+    start_notif.action_event = kortex_driver::ActionEvent::ACTION_START;
+    m_pub_action_topic.publish(start_notif);
+    m_is_action_being_executed = true;
+    m_current_action_type = action.handle.action_type;
+    
+    // Switch executor on the action type
+    switch (action.handle.action_type)
+    {
+        case kortex_driver::ActionType::REACH_JOINT_ANGLES:
+            action_result = ExecuteReachJointAngles(action);
+            break;
+        case kortex_driver::ActionType::REACH_POSE:
+            action_result = ExecuteReachPose(action);
+            break;
+        case kortex_driver::ActionType::SEND_JOINT_SPEEDS:
+            action_result = ExecuteSendJointSpeeds(action);
+            break;
+        case kortex_driver::ActionType::SEND_TWIST_COMMAND:
+            action_result = ExecuteSendTwist(action);
+            break;
+        case kortex_driver::ActionType::SEND_GRIPPER_COMMAND:
+            action_result = ExecuteSendGripperCommand(action);
+            break;
+        case kortex_driver::ActionType::TIME_DELAY:
+            action_result = ExecuteTimeDelay(action);
+            break;
+        default:
+            action_result = FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE, kortex_driver::SubErrorCodes::UNSUPPORTED_ACTION);
+            break;
+    }
+    
+    // Oddly enough, gripper actions don't send notifications through Kortex API when they end
+    if (action.handle.action_type != kortex_driver::ActionType::SEND_GRIPPER_COMMAND)
+    {
+        kortex_driver::ActionNotification end_notif;
+        end_notif.handle = action.handle;
+        // Action was cancelled by user and is not a velocity command
+        if (m_action_preempted.load() && action.handle.action_type != kortex_driver::ActionType::SEND_JOINT_SPEEDS)
+        {
+            // Notify ACTION_ABORT
+            end_notif.action_event = kortex_driver::ActionEvent::ACTION_ABORT;
+            ROS_WARN("Action was aborted by user.");
+        }
+        // Action ended on its own
+        else
+        {
+            if (action_result.code != kortex_driver::ErrorCodes::ERROR_NONE)
+            {
+                // Notify ACTION_ABORT
+                end_notif.action_event = kortex_driver::ActionEvent::ACTION_ABORT;
+                end_notif.abort_details = action_result.subCode;
+                ROS_WARN("Action was failed : \nError code is %d\nSub-error code is %d\nError description is : %s", 
+                            action_result.code,
+                            action_result.subCode,
+                            action_result.description.c_str());
+            }
+            else
+            {
+                // Notify ACTION_END
+                end_notif.action_event = kortex_driver::ActionEvent::ACTION_END;
+            }
+        }
+        m_pub_action_topic.publish(end_notif);
+    }
+    
+    m_is_action_being_executed = false;
+}
+
+kortex_driver::KortexError KortexArmSimulation::ExecuteReachJointAngles(const kortex_driver::Action& action)
+{
+    auto result = FillKortexError(kortex_driver::ErrorCodes::ERROR_NONE, kortex_driver::SubErrorCodes::SUB_ERROR_NONE);
+    if (action.oneof_action_parameters.reach_joint_angles.size() != 1)
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                    kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                    "Error playing joint angles action : action is malformed.");
+    }
+    auto constrained_joint_angles = action.oneof_action_parameters.reach_joint_angles[0];
+    if (constrained_joint_angles.joint_angles.joint_angles.size() != GetDOF())
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                "Error playing joint angles action : action contains " + std::to_string(constrained_joint_angles.joint_angles.joint_angles.size()) + " joint angles but arm has " + std::to_string(GetDOF()));
+    }
+
+    // Switch to trajectory controller
+    if (!SwitchControllerType(ControllerType::kTrajectory))
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::METHOD_FAILED,
+                                "Error playing joint angles action : simulated trajectory controller could not be switched to.");
+    }
+
+    // Initialize trajectory object
+    trajectory_msgs::JointTrajectory traj;
+    traj.header.frame_id = m_prefix + "base_link";
+    for (int i = 0; i < constrained_joint_angles.joint_angles.joint_angles.size(); i++)
+    {
+        const std::string joint_name = m_prefix + "joint_" + std::to_string(i+1); //joint names are 1-based
+        traj.joint_names.push_back(joint_name);
+    }
+
+    // Get current position
+    sensor_msgs::JointState current;
+    {
+        const std::lock_guard<std::mutex> lock(m_state_mutex);
+        current = m_current_state;
+    }
+
+    // Transform kortex structure to trajectory_msgs to fill endpoint structure
+    trajectory_msgs::JointTrajectoryPoint endpoint;
+    for (int i = 0; i < constrained_joint_angles.joint_angles.joint_angles.size(); i++)
+    {
+        // If the current actuator has turned on itself many times, we need the endpoint to follow that trend too
+        int n_turns = 0;
+        m_math_util.wrapRadiansFromMinusPiToPi(current.position[m_first_arm_joint_index + i], n_turns);
+        const double rad_wrapped_goal = m_math_util.wrapRadiansFromMinusPiToPi(m_math_util.toRad(constrained_joint_angles.joint_angles.joint_angles[i].value));
+        endpoint.positions.push_back(rad_wrapped_goal + double(n_turns) * 2.0 * M_PI);
+        endpoint.velocities.push_back(0.0);
+        endpoint.accelerations.push_back(0.0);
+    }
+
+    // Calculate velocity profiles to know how much time this trajectory must last
+    switch (constrained_joint_angles.constraint.type)
+    {
+        // If the duration is supplied, set the duration of the velocity profiles with that value
+        case kortex_driver::JointTrajectoryConstraintType::JOINT_CONSTRAINT_DURATION:
+        {
+            // Error check on the given duration
+            if (constrained_joint_angles.constraint.value <= 0.0f)
+            {
+                return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                "Invalid duration constraint : it has to be higher than 0.0!");
+            }
+            // Set the velocity profiles
+            for (int i = 0; i < GetDOF(); i++)
+            {
+                m_velocity_trap_profiles[i].SetProfileDuration(current.position[m_first_arm_joint_index + i], endpoint.positions[i], constrained_joint_angles.constraint.value);
+            }
+            endpoint.time_from_start = ros::Duration(constrained_joint_angles.constraint.value);
+            ROS_DEBUG("Using supplied duration : %2.2f", constrained_joint_angles.constraint.value);
+            break;
+        }
+        // If a max velocity is supplied for each joint, we need to find the limiting duration with this velocity constraint
+        case kortex_driver::JointTrajectoryConstraintType::JOINT_CONSTRAINT_SPEED:
+        {
+            // Error check on the given velocity
+            float max_velocity = m_math_util.toRad(constrained_joint_angles.constraint.value);
+            if (max_velocity <= 0.0f)
+            {
+                return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                "Invalid velocity constraint : it has to be higher than 0.0!");
+            }
+            // Find the limiting duration with given velocity
+            double max_duration = 0.0;
+            for (int i = 0; i < GetDOF(); i++)
+            {
+                double velocity_ratio = std::min(1.0, double(max_velocity)/m_arm_velocity_max_limits[i]);
+                m_velocity_trap_profiles[i].SetProfileVelocity(current.position[m_first_arm_joint_index + i], endpoint.positions[i], velocity_ratio);
+                max_duration = std::max(max_duration, m_velocity_trap_profiles[i].Duration());
+                ROS_DEBUG("Joint %d moving from %2.2f to %2.2f gives duration %2.2f", i, current.position[m_first_arm_joint_index + i], endpoint.positions[i], m_velocity_trap_profiles[i].Duration());
+            }
+            ROS_DEBUG("max_duration is : %2.2f", max_duration);
+            // Set the velocity profiles
+            for (int i = 0; i < GetDOF(); i++)
+            {
+                m_velocity_trap_profiles[i].SetProfileDuration(current.position[m_first_arm_joint_index + i], endpoint.positions[i], max_duration);
+            }
+            endpoint.time_from_start = ros::Duration(max_duration);
+            break;
+        }
+        default:
+        {
+            // Find the optimal duration based on actual velocity and acceleration limits
+            double optimal_duration = 0.0;
+            for (int i = 0; i < GetDOF(); i++)
+            {
+                m_velocity_trap_profiles[i].SetProfile(current.position[m_first_arm_joint_index + i], endpoint.positions[i]);
+                optimal_duration = std::max(optimal_duration, m_velocity_trap_profiles[i].Duration());
+                ROS_DEBUG("Joint %d moving from %2.2f to %2.2f gives duration %2.2f", i, current.position[m_first_arm_joint_index + i], endpoint.positions[i], m_velocity_trap_profiles[i].Duration());
+            }
+            ROS_DEBUG("optimal_duration is : %2.2f", optimal_duration);
+            // Set the velocity profiles
+            for (int i = 0; i < GetDOF(); i++)
+            {
+                m_velocity_trap_profiles[i].SetProfileDuration(current.position[m_first_arm_joint_index + i], endpoint.positions[i], optimal_duration);
+            }
+            endpoint.time_from_start = ros::Duration(optimal_duration);
+            break;
+        }
+    }
+
+    // Copy velocity profile data into trajectory using JOINT_TRAJECTORY_TIMESTEP_SECONDS timesteps
+    // For each timestep
+    for (double t = JOINT_TRAJECTORY_TIMESTEP_SECONDS; t < m_velocity_trap_profiles[0].Duration(); t += JOINT_TRAJECTORY_TIMESTEP_SECONDS)
+    {
+        // Create trajectory point
+        trajectory_msgs::JointTrajectoryPoint p;
+        p.time_from_start = ros::Duration(t);
+        // Add position, velocity, acceleration from each velocity profile
+        for (int i = 0; i < GetDOF(); i++)
+        {
+            p.positions.push_back(m_velocity_trap_profiles[i].Pos(t));
+            p.velocities.push_back(m_velocity_trap_profiles[i].Vel(t));
+            p.accelerations.push_back(m_velocity_trap_profiles[i].Acc(t));
+        }
+        // Add trajectory point to goal
+        traj.points.push_back(p);
+    }
+    // Finally, add endpoint to trajectory
+    // Add position, velocity, acceleration from each velocity profile
+    trajectory_msgs::JointTrajectoryPoint p;
+    p.time_from_start = ros::Duration(m_velocity_trap_profiles[0].Duration());
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        p.positions.push_back(m_velocity_trap_profiles[i].Pos(m_velocity_trap_profiles[i].Duration()));
+        p.velocities.push_back(m_velocity_trap_profiles[i].Vel(m_velocity_trap_profiles[i].Duration()));
+        p.accelerations.push_back(m_velocity_trap_profiles[i].Acc(m_velocity_trap_profiles[i].Duration()));
+    }
+    // Add trajectory point to goal
+    traj.points.push_back(p);
+
+    // Verify if goal has been cancelled before sending it
+    if (m_action_preempted.load())
+    {
+        return result;
+    }
+    
+    // Send goal
+    control_msgs::FollowJointTrajectoryActionGoal goal;
+    traj.header.stamp = ros::Time::now();
+    goal.goal.trajectory = traj;
+    m_follow_joint_trajectory_action_client->sendGoal(goal.goal);
+
+    // Wait for goal to be done, or for preempt to be called (check every 100ms)
+    while(!m_action_preempted.load())
+    {
+        if (m_follow_joint_trajectory_action_client->waitForResult(ros::Duration(0.1f)))
+        {
+            // Sometimes an error is thrown related to a bad cast in a ros::time structure inside the SimpleActionClient
+            // See https://answers.ros.org/question/209452/exception-thrown-while-processing-service-call-time-is-out-of-dual-32-bit-range/
+            // If this error happens here we just send the goal again with an updated timestamp
+            auto status = m_follow_joint_trajectory_action_client->getResult();
+            if (status->error_string == "Time is out of dual 32-bit range")
+            {
+                traj.header.stamp = ros::Time::now();
+                goal.goal.trajectory = traj;
+                m_follow_joint_trajectory_action_client->sendGoal(goal.goal);
+            }
+            else
+            {
+                break;
+            }
+        }
+    }
+
+    // If we got out of the loop because we're preempted, cancel the goal before returning
+    if (m_action_preempted.load())
+    {
+        m_follow_joint_trajectory_action_client->cancelAllGoals();
+    }
+    // Fill result depending on action final status if user didn't cancel
+    else
+    {
+        auto status = m_follow_joint_trajectory_action_client->getResult();
+        if (status->error_code != status->SUCCESSFUL)
+        {
+            result = FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                        kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                        status->error_string);
+        }
+    }
+    return result;
+}
+
+kortex_driver::KortexError KortexArmSimulation::ExecuteReachPose(const kortex_driver::Action& action)
+{
+    kortex_driver::KortexError result;
+    result.code = kortex_driver::ErrorCodes::ERROR_NONE;
+    result.subCode = kortex_driver::SubErrorCodes::SUB_ERROR_NONE;
+    if (action.oneof_action_parameters.reach_pose.size() != 1)
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                "Error playing pose action : action is malformed.");
+    }
+    auto constrained_pose = action.oneof_action_parameters.reach_pose[0];
+
+    // Switch to trajectory controller
+    if (!SwitchControllerType(ControllerType::kTrajectory))
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::METHOD_FAILED,
+                                "Error playing pose action : simulated trajectory controller could not be switched to.");
+    }
+
+    // Get current position
+    sensor_msgs::JointState current;
+    {
+        const std::lock_guard<std::mutex> lock(m_state_mutex);
+        current = m_current_state;
+    }
+    
+    // Get Start frame
+    // For the Rotation part : ThetaX = gamma, ThetaY = beta, ThetaZ = alpha 
+    auto start = KDL::Frame();
+    Eigen::VectorXd positions_eigen(m_degrees_of_freedom);
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        positions_eigen[i] = current.position[m_first_arm_joint_index + i];
+    }
+    KDL::JntArray current_kdl(GetDOF());
+    current_kdl.data = positions_eigen;
+    m_fk_solver->JntToCart(current_kdl, start);
+
+    {
+    ROS_DEBUG("START FRAME :");
+    ROS_DEBUG("X=%2.4f Y=%2.4f Z=%2.4f", start.p[0], start.p[1], start.p[2]);
+    double sa, sb, sg; start.M.GetEulerZYX(sa, sb, sg);
+    ROS_DEBUG("ALPHA=%2.4f BETA=%2.4f GAMMA=%2.4f", m_math_util.toDeg(sa), m_math_util.toDeg(sb), m_math_util.toDeg(sg));
+    KDL::Vector axis;
+    ROS_DEBUG("start rot = %2.4f", start.M.GetRotAngle(axis));
+    }
+
+    // Get End frame
+    auto end_pos = KDL::Vector(constrained_pose.target_pose.x, constrained_pose.target_pose.y, constrained_pose.target_pose.z);
+    auto end_rot = KDL::Rotation::EulerZYX(m_math_util.toRad(constrained_pose.target_pose.theta_z), m_math_util.toRad(constrained_pose.target_pose.theta_y), m_math_util.toRad(constrained_pose.target_pose.theta_x));
+    KDL::Frame end(end_rot, end_pos);
+
+    {
+    ROS_DEBUG("END FRAME :");
+    ROS_DEBUG("X=%2.4f Y=%2.4f Z=%2.4f", end_pos[0], end_pos[1], end_pos[2]);
+    double ea, eb, eg; end_rot.GetEulerZYX(ea, eb, eg);
+    ROS_DEBUG("ALPHA=%2.4f BETA=%2.4f GAMMA=%2.4f", m_math_util.toDeg(ea), m_math_util.toDeg(eb), m_math_util.toDeg(eg));
+    KDL::Vector axis;
+    ROS_DEBUG("end rot = %2.4f", end_rot.GetRotAngle(axis));
+    }
+
+    // If different speed limits than the default ones are provided, use them instead
+    float translation_speed_limit = m_max_cartesian_twist_linear;
+    float rotation_speed_limit = m_max_cartesian_twist_angular;
+    if (!constrained_pose.constraint.oneof_type.speed.empty())
+    {
+        // If a max velocity is supplied for each joint, we need to find the limiting duration with this velocity constraint
+        translation_speed_limit = std::min(constrained_pose.constraint.oneof_type.speed[0].translation, translation_speed_limit);
+        rotation_speed_limit = std::min(constrained_pose.constraint.oneof_type.speed[0].orientation, rotation_speed_limit);
+    }
+
+    // Calculate norm of translation movement and minimum duration to move this amount given max translation speed
+    double delta_pos = (end_pos - start.p).Norm();
+    double minimum_translation_duration = delta_pos / m_max_cartesian_twist_linear; // in seconds
+
+    // Calculate angle variation of rotation movement and minimum duration to move this amount given max rotation speed
+    KDL::Vector axis; // we need to create this variable to access the RotAngle for start and end frames'rotation components
+    KDL::Rotation dR = end_rot * start.M.Inverse();
+    double delta_rot = dR.GetRotAngle(axis);
+    double minimum_rotation_duration = delta_rot / m_max_cartesian_twist_angular; // in seconds
+
+    ROS_INFO("trans : %2.4f rot : %2.4f", minimum_translation_duration, minimum_rotation_duration);
+
+    // The default value for the duration will be the longer duration of the two
+    double duration = std::max(minimum_translation_duration, minimum_rotation_duration);
+
+    // eq_radius is chosen here to make it so translations and rotations are normalised
+    // Here is a good explanation for it : https://github.com/zakharov/BRICS_RN/blob/master/navigation_trajectory_common/include/navigation_trajectory_common/Conversions.h#L358-L382
+    float eq_radius = translation_speed_limit / rotation_speed_limit;
+
+    // Create Path_Line object
+    // I know this is ugly but the RotationalInterpolation object is mandatory and needs to be created as such
+    KDL::Path_Line line(start, end, new KDL::RotationalInterpolation_SingleAxis(), eq_radius);
+
+    // Create a trapezoidal velocity profile for the Cartesian trajectory to parametrize it in time
+    KDL::VelocityProfile_Trap velocity_profile(std::min(translation_speed_limit, rotation_speed_limit), m_max_cartesian_acceleration_linear);
+    velocity_profile.SetProfile(0.0, line.PathLength());
+    duration = std::max(duration, velocity_profile.Duration());
+
+    // If duration is not supplied, use the one we just calculated
+    // If the duration is supplied, simply use it
+    if (!constrained_pose.constraint.oneof_type.duration.empty())
+    {
+        double supplied_duration = constrained_pose.constraint.oneof_type.duration[0];
+        if (duration > supplied_duration)
+        {
+            ROS_WARN("Cannot use supplied duration %2.4f because the minimum duration based on velocity limits is %2.4f",
+                        supplied_duration,
+                        duration);
+        }
+        duration = std::max(duration, supplied_duration);
+    }
+
+    // Set the velocity profile duration
+    velocity_profile.SetProfileDuration(0.0, line.PathLength(), duration);
+    KDL::Trajectory_Segment segment(&line, &velocity_profile, false);
+    ROS_DEBUG("Duration of trajectory will be %2.4f seconds", duration);
+
+    // Initialize trajectory object
+    trajectory_msgs::JointTrajectory traj;
+    traj.header.frame_id = m_prefix + "base_link";
+    traj.header.stamp = ros::Time::now();
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        const std::string joint_name = m_prefix + "joint_" + std::to_string(i+1); //joint names are 1-based
+        traj.joint_names.push_back(joint_name);
+    }
+
+    // Fill trajectory object
+    KDL::JntArray previous = current_kdl; // Position i - 1, initialise to starting angles
+    KDL::JntArray current_joints(GetDOF()); // Position i
+    for (float t = JOINT_TRAJECTORY_TIMESTEP_SECONDS; t < duration; t += JOINT_TRAJECTORY_TIMESTEP_SECONDS)
+    {
+        // First get the next Cartesian position and twists
+        auto pos = segment.Pos(t);
+        
+        // Position is enough to have a smooth trajectory it seems but if eventually vel and acc are useful somehow this is how to get them:
+        // auto vel = segment.Vel(t);
+        // auto acc = segment.Acc(t);
+
+        // Create trajectory point
+        trajectory_msgs::JointTrajectoryPoint p;
+        p.time_from_start = ros::Duration(t);
+
+        // Use inverse IK solver
+        int code = m_ik_pos_solver->CartToJnt(previous, pos, current_joints);
+        if (code != m_ik_pos_solver->E_NOERROR)
+        {
+            ROS_ERROR("IK ERROR CODE = %d", code);
+        }
+
+        for (int i = 0; i < GetDOF(); i++)
+        {
+            p.positions.push_back(current_joints(i));
+        }
+        
+        // Add trajectory point to goal
+        traj.points.push_back(p);
+        previous = current_joints;
+    }
+
+    // Add last point
+    trajectory_msgs::JointTrajectoryPoint p;
+    p.time_from_start = ros::Duration(segment.Duration());
+    auto pos = segment.Pos(segment.Duration());
+    int code = m_ik_pos_solver->CartToJnt(previous, pos, current_joints);
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        p.positions.push_back(current_joints(i));
+    }
+    
+    // Add trajectory point to goal
+    traj.points.push_back(p);
+
+    // Verify if goal has been cancelled before sending it
+    if (m_action_preempted.load())
+    {
+        return result;
+    }
+    
+    // Send goal
+    control_msgs::FollowJointTrajectoryActionGoal goal;
+    goal.goal.trajectory = traj;
+    m_follow_joint_trajectory_action_client->sendGoal(goal.goal);
+
+    // Wait for goal to be done, or for preempt to be called (check every 10ms)
+    while(!m_action_preempted.load() && !m_follow_joint_trajectory_action_client->waitForResult(ros::Duration(0.01f))) {}
+
+    // If we got out of the loop because we're preempted, cancel the goal before returning
+    if (m_action_preempted.load())
+    {
+        m_follow_joint_trajectory_action_client->cancelAllGoals();
+    }
+    // Fill result depending on action final status if user didn't cancel
+    else
+    {
+        auto status = m_follow_joint_trajectory_action_client->getResult();
+        if (status->error_code != status->SUCCESSFUL)
+        {
+            result = FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                        kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                        status->error_string);
+        }
+    }
+    return result;
+}
+
+kortex_driver::KortexError KortexArmSimulation::ExecuteSendJointSpeeds(const kortex_driver::Action& action)
+{
+    kortex_driver::KortexError result;
+    result.code = kortex_driver::ErrorCodes::ERROR_NONE;
+    result.subCode = kortex_driver::SubErrorCodes::SUB_ERROR_NONE;
+    if (action.oneof_action_parameters.send_joint_speeds.size() != 1)
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                "Error playing joints speeds : action is malformed.");
+    }
+    auto joint_speeds = action.oneof_action_parameters.send_joint_speeds[0];
+    if (joint_speeds.joint_speeds.size() != GetDOF())
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                "Error playing joint speeds action : action contains " + std::to_string(joint_speeds.joint_speeds.size()) + " joint speeds but arm has " + std::to_string(GetDOF()));
+    }
+
+    // Switch to trajectory controller
+    if (!SwitchControllerType(ControllerType::kIndividual))
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::METHOD_FAILED,
+                                "Error playing joint speeds action : simulated positions controllers could not be switched to.");
+    }
+
+    // Get current position
+    sensor_msgs::JointState current;
+    {
+        const std::lock_guard<std::mutex> lock(m_state_mutex);
+        current = m_current_state;
+    }
+    
+    // Initialise commands
+    std::vector<double> commands(GetDOF(), 0.0); // in rad
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        commands[i] = current.position[m_first_arm_joint_index + i];
+    }
+    std::vector<double> previous_commands = commands; // in rad
+    std::vector<double> velocity_commands(GetDOF(), 0.0); // in rad/s
+    std::vector<double> previous_velocity_commands(GetDOF(), 0.0); // in rad/s
+    std::vector<bool> stopped(GetDOF(), false);
+    
+    // While we're not done
+    while (true)
+    {
+        // If action is preempted, set the velocities to 0
+        if (m_action_preempted.load())
+        {
+            std::fill(m_velocity_commands.begin(), m_velocity_commands.end(), 0.0);
+        }
+        // For each joint
+        for (int i = 0; i < GetDOF(); i++)
+        {
+            // Calculate real position increment
+            // This helps to know if we hit joint limits or if we stopped
+            {
+            const std::lock_guard<std::mutex> lock(m_state_mutex);
+            current = m_current_state;
+            }
+
+            // Calculate permitted velocity command because we don't have infinite acceleration
+            double vel_delta = m_velocity_commands[i] - previous_velocity_commands[i];
+            double max_delta = std::copysign(m_arm_acceleration_max_limits[i] * JOINT_TRAJECTORY_TIMESTEP_SECONDS, vel_delta);
+            
+            // If the velocity change is within acceleration limits for this timestep
+            double velocity_command;
+            if (fabs(vel_delta) < fabs(max_delta))
+            {
+                velocity_command = m_velocity_commands[i];
+            }
+            // If we cannot instantly accelerate to this velocity
+            else
+            {
+                velocity_command = previous_velocity_commands[i] + max_delta;
+            }
+
+            // Cap to the velocity limit for the joint
+            velocity_command = std::copysign(std::min(fabs(velocity_command), double(fabs(m_arm_velocity_max_limits[i]))), velocity_command);
+
+            // Check if velocity command is in fact too small
+            if (fabs(velocity_command) < MINIMUM_JOINT_VELOCITY_RAD_PER_SECONDS)
+            {
+                velocity_command = 0.0;
+                commands[i] = current.position[m_first_arm_joint_index + i];
+                stopped[i] = true;
+            }
+            // Else calculate the position increment and send it
+            else
+            {
+                commands[i] = previous_commands[i] + velocity_command * JOINT_TRAJECTORY_TIMESTEP_SECONDS;
+                stopped[i] = false;
+
+                // Cap the command to the joint limit
+                if (m_arm_joint_limits_min[i] != 0.0 && commands[i] < m_arm_joint_limits_min[i])
+                {
+                    commands[i] = m_arm_joint_limits_min[i];
+                    velocity_command = std::max(velocity_command, 0.0);
+                }
+                else if (m_arm_joint_limits_max[i] != 0.0 && commands[i] > m_arm_joint_limits_max[i])
+                {
+                    commands[i] = m_arm_joint_limits_max[i];
+                    velocity_command = std::min(velocity_command, 0.0);
+                }
+
+                // Send the position increments to the controllers
+                std_msgs::Float64 message;
+                message.data = commands[i];
+                m_pub_position_controllers[i].publish(message);
+            }
+
+            // Remember actual command as previous and actual velocity command as previous
+            previous_commands[i] = commands[i];
+            previous_velocity_commands[i] = velocity_command;
+        }
+
+        // Sleep for TIMESTEP
+        std::this_thread::sleep_for(std::chrono::milliseconds(int(1000*JOINT_TRAJECTORY_TIMESTEP_SECONDS)));
+
+        // If the action is preempted and we're back to zero velocity, we're done here
+        if (m_action_preempted.load())
+        {
+            // Check if all joints are stopped and break if yes
+            if (std::all_of(stopped.begin(), stopped.end(), [](bool b){return b;}))
+            {
+                break;
+            }
+        }
+    }
+
+    return result;
+}
+
+kortex_driver::KortexError KortexArmSimulation::ExecuteSendTwist(const kortex_driver::Action& action)
+{
+    kortex_driver::KortexError result;
+    result.code = kortex_driver::ErrorCodes::ERROR_NONE;
+    result.subCode = kortex_driver::SubErrorCodes::SUB_ERROR_NONE;
+    if (action.oneof_action_parameters.send_twist_command.size() != 1)
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                "Error playing twist action : action is malformed.");
+    }
+    auto twist = action.oneof_action_parameters.send_twist_command[0];
+
+    // Switch to trajectory controller
+    if (!SwitchControllerType(ControllerType::kIndividual))
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::METHOD_FAILED,
+                                "Error playing joint speeds action : simulated positions controllers could not be switched to.");
+    }
+
+    // Only mixed frame is supported in simulation
+    if (twist.reference_frame != kortex_driver::CartesianReferenceFrame::CARTESIAN_REFERENCE_FRAME_MIXED)
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                "Error playing twist action : only mixed frame is supported in simulation.");
+    }
+
+    // Get current position
+    sensor_msgs::JointState current;
+    {
+        const std::lock_guard<std::mutex> lock(m_state_mutex);
+        current = m_current_state;
+    }
+    
+    // Initialise commands
+    std::vector<double> commands(GetDOF(), 0.0); // in rad
+    for (int i = 0; i < GetDOF(); i++)
+    {
+        commands[i] = current.position[m_first_arm_joint_index + i];
+    }
+    std::vector<double> previous_commands = commands; // in rad
+    std::vector<double> previous_velocity_commands(GetDOF(), 0.0); // in rad/s
+    std::vector<bool> stopped(GetDOF(), false);
+    kortex_driver::Twist twist_command = m_twist_command;
+    kortex_driver::Twist previous_twist_command;
+
+    // While we're not done
+    while (ros::ok())
+    {
+        // If action is preempted, set the velocities to 0
+        if (m_action_preempted.load())
+        {
+            m_twist_command = kortex_driver::Twist();
+        }
+
+        // Calculate actual twist command considering max linear and angular accelerations
+        double max_linear_twist_delta = JOINT_TRAJECTORY_TIMESTEP_SECONDS * m_max_cartesian_acceleration_linear;
+        double max_angular_twist_delta = JOINT_TRAJECTORY_TIMESTEP_SECONDS * m_max_cartesian_acceleration_angular;
+        kortex_driver::Twist delta_twist = m_math_util.substractTwists(m_twist_command, previous_twist_command);
+
+        // If the velocity change is within acceleration limits for this timestep
+        if (fabs(delta_twist.linear_x) < fabs(max_linear_twist_delta))
+        {
+            twist_command.linear_x = m_twist_command.linear_x;
+        }
+        // If we cannot instantly accelerate to this velocity
+        else
+        {
+            twist_command.linear_x = previous_twist_command.linear_x + std::copysign(max_linear_twist_delta, delta_twist.linear_x);
+        }
+        // same for linear_y
+        if (fabs(delta_twist.linear_y) < fabs(max_linear_twist_delta))
+        {
+            twist_command.linear_y = m_twist_command.linear_y;
+        }
+        else
+        {
+            twist_command.linear_y = previous_twist_command.linear_y + std::copysign(max_linear_twist_delta, delta_twist.linear_y);
+        }
+        // same for linear_z
+        if (fabs(delta_twist.linear_z) < fabs(max_linear_twist_delta))
+        {
+            twist_command.linear_z = m_twist_command.linear_z;
+        }
+        else
+        {
+            twist_command.linear_z = previous_twist_command.linear_z + std::copysign(max_linear_twist_delta, delta_twist.linear_z);
+        }
+        // same for angular_x
+        if (fabs(delta_twist.angular_x) < fabs(max_angular_twist_delta))
+        {
+            twist_command.angular_x = m_twist_command.angular_x;
+        }
+        else
+        {
+            twist_command.angular_x = previous_twist_command.angular_x + std::copysign(max_angular_twist_delta, delta_twist.angular_x);
+        }
+        // same for angular_y
+        if (fabs(delta_twist.angular_y) < fabs(max_angular_twist_delta))
+        {
+            twist_command.angular_y = m_twist_command.angular_y;
+        }
+        else
+        {
+            twist_command.angular_y = previous_twist_command.angular_y + std::copysign(max_angular_twist_delta, delta_twist.angular_y);
+        }
+        // same for angular_z
+        if (fabs(delta_twist.angular_z) < fabs(max_angular_twist_delta))
+        {
+            twist_command.angular_z = m_twist_command.angular_z;
+        }
+        else
+        {
+            twist_command.angular_z = previous_twist_command.angular_z + std::copysign(max_angular_twist_delta, delta_twist.angular_z);
+        }
+
+        // Cap to the velocity limit
+        twist_command.linear_x = std::copysign(std::min(fabs(twist_command.linear_x), fabs(m_max_cartesian_twist_linear)), twist_command.linear_x);
+        twist_command.linear_y = std::copysign(std::min(fabs(twist_command.linear_y), fabs(m_max_cartesian_twist_linear)), twist_command.linear_y);
+        twist_command.linear_z = std::copysign(std::min(fabs(twist_command.linear_z), fabs(m_max_cartesian_twist_linear)), twist_command.linear_z);
+        twist_command.angular_x = std::copysign(std::min(fabs(twist_command.angular_x), fabs(m_max_cartesian_twist_angular)), twist_command.angular_x);
+        twist_command.angular_y = std::copysign(std::min(fabs(twist_command.angular_y), fabs(m_max_cartesian_twist_angular)), twist_command.angular_y);
+        twist_command.angular_z = std::copysign(std::min(fabs(twist_command.angular_z), fabs(m_max_cartesian_twist_angular)), twist_command.angular_z);
+
+        // Fill current joint position commands KDL structure
+        KDL::JntArray commands_kdl(GetDOF());
+        Eigen::VectorXd commands_eigen(GetDOF());
+        for (int i = 0; i < GetDOF(); i++)
+        {
+            commands_eigen[i] = commands[i];
+        }
+        commands_kdl.data = commands_eigen;
+        
+        // Fill KDL Twist structure with Kortex twist
+        KDL::Twist twist_kdl = KDL::Twist(KDL::Vector(twist_command.linear_x, twist_command.linear_y, twist_command.linear_z),
+                                            KDL::Vector(twist_command.angular_x, twist_command.angular_y, twist_command.angular_z));
+        
+        // Call IK and fill joint velocity commands
+        KDL::JntArray joint_velocities(GetDOF());
+        int ik_result = m_ik_vel_solver->CartToJnt(commands_kdl, twist_kdl, joint_velocities);
+        if (ik_result != m_ik_vel_solver->E_NOERROR)
+        {
+            ROS_WARN("IK ERROR = %d", ik_result);
+        }
+        
+        // We need to know if the joint velocities have to be adjusted, and by what ratio
+        double ratio = 1.0;
+        for (int i = 0; i < GetDOF(); i++)
+        {
+            // Calculate permitted velocity command because we don't have infinite acceleration
+            double vel_delta = joint_velocities(i) - previous_velocity_commands[i];
+            double max_delta = std::copysign(m_arm_acceleration_max_limits[i] * JOINT_TRAJECTORY_TIMESTEP_SECONDS, vel_delta);
+            
+            // If we cannot instantly accelerate to this velocity
+            if (fabs(vel_delta) > fabs(max_delta))
+            {
+                ratio = std::max(ratio, fabs(vel_delta / max_delta));
+            }
+        }
+
+        // Command the velocities
+        // For each joint
+        for (int i = 0; i < GetDOF(); i++)
+        {
+            // Calculate position increment
+            commands[i] = previous_commands[i] + joint_velocities(i) / ratio * JOINT_TRAJECTORY_TIMESTEP_SECONDS;
+
+            // Cap the command to the joint limit
+            if (m_arm_joint_limits_min[i] != 0.0 && commands[i] < 0.0)
+            {
+                commands[i] = std::max(m_arm_joint_limits_min[i], commands[i]);
+            }
+            else if (m_arm_joint_limits_max[i] != 0.0 && commands[i] > 0.0)
+            {
+                commands[i] = std::min(m_arm_joint_limits_max[i], commands[i]);
+            }
+            
+            // Send the position increments to the controllers
+            std_msgs::Float64 message;
+            message.data = commands[i];
+            m_pub_position_controllers[i].publish(message);
+
+            // Check if joint is stopped or not
+            stopped[i] = fabs(joint_velocities(i)) < MINIMUM_JOINT_VELOCITY_RAD_PER_SECONDS;
+
+            // Remember actual command as previous
+            previous_commands[i] = commands[i];
+            previous_velocity_commands[i] = joint_velocities(i);
+        }
+
+        // Put current values to previous
+        previous_twist_command = twist_command;
+
+        // Sleep for TIMESTEP
+        std::this_thread::sleep_for(std::chrono::milliseconds(int(1000*JOINT_TRAJECTORY_TIMESTEP_SECONDS)));
+
+        // If the action is preempted and we're back to zero velocity, we're done here
+        if (m_action_preempted.load())
+        {
+            // Check if all joints are stopped and break if yes
+            if (std::all_of(stopped.begin(), stopped.end(), [](bool b){return b;}))
+            {
+                break;
+            }
+        }
+    }
+
+    return result;
+}
+
+kortex_driver::KortexError KortexArmSimulation::ExecuteSendGripperCommand(const kortex_driver::Action& action)
+{
+    kortex_driver::KortexError result;
+    result.code = kortex_driver::ErrorCodes::ERROR_NONE;
+    result.subCode = kortex_driver::SubErrorCodes::SUB_ERROR_NONE;
+    if (action.oneof_action_parameters.send_gripper_command.size() != 1)
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                "Error playing gripper command action : action is malformed.");
+    }
+    auto gripper_command = action.oneof_action_parameters.send_gripper_command[0];
+
+    if (gripper_command.gripper.finger.size() != 1)
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                kortex_driver::SubErrorCodes::INVALID_PARAM,
+                                "Error playing gripper command action : there must be exactly one finger");
+    }
+
+    if (gripper_command.mode != kortex_driver::GripperMode::GRIPPER_POSITION)
+    {
+        return FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                            kortex_driver::SubErrorCodes::UNSUPPORTED_ACTION,
+                            "Error playing gripper command action : gripper mode " + std::to_string(gripper_command.mode) + " is not supported; only position is.");
+    }
+
+    // The incoming command is relative [0,1] and we need to put it in absolute unit [m_gripper_joint_limits_min[0], m_gripper_joint_limits_max[0]]:
+    double absolute_gripper_command = m_math_util.absolute_position_from_relative(gripper_command.gripper.finger[0].value, m_gripper_joint_limits_min[0], m_gripper_joint_limits_max[0]);
+
+    // Create the goal
+    control_msgs::GripperCommandGoal goal;
+    goal.command.position = absolute_gripper_command;
+
+    // Verify if goal has been cancelled before sending it
+    if (m_action_preempted.load())
+    {
+        return result;
+    }
+
+    // Send goal
+    m_gripper_action_client->sendGoal(goal);
+
+    // Wait for goal to be done, or for preempt to be called (check every 10ms)
+    while(!m_action_preempted.load() && !m_gripper_action_client->waitForResult(ros::Duration(0.01f))) {}
+
+    // If we got out of the loop because we're preempted, cancel the goal before returning
+    if (m_action_preempted.load())
+    {
+        m_gripper_action_client->cancelAllGoals();
+    }
+    // Fill result depending on action final status if user didn't cancel
+    else
+    {
+        auto status = m_gripper_action_client->getResult();
+        
+        if (!status->reached_goal)
+        {
+            result = FillKortexError(kortex_driver::ErrorCodes::ERROR_DEVICE,
+                                        kortex_driver::SubErrorCodes::METHOD_FAILED,
+                                        "The gripper command failed during execution.");
+        }
+    }
+    return result;
+}
+
+kortex_driver::KortexError KortexArmSimulation::ExecuteTimeDelay(const kortex_driver::Action& action)
+{
+    auto result = FillKortexError(kortex_driver::ErrorCodes::ERROR_NONE,
+                                kortex_driver::SubErrorCodes::SUB_ERROR_NONE);
+    if (!action.oneof_action_parameters.delay.empty())
+    {
+        auto start = std::chrono::system_clock::now();
+        uint32_t delay_seconds = action.oneof_action_parameters.delay[0].duration;
+        // While not preempted and duration not elapsed
+        while (!m_action_preempted.load() && (std::chrono::system_clock::now() - start) < std::chrono::seconds(delay_seconds))
+        {
+            // sleep a bit
+            std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        }
+    }
+    else
+    {
+        result.code = kortex_driver::ErrorCodes::ERROR_DEVICE;
+        result.subCode = kortex_driver::SubErrorCodes::INVALID_PARAM;
+        result.description = "Error playing time delay action : action is malformed.";
+    }
+    return result;
+}
+
+void KortexArmSimulation::new_joint_speeds_cb(const kortex_driver::Base_JointSpeeds& joint_speeds)
+{
+    kortex_driver::SendJointSpeedsCommandRequest req;
+    req.input = joint_speeds;
+    SendJointSpeedsCommand(req);
+}
+
+void KortexArmSimulation::new_twist_cb(const kortex_driver::TwistCommand& twist)
+{
+    // TODO Implement
+}
+
+void KortexArmSimulation::clear_faults_cb(const std_msgs::Empty& empty)
+{
+    // does nothing
+}
+
+void KortexArmSimulation::stop_cb(const std_msgs::Empty& empty)
+{
+    Stop(kortex_driver::StopRequest());
+}
+
+void KortexArmSimulation::emergency_stop_cb(const std_msgs::Empty& empty)
+{
+    ApplyEmergencyStop(kortex_driver::ApplyEmergencyStopRequest());
+}
diff --git a/kortex_driver/src/non-generated/driver/kortex_math_util.cpp b/kortex_driver/src/non-generated/driver/kortex_math_util.cpp
new file mode 100644
index 0000000..e89552b
--- /dev/null
+++ b/kortex_driver/src/non-generated/driver/kortex_math_util.cpp
@@ -0,0 +1,113 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include "kortex_driver/non-generated/kortex_math_util.h"
+
+double KortexMathUtil::toRad(double degree)
+{
+    return degree * M_PI / 180.0;
+}
+
+double KortexMathUtil::toDeg(double rad)
+{
+    return rad * 180.0 / M_PI;
+}
+
+int KortexMathUtil::getNumberOfTurns(double rad_not_wrapped)
+{
+    // it is between
+    return 0;
+}
+
+double KortexMathUtil::wrapRadiansFromMinusPiToPi(double rad_not_wrapped)
+{
+    int n;
+    return wrapRadiansFromMinusPiToPi(rad_not_wrapped, n);
+}
+
+double KortexMathUtil::wrapRadiansFromMinusPiToPi(double rad_not_wrapped, int& number_of_turns)
+{
+    bool properly_wrapped = false;
+    number_of_turns = 0;
+    do 
+    {
+        if (rad_not_wrapped > M_PI)
+        {
+            number_of_turns += 1;
+            rad_not_wrapped -= 2.0*M_PI;
+        }
+        else if (rad_not_wrapped < -M_PI)
+        {
+            number_of_turns -= 1;
+            rad_not_wrapped += 2.0*M_PI;
+        }
+        else
+        {
+            properly_wrapped = true;
+        }
+    } while(!properly_wrapped);
+    return rad_not_wrapped;
+}
+
+double KortexMathUtil::wrapDegreesFromZeroTo360(double deg_not_wrapped)
+{
+    int n;
+    return wrapDegreesFromZeroTo360(deg_not_wrapped, n);
+}
+
+double KortexMathUtil::wrapDegreesFromZeroTo360(double deg_not_wrapped, int& number_of_turns)
+{
+    bool properly_wrapped = false;
+    number_of_turns = 0;
+    do 
+    {
+        if (deg_not_wrapped > 360.0)
+        {
+            number_of_turns += 1;
+            deg_not_wrapped -= 360.0;
+        }
+        else if (deg_not_wrapped < 0.0)
+        {
+            number_of_turns -= 1;
+            deg_not_wrapped += 360.0;
+        }
+        else
+        {
+            properly_wrapped = true;
+        }
+    } while(!properly_wrapped);
+    return deg_not_wrapped;
+}
+
+double KortexMathUtil::relative_position_from_absolute(double absolute_position, double min_value, double max_value)
+{
+    double range = max_value - min_value;
+    return (absolute_position - min_value) / range;
+}
+
+double KortexMathUtil::absolute_position_from_relative(double relative_position, double min_value, double max_value)
+{
+    double range = max_value - min_value;
+    return relative_position * range + min_value;
+}
+
+kortex_driver::Twist KortexMathUtil::substractTwists(const kortex_driver::Twist& a, const kortex_driver::Twist& b)
+{
+    kortex_driver::Twist c;
+    c.linear_x = a.linear_x - b.linear_x;
+    c.linear_y = a.linear_y - b.linear_y;
+    c.linear_z = a.linear_z - b.linear_z;
+    c.angular_x = a.angular_x - b.angular_x;
+    c.angular_y = a.angular_y - b.angular_y;
+    c.angular_z = a.angular_z - b.angular_z;
+    return c;
+}
\ No newline at end of file
diff --git a/kortex_driver/src/non-generated/driver/kortex_subscribers.cpp b/kortex_driver/src/non-generated/driver/kortex_subscribers.cpp
new file mode 100644
index 0000000..22e1f6b
--- /dev/null
+++ b/kortex_driver/src/non-generated/driver/kortex_subscribers.cpp
@@ -0,0 +1,148 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2020 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include "kortex_driver/non-generated/kortex_subscribers.h"
+
+KortexSubscribers::KortexSubscribers(ros::NodeHandle& node_handle, Kinova::Api::Base::BaseClient* base):
+m_node_handle(node_handle), m_base(base)
+{
+    std::string robot_name;
+    ros::param::get("~robot_name", robot_name);
+    m_joint_speeds_sub = m_node_handle.subscribe("in/joint_velocity", 1, &KortexSubscribers::new_joint_speeds_cb, this);
+    m_twist_sub = m_node_handle.subscribe("in/cartesian_velocity", 1, &KortexSubscribers::new_twist_cb, this);
+    m_clear_faults_sub = m_node_handle.subscribe("in/clear_faults", 1, &KortexSubscribers::clear_faults_cb, this);
+    m_stop_sub = m_node_handle.subscribe("in/stop", 1, &KortexSubscribers::stop_cb, this);
+    m_emergency_stop_sub = m_node_handle.subscribe("in/emergency_stop", 1, &KortexSubscribers::emergency_stop_cb, this);
+}
+
+KortexSubscribers::~KortexSubscribers()
+{
+}
+
+void KortexSubscribers::new_joint_speeds_cb(const kortex_driver::Base_JointSpeeds& joint_speeds)
+{
+    Kinova::Api::Base::JointSpeeds speeds;
+    kortex_driver::Base_JointSpeeds joint_speeds_in_rad(joint_speeds); // Since joint_speeds is const we need this copy
+
+    // Convert radians in degrees
+    for (unsigned int i = 0; i < joint_speeds.joint_speeds.size(); i++)
+    {
+        joint_speeds_in_rad.joint_speeds[i].value = KortexMathUtil::toDeg(joint_speeds.joint_speeds[i].value);
+    }
+    ToProtoData(joint_speeds_in_rad, &speeds);
+
+    try
+    {
+        m_base->SendJointSpeedsCommand(speeds);
+    }
+    catch (Kinova::Api::KDetailedException& ex)
+    {
+        ROS_WARN("Kortex exception while sending joint speeds");
+        ROS_WARN("Error code: %s\n", Kinova::Api::ErrorCodes_Name(ex.getErrorInfo().getError().error_code()).c_str());
+        ROS_WARN("Error sub code: %s\n", Kinova::Api::SubErrorCodes_Name(Kinova::Api::SubErrorCodes(ex.getErrorInfo().getError().error_sub_code())).c_str());
+        ROS_WARN("Error description: %s\n", ex.what());
+    }
+    catch (std::runtime_error& ex_runtime)
+    {
+        ROS_DEBUG("Runtime exception detected while sending joint speeds!");
+        ROS_DEBUG("%s", ex_runtime.what());
+    }
+}
+
+void KortexSubscribers::new_twist_cb(const kortex_driver::TwistCommand& twist)
+{
+    Kinova::Api::Base::TwistCommand twist_command;
+    ToProtoData(twist, &twist_command);
+
+    // Convert radians to degrees
+    twist_command.mutable_twist()->set_angular_x(KortexMathUtil::toDeg(twist_command.twist().angular_x()));
+    twist_command.mutable_twist()->set_angular_y(KortexMathUtil::toDeg(twist_command.twist().angular_y()));
+    twist_command.mutable_twist()->set_angular_z(KortexMathUtil::toDeg(twist_command.twist().angular_z()));
+
+    try
+    {
+        m_base->SendTwistCommand(twist_command);
+    }
+    catch (Kinova::Api::KDetailedException& ex)
+    {
+        ROS_WARN("Kortex exception while sending twist command");
+        ROS_WARN("Error code: %s\n", Kinova::Api::ErrorCodes_Name(ex.getErrorInfo().getError().error_code()).c_str());
+        ROS_WARN("Error sub code: %s\n", Kinova::Api::SubErrorCodes_Name(Kinova::Api::SubErrorCodes(ex.getErrorInfo().getError().error_sub_code())).c_str());
+        ROS_WARN("Error description: %s\n", ex.what());
+    }
+    catch (std::runtime_error& ex_runtime)
+    {
+        ROS_DEBUG("Runtime exception detected while sending twist command!");
+        ROS_DEBUG("%s", ex_runtime.what());
+    }
+}
+
+void KortexSubscribers::clear_faults_cb(const std_msgs::Empty& dummy)
+{
+    try
+    {
+        m_base->ClearFaults();
+    }
+    catch (Kinova::Api::KDetailedException& ex)
+    {
+        ROS_WARN("Kortex exception while clearing the faults");
+        ROS_WARN("Error code: %s\n", Kinova::Api::ErrorCodes_Name(ex.getErrorInfo().getError().error_code()).c_str());
+        ROS_WARN("Error sub code: %s\n", Kinova::Api::SubErrorCodes_Name(Kinova::Api::SubErrorCodes(ex.getErrorInfo().getError().error_sub_code())).c_str());
+        ROS_WARN("Error description: %s\n", ex.what());
+    }
+    catch (std::runtime_error& ex_runtime)
+    {
+        ROS_DEBUG("Runtime exception detected while clearing the faults!");
+        ROS_DEBUG("%s", ex_runtime.what());
+    }
+}
+
+void KortexSubscribers::stop_cb(const std_msgs::Empty& dummy)
+{
+    try
+    {
+        m_base->Stop();
+    }
+    catch (Kinova::Api::KDetailedException& ex)
+    {
+        ROS_WARN("Kortex exception while clearing the faults");
+        ROS_WARN("Error code: %s\n", Kinova::Api::ErrorCodes_Name(ex.getErrorInfo().getError().error_code()).c_str());
+        ROS_WARN("Error sub code: %s\n", Kinova::Api::SubErrorCodes_Name(Kinova::Api::SubErrorCodes(ex.getErrorInfo().getError().error_sub_code())).c_str());
+        ROS_WARN("Error description: %s\n", ex.what());
+    }
+    catch (std::runtime_error& ex_runtime)
+    {
+        ROS_DEBUG("Runtime exception detected while clearing the faults!");
+        ROS_DEBUG("%s", ex_runtime.what());
+    }
+}
+
+void KortexSubscribers::emergency_stop_cb(const std_msgs::Empty& dummy)
+{
+    try
+    {
+        m_base->ApplyEmergencyStop();
+    }
+    catch (Kinova::Api::KDetailedException& ex)
+    {
+        ROS_WARN("Kortex exception while clearing the faults");
+        ROS_WARN("Error code: %s\n", Kinova::Api::ErrorCodes_Name(ex.getErrorInfo().getError().error_code()).c_str());
+        ROS_WARN("Error sub code: %s\n", Kinova::Api::SubErrorCodes_Name(Kinova::Api::SubErrorCodes(ex.getErrorInfo().getError().error_sub_code())).c_str());
+        ROS_WARN("Error description: %s\n", ex.what());
+    }
+    catch (std::runtime_error& ex_runtime)
+    {
+        ROS_DEBUG("Runtime exception detected while clearing the faults!");
+        ROS_DEBUG("%s", ex_runtime.what());
+    }
+}
+
diff --git a/kortex_driver/src/non-generated/driver/pre_computed_joint_trajectory_action_server.cpp b/kortex_driver/src/non-generated/driver/pre_computed_joint_trajectory_action_server.cpp
new file mode 100644
index 0000000..1092321
--- /dev/null
+++ b/kortex_driver/src/non-generated/driver/pre_computed_joint_trajectory_action_server.cpp
@@ -0,0 +1,543 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include "kortex_driver/non-generated/pre_computed_joint_trajectory_action_server.h"
+#include <sstream>
+#include <fstream>
+
+PreComputedJointTrajectoryActionServer::PreComputedJointTrajectoryActionServer(const std::string& server_name, ros::NodeHandle& nh, Kinova::Api::Base::BaseClient* base, Kinova::Api::BaseCyclic::BaseCyclicClient* base_cyclic):
+    m_server_name(server_name),
+    m_node_handle(nh),
+    m_server(nh, server_name, boost::bind(&PreComputedJointTrajectoryActionServer::goal_received_callback, this, _1), boost::bind(&PreComputedJointTrajectoryActionServer::preempt_received_callback, this, _1), false),
+    m_base(base),
+    m_base_cyclic(base_cyclic),
+    m_server_state(ActionServerState::INITIALIZING)
+{
+    // Get the ROS params
+    if (!ros::param::get("~default_goal_time_tolerance", m_default_goal_time_tolerance))
+    {
+        ROS_WARN("Parameter default_goal_time_tolerance was not specified; assuming 0.5 as default value.");
+        m_default_goal_time_tolerance = 0.5;
+    }
+    if (!ros::param::get("~default_goal_tolerance", m_default_goal_tolerance))
+    {
+        ROS_WARN("Parameter default_goal_tolerance was not specified; assuming 0.005 as default value.");
+        m_default_goal_tolerance = 0.005;
+    }
+    if (!ros::param::get("~prefix", m_prefix))
+    {
+        std::string error_string = "Prefix name was not specified in the launch file, shutting down the node...";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+    if (!ros::param::get("~joint_names", m_joint_names))
+    {
+        std::string error_string = "Parameter joint_names was not specified";
+        ROS_ERROR("%s", error_string.c_str());
+        throw new std::runtime_error(error_string);
+    }
+    
+    // Subscribe to the arm's Action Notifications
+    m_sub_action_notif_handle = m_base->OnNotificationActionTopic(std::bind(&PreComputedJointTrajectoryActionServer::action_notif_callback, this, std::placeholders::_1), Kinova::Api::Common::NotificationOptions());
+
+    // Ready to receive goal
+    m_server.start();
+    set_server_state(ActionServerState::IDLE);
+}
+
+PreComputedJointTrajectoryActionServer::~PreComputedJointTrajectoryActionServer()
+{
+    m_base->Unsubscribe(m_sub_action_notif_handle);
+}
+
+void PreComputedJointTrajectoryActionServer::goal_received_callback(actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::GoalHandle new_goal_handle)
+{
+    ROS_INFO("New goal received.");
+    if (!is_goal_acceptable(new_goal_handle))
+    {
+        ROS_ERROR("Joint Trajectory Goal is rejected.");
+        new_goal_handle.setRejected();
+        return;
+    }
+
+    if (m_server_state != ActionServerState::IDLE)
+    {
+        ROS_WARN("There is already an active goal. It is being cancelled.");
+        // We have to call Stop after having received the ACTION_START notification from the arm
+        stop_all_movement();
+    }
+
+    // Make sure to clear the faults before moving the robot
+    m_base->ClearFaults();
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+    // Accept the goal
+    ROS_INFO("Joint Trajectory Goal is accepted.");
+    m_goal = new_goal_handle;
+    m_goal.setAccepted();
+
+    // Check if we are already there physically
+    if (is_goal_tolerance_respected(false, false))
+    {
+        ROS_INFO("We already reached the goal position : nothing to do.");
+        m_goal.setSucceeded();
+        return;
+    }
+
+    // Construct the Protobuf object trajectory
+    trajectory_msgs::JointTrajectory ros_trajectory = m_goal.getGoal()->trajectory;
+
+    Kinova::Api::Base::PreComputedJointTrajectory proto_trajectory;
+
+    // For logging purposes
+    std::ofstream myfile;
+    myfile.open ("moveit_trajectory.csv");
+
+    // Set the continuity mode
+    proto_trajectory.set_mode(Kinova::Api::Base::TrajectoryContinuityMode::TRAJECTORY_CONTINUITY_MODE_POSITION);
+
+    // Copy the trajectory points from the ROS structure to the Protobuf structure
+    for (auto traj_point : m_goal.getGoal()->trajectory.points)
+    {
+        Kinova::Api::Base::PreComputedJointTrajectoryElement* proto_element = proto_trajectory.add_trajectory_elements();
+        myfile << traj_point.time_from_start.toSec() << ",";
+        for (auto position : traj_point.positions)
+        {
+            proto_element->add_joint_angles(m_math_util.toDeg(position));
+            myfile << position << ",";
+        }
+        for (auto velocity : traj_point.velocities)
+        {
+            proto_element->add_joint_speeds(m_math_util.toDeg(velocity));
+            myfile << velocity << ",";
+        }
+        for (auto acceleration : traj_point.accelerations)
+        {
+            proto_element->add_joint_accelerations(m_math_util.toDeg(acceleration));
+            myfile << acceleration << ",";
+        }
+        myfile << "\n";
+        proto_element->set_time_from_start(traj_point.time_from_start.toSec());
+    }
+
+    myfile.close();
+
+    // Send the trajectory to the robot
+    try
+    {
+        m_base->PlayPreComputedJointTrajectory(proto_trajectory);
+        set_server_state(ActionServerState::PRE_PROCESSING_PENDING);
+    }
+    catch (Kinova::Api::KDetailedException& ex)
+    {
+        ROS_ERROR("Kortex exception while sending the trajectory");
+        ROS_ERROR("Error code: %s\n", Kinova::Api::ErrorCodes_Name(ex.getErrorInfo().getError().error_code()).c_str());
+        ROS_ERROR("Error sub code: %s\n", Kinova::Api::SubErrorCodes_Name(Kinova::Api::SubErrorCodes(ex.getErrorInfo().getError().error_sub_code())).c_str());
+        ROS_ERROR("Error description: %s\n", ex.what());
+        m_goal.setAborted();
+    }
+    catch (std::runtime_error& ex_runtime)
+    {
+        ROS_ERROR("Runtime exception detected while sending the trajectory");
+        ROS_ERROR("%s", ex_runtime.what());
+        m_goal.setAborted();
+    }
+    catch (std::future_error& ex_future)
+    {
+        ROS_ERROR("Future exception detected while getting feedback");
+        ROS_ERROR("%s", ex_future.what());
+        m_goal.setAborted();
+    }
+}
+
+// Called in a separate thread when a preempt request comes in from the Action Client
+void PreComputedJointTrajectoryActionServer::preempt_received_callback(actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::GoalHandle goal_handle)
+{
+    if (m_server_state == ActionServerState::TRAJECTORY_EXECUTION_IN_PROGRESS)
+    {
+        stop_all_movement();
+    }
+}
+
+// Called in a separate thread when a notification comes in
+void PreComputedJointTrajectoryActionServer::action_notif_callback(Kinova::Api::Base::ActionNotification notif)
+{
+    Kinova::Api::Base::ActionEvent event = notif.action_event();
+    Kinova::Api::Base::ActionHandle handle = notif.handle();
+    Kinova::Api::Base::ActionType type = handle.action_type();
+    ROS_DEBUG("Action notification received of type %s", Kinova::Api::Base::ActionEvent_Name(event).c_str());
+    std::lock_guard<std::mutex> guard(m_action_notification_thread_lock);
+
+    control_msgs::FollowJointTrajectoryResult result;
+    std::ostringstream oss;
+
+    if (type == Kinova::Api::Base::ActionType::PLAY_PRE_COMPUTED_TRAJECTORY)
+    {
+        switch (event)
+        {
+        // The pre-processing is starting in the arm
+        case Kinova::Api::Base::ActionEvent::ACTION_PREPROCESS_START:
+            // It should be starting
+            if (m_server_state == ActionServerState::PRE_PROCESSING_PENDING)
+            {
+                ROS_INFO("Preprocessing has started in the arm.");
+                set_server_state(ActionServerState::PRE_PROCESSING_IN_PROGRESS);
+            }
+            // We should not have received that
+            else
+            {
+                ROS_ERROR("Notification mismatch : received ACTION_PREPROCESS_START but we are in %s", actionServerStateNames[int(m_server_state)]);
+            }
+            break;
+
+        // The pre-processing has ended successfully in the arm
+        case Kinova::Api::Base::ActionEvent::ACTION_PREPROCESS_END:
+            // It was ongoing and now it ended
+            if (m_server_state == ActionServerState::PRE_PROCESSING_PENDING ||
+                m_server_state == ActionServerState::PRE_PROCESSING_IN_PROGRESS)
+            {
+                ROS_INFO("Preprocessing has finished in the arm and goal has been accepted.");
+                set_server_state(ActionServerState::TRAJECTORY_EXECUTION_PENDING);
+            }
+            // FIXME KOR-3563 Sometimes the notifications arrive in the wrong order so it is possible to receive
+            // a ACTION_PREPROCESS_END notification after the ACTION_START
+            // When this bug will be fixed this else if can be removed
+            else if (m_server_state == ActionServerState::TRAJECTORY_EXECUTION_IN_PROGRESS)
+            {
+                ROS_DEBUG("Notification order mismatch : We received the ACTION_PREPROCESS_END after the ACTION_START");
+                break;
+            }
+            // We should not have received that
+            else
+            {
+                ROS_ERROR("Notification mismatch : received ACTION_PREPROCESS_END but we are in %s", actionServerStateNames[int(m_server_state)]);
+            }
+            break;
+
+        // The pre-processing has failed in the arm
+        case Kinova::Api::Base::ActionEvent::ACTION_PREPROCESS_ABORT:
+            // It was ongoing and now it ended (and failed)
+            if ((m_server_state == ActionServerState::PRE_PROCESSING_IN_PROGRESS))
+            {
+                ROS_ERROR("Preprocessing has finished in the arm and goal has been rejected. Fetching the error report from the arm...");
+
+                result.error_code = result.INVALID_GOAL;
+
+                // Get the error report and show errors here
+                Kinova::Api::Base::TrajectoryErrorReport report = m_base->GetTrajectoryErrorReport();
+                oss << "Error report has been fetched and error elements are listed below : " << std::endl;
+                int i = 1;
+                for (auto error_element : report.trajectory_error_elements())
+                {
+                    oss << "-----------------------------" << std::endl;
+                    oss << "Error #" << i << std::endl;
+                    oss << "Type : " << Kinova::Api::Base::TrajectoryErrorType_Name(error_element.error_type()) << std::endl;
+                    oss << "Identifier : " << Kinova::Api::Base::TrajectoryErrorIdentifier_Name(error_element.error_identifier()) << std::endl;
+                    oss << "Actuator : " << error_element.index()+1 << std::endl;
+                    oss << "Erroneous value is " << error_element.error_value() << " but minimum permitted is " << error_element.min_value() << " and maximum permitted is " << error_element.max_value() << std::endl;
+                    if (error_element.message() != "")
+                    {
+                        oss << "Additional message is : " << error_element.message() << std::endl;
+                    }
+                    oss << "-----------------------------" << std::endl;
+
+                    i++;
+                }
+
+                ROS_ERROR("%s", oss.str().c_str());
+
+                result.error_string = oss.str();
+                m_goal.setAborted(result);
+
+                set_server_state(ActionServerState::IDLE);
+            }
+            // We should not have received that
+            else
+            {
+                ROS_ERROR("Notification mismatch : received ACTION_PREPROCESS_ABORT but we are in %s", actionServerStateNames[int(m_server_state)]);
+            }
+            break;
+
+        // The arm is starting to move
+        case Kinova::Api::Base::ActionEvent::ACTION_START:
+            // The preprocessing was done and the goal is still active (not preempted)
+            if ((m_server_state == ActionServerState::TRAJECTORY_EXECUTION_PENDING ||
+                 m_server_state == ActionServerState::PRE_PROCESSING_IN_PROGRESS) && // FIXME KOR-3563 this happens if we received a ACTION_START before a ACTION_PREPROCESS_END
+                 m_goal.getGoalStatus().status == actionlib_msgs::GoalStatus::ACTIVE)
+            {
+                ROS_INFO("Trajectory has started.");
+                set_server_state(ActionServerState::TRAJECTORY_EXECUTION_IN_PROGRESS);
+                // Remember when the trajectory started
+                m_trajectory_start_time = std::chrono::system_clock::now();
+            }
+            // The preprocessing was done but the goal put to "PREEMPTING" by the client while preprocessing
+            // The stop_all_movement() call will trigger a ACTION_ABORT notification
+            else if ((m_server_state == ActionServerState::TRAJECTORY_EXECUTION_PENDING) &&
+                      m_goal.getGoalStatus().status == actionlib_msgs::GoalStatus::PREEMPTING)
+            {
+                ROS_INFO("Trajectory has started but goal was cancelled : stopping all movement.");
+                stop_all_movement();
+            }
+            // We should not have received that
+            else
+            {
+                ROS_ERROR("Notification mismatch : received ACTION_START but we are in %s", actionServerStateNames[int(m_server_state)]);
+            }
+            break;
+
+        // The action was started in the arm, but it aborted
+        case Kinova::Api::Base::ActionEvent::ACTION_ABORT:
+            // The goal is still active, but we received a ABORT before starting, or during execution
+            if (m_goal.getGoalStatus().status == actionlib_msgs::GoalStatus::ACTIVE &&
+                (m_server_state == ActionServerState::TRAJECTORY_EXECUTION_IN_PROGRESS ||
+                 m_server_state == ActionServerState::TRAJECTORY_EXECUTION_PENDING))
+            {
+                ROS_ERROR("Trajectory has been aborted.");
+
+                result.error_code = result.PATH_TOLERANCE_VIOLATED;
+                oss << "Trajectory execution failed in the arm with sub error code " << notif.abort_details() << std::endl;
+                if (notif.abort_details() == Kinova::Api::SubErrorCodes::CONTROL_WRONG_STARTING_POINT)
+                {
+                    oss << "The starting point for the trajectory did not match the actual commanded joint angles." << std::endl;
+                }
+                else if (notif.abort_details() == Kinova::Api::SubErrorCodes::CONTROL_MANUAL_STOP)
+                {
+                    oss << "The speed while executing the trajectory was too damn high and caused the robot to stop." << std::endl;
+                }
+                result.error_string = oss.str();
+                m_goal.setAborted(result);
+
+                ROS_ERROR("%s", oss.str().c_str());
+                set_server_state(ActionServerState::IDLE);
+            }
+            // The goal was cancelled and we received a ACTION_ABORT : this means the trajectory was cancelled successfully in the arm
+            else if  (m_goal.getGoalStatus().status == actionlib_msgs::GoalStatus::PREEMPTING &&
+                     (m_server_state == ActionServerState::TRAJECTORY_EXECUTION_IN_PROGRESS ||
+                      m_server_state == ActionServerState::TRAJECTORY_EXECUTION_PENDING))
+            {
+                ROS_INFO("Trajectory has been cancelled successfully in the arm.");
+                m_goal.setCanceled();
+                set_server_state(ActionServerState::IDLE);
+            }
+            // We should not have received that
+            else
+            {
+                ROS_ERROR("Notification mismatch : received ACTION_ABORT but we are in %s", actionServerStateNames[int(m_server_state)]);
+            }
+            break;
+
+        // The trajectory just ended
+        case Kinova::Api::Base::ActionEvent::ACTION_END:
+        {
+            // The trajectory was ongoing
+            if ((m_server_state == ActionServerState::TRAJECTORY_EXECUTION_IN_PROGRESS))
+            {
+                ROS_INFO("Trajectory has finished in the arm.");
+                m_trajectory_end_time = std::chrono::system_clock::now();
+                bool is_tolerance_respected = is_goal_tolerance_respected(true, true);
+                if (is_tolerance_respected)
+                {
+                    result.error_code = result.SUCCESSFUL;
+                    ROS_INFO("Trajectory execution succeeded.");
+                    m_goal.setSucceeded(result);
+                }
+                else
+                {
+                    result.error_code = result.PATH_TOLERANCE_VIOLATED;
+                    oss << "After validation, trajectory execution failed in the arm with sub error code " << Kinova::Api::SubErrorCodes_Name(notif.abort_details());
+                    result.error_string = oss.str();
+
+                    ROS_ERROR("%s", oss.str().c_str());
+                    m_goal.setAborted(result);
+                }
+                set_server_state(ActionServerState::IDLE);
+            }
+            // We should not have received that
+            else
+            {
+                ROS_ERROR("Notification mismatch : received ACTION_END but we are in %s", actionServerStateNames[int(m_server_state)]);
+            }
+            break;
+        }
+
+        case Kinova::Api::Base::ActionEvent::ACTION_PAUSE:
+            ROS_WARN("Action pause event was just received and this should never happen.");
+            break;
+
+        default:
+            ROS_WARN("Unknown action event was just received and this should never happen.");
+            break;
+        }
+    }
+    // Wrong action type. Rejecting the notification. Action server state unchanged.
+    else
+    {
+        return;
+    }
+
+    oss.flush();
+}
+
+bool PreComputedJointTrajectoryActionServer::is_goal_acceptable(actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction>::GoalHandle goal_handle)
+{
+    // First check if goal is valid
+    if (!goal_handle.isValid())
+    {
+        ROS_ERROR("Invalid goal.");
+        return false;
+    }
+
+    // Retrieve the goal
+    control_msgs::FollowJointTrajectoryGoalConstPtr goal = goal_handle.getGoal();
+
+    // Goal does not command the right number of actuators
+    if (goal->trajectory.joint_names.size() != m_joint_names.size())
+    {
+        ROS_ERROR("Goal commands %lu actuators, but arm has %lu.", goal->trajectory.joint_names.size(), m_joint_names.size());
+        return false;
+    }
+
+    // Goal does not command the right actuators
+    if (m_joint_names != goal->trajectory.joint_names)
+    {
+        ROS_ERROR("There is a mismatch between the goal's joint names and the action server's joint names.");
+        ROS_INFO("Action server joint names are :");
+        for (auto j : m_joint_names)
+        {
+            std::cout << j << ", ";
+        }
+        std::cout << std::endl;
+        ROS_INFO("Goal joint names are :");
+        for (auto j : goal->trajectory.joint_names)
+        {
+            std::cout << j << ", ";
+        }
+        std::cout << std::endl;
+        return false;
+    }
+
+    // Goal needs to have 1msec timesteps intervals between all trajectory points to not be rejected
+    double difference = 0.0;
+    bool result = true;
+    trajectory_msgs::JointTrajectoryPoint traj_point;
+    for (int i = 1; i < goal->trajectory.points.size() && result; i++)
+    {
+        difference = goal->trajectory.points.at(i).time_from_start.toSec() - goal->trajectory.points.at(i-1).time_from_start.toSec();
+        if (i > 0 && i < goal->trajectory.points.size()-1)
+        {
+            result = (fabs(difference-0.001) < 10.0*FLT_EPSILON);
+        }
+    }
+    if(!result)
+    {
+      ROS_ERROR("Insufficient point spacing.");
+    }
+    return result;
+}
+
+bool PreComputedJointTrajectoryActionServer::is_goal_tolerance_respected(bool enable_prints, bool check_time_tolerance)
+{
+    // Get feedback from arm
+    bool is_goal_respected = true;
+    Kinova::Api::BaseCyclic::Feedback feedback = m_base_cyclic->RefreshFeedback();
+    auto goal = m_goal.getGoal();
+
+    // Check the goal_time_tolerance for trajectory execution
+    if (check_time_tolerance)
+    {
+        double actual_trajectory_duration = std::chrono::duration<double>(m_trajectory_end_time - m_trajectory_start_time).count();
+        double desired_trajectory_duration = goal->trajectory.points.at(goal->trajectory.points.size()-1).time_from_start.toSec();
+        double time_tolerance = goal->goal_time_tolerance.toSec() == 0.0 ? m_default_goal_time_tolerance : goal->goal_time_tolerance.toSec();
+        if (actual_trajectory_duration > desired_trajectory_duration + time_tolerance )
+        {
+            if (enable_prints)
+                ROS_ERROR("Goal duration tolerance was exceeded. Maximum desired duration was %f seconds and actual duration was %f", desired_trajectory_duration + time_tolerance, actual_trajectory_duration);
+            return false;
+        }
+        else if (actual_trajectory_duration < desired_trajectory_duration - time_tolerance)
+        {
+            if (enable_prints)
+                ROS_ERROR("Goal duration threshold was not reached. Minimum desired duration was %f seconds and actual duration was %f", desired_trajectory_duration - time_tolerance, actual_trajectory_duration);
+            return false;
+        }
+    }
+
+    // If position tolerances were specified, use them.
+    // If the goal->goal_tolerance vector is empty, fill it with default values
+    std::vector<double> goal_tolerances;
+    if (goal->goal_tolerance.empty())
+    {
+        ROS_DEBUG("Goal did not specify tolerances, using default tolerance of %f radians for every joint.", m_default_goal_tolerance);
+        for (int i = 0; i < m_joint_names.size(); i++)
+        {
+            goal_tolerances.push_back(m_default_goal_tolerance);
+        }
+    }
+    else
+    {
+        for (auto tol : goal->goal_tolerance)
+        {
+            goal_tolerances.push_back(tol.position);
+        }
+    }
+
+    // Check the joint tolerances on the goal's end position
+    int current_index = 0;
+    for (auto act: feedback.actuators())
+    {
+        double actual_position = act.position(); // in degrees
+        double desired_position = m_math_util.wrapDegreesFromZeroTo360(m_math_util.toDeg(goal->trajectory.points.at(goal->trajectory.points.size()-1).positions[current_index]));
+        double tolerance = 0.0;
+
+        if (goal_tolerances[current_index] == -1.0)
+        {
+            current_index++;
+            continue; // no tolerance set for this joint
+        }
+        else
+        {
+            tolerance = m_math_util.toDeg(goal_tolerances[current_index]);
+        }
+
+        double error = m_math_util.wrapDegreesFromZeroTo360(std::min(fabs(actual_position - desired_position), fabs(fabs(actual_position - desired_position) - 360.0)));
+        if (error > tolerance)
+        {
+            is_goal_respected = false;
+            if (enable_prints)
+                ROS_ERROR("The tolerance for joint %u was not met. Desired position is %f and actual position is %f", current_index + 1, desired_position, actual_position);
+        }
+        current_index++;
+    }
+
+    return is_goal_respected;
+}
+
+void PreComputedJointTrajectoryActionServer::stop_all_movement()
+{
+    ROS_INFO("Calling Stop on the robot.");
+    try
+    {
+        m_base->Stop();
+    }
+    catch(const Kinova::Api::KBasicException& e)
+    {
+        ROS_WARN("Stop failed : %s", e.what());
+    }
+}
+
+void PreComputedJointTrajectoryActionServer::set_server_state(ActionServerState s)
+{
+    std::lock_guard<std::mutex> guard(m_server_state_lock);
+    ActionServerState old_state = m_server_state;
+    m_server_state = s;
+    ROS_INFO("State changed from %s to %s\n", actionServerStateNames[int(old_state)], actionServerStateNames[int(s)]);
+}
diff --git a/kortex_driver/src/non-generated/driver/robotiq_gripper_command_action_server.cpp b/kortex_driver/src/non-generated/driver/robotiq_gripper_command_action_server.cpp
new file mode 100644
index 0000000..962e8ae
--- /dev/null
+++ b/kortex_driver/src/non-generated/driver/robotiq_gripper_command_action_server.cpp
@@ -0,0 +1,217 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include "kortex_driver/non-generated/robotiq_gripper_command_action_server.h"
+
+RobotiqGripperCommandActionServer::RobotiqGripperCommandActionServer(const std::string& server_name, const std::string& gripper_joint_name, double gripper_joint_limit_min, double gripper_joint_limit_max, ros::NodeHandle& nh, Kinova::Api::Base::BaseClient* base, Kinova::Api::BaseCyclic::BaseCyclicClient* base_cyclic):
+    m_server_name(server_name),
+    m_gripper_joint_name(gripper_joint_name),
+    m_gripper_joint_limit_min(gripper_joint_limit_min),
+    m_gripper_joint_limit_max(gripper_joint_limit_max),
+    m_node_handle(nh),
+    m_server(nh, server_name, boost::bind(&RobotiqGripperCommandActionServer::goal_received_callback, this, _1), boost::bind(&RobotiqGripperCommandActionServer::preempt_received_callback, this, _1), false),
+    m_base(base),
+    m_base_cyclic(base_cyclic),
+    m_is_trajectory_running(false)
+{    
+    // Construct cancel gripper command now so we can just send it whenever we need to
+    m_cancel_gripper_command.set_mode(Kinova::Api::Base::GripperMode::GRIPPER_SPEED);
+    auto g = m_cancel_gripper_command.mutable_gripper();
+    auto f = g->add_finger();
+    f->set_finger_identifier(0);
+    f->set_value(0);
+
+    // Ready to receive goal
+    m_server.start();
+}
+
+RobotiqGripperCommandActionServer::~RobotiqGripperCommandActionServer()
+{
+    join_polling_thread();
+}
+
+void RobotiqGripperCommandActionServer::goal_received_callback(actionlib::ActionServer<control_msgs::GripperCommandAction>::GoalHandle new_goal_handle)
+{
+    ROS_INFO("New goal received.");
+    if (!is_goal_acceptable(new_goal_handle))
+    {
+        ROS_ERROR("Gripper Command Goal is rejected.");
+        new_goal_handle.setRejected();
+        return;
+    }
+
+    // Deal with active goals
+    if (m_is_trajectory_running)
+    {
+        ROS_WARN("There is already an active goal. It is being cancelled.");
+        stop_all_movement();
+    }
+
+    // Accept the goal
+    m_goal = new_goal_handle;
+    m_goal.setAccepted();
+
+    // Construct the Protobuf gripper command
+    control_msgs::GripperCommand ros_gripper_command = m_goal.getGoal()->command;
+    Kinova::Api::Base::GripperCommand proto_gripper_command;
+
+    proto_gripper_command.set_mode(Kinova::Api::Base::GripperMode::GRIPPER_POSITION);
+    auto gripper = proto_gripper_command.mutable_gripper();
+    // Position for a finger must be between relative (between 0 and 1), but position is absolute in the Goal coming from ROS
+    double relative_position = m_math_util.relative_position_from_absolute(ros_gripper_command.position, m_gripper_joint_limit_min, m_gripper_joint_limit_max);
+    auto finger = gripper->add_finger();
+    finger->set_finger_identifier(0);
+    finger->set_value(relative_position);
+    
+    // Send the gripper command to the robot
+    m_base->SendGripperCommand(proto_gripper_command);
+    m_is_trajectory_running_lock.lock();
+    m_is_trajectory_running = true;
+    m_is_trajectory_running_lock.unlock();
+
+    // Start the thread to monitor the position
+    join_polling_thread();
+    m_gripper_position_polling_thread = std::thread(&RobotiqGripperCommandActionServer::gripper_position_polling_thread, this);
+}
+
+// Called in a separate thread when a preempt request comes in from the Action Client
+void RobotiqGripperCommandActionServer::preempt_received_callback(actionlib::ActionServer<control_msgs::GripperCommandAction>::GoalHandle goal_handle)
+{
+    ROS_WARN("Preempt received from client");
+    if (m_is_trajectory_running)
+    {
+        stop_all_movement();
+    }
+    else 
+    {
+        ROS_WARN("Trajectory is not running but we received a pre-empt request from client.");
+    }
+}
+
+// Called in a separate thread when a notification comes in
+void RobotiqGripperCommandActionServer::gripper_position_polling_thread()
+{
+    std::chrono::system_clock::time_point now = m_trajectory_start_time = std::chrono::system_clock::now();
+    Kinova::Api::BaseCyclic::Feedback feedback = m_base_cyclic->RefreshFeedback();
+    //TODO When position feedback will be between 0 and 1, remove the *100 ot /100 in this file
+    double previous_gripper_position = feedback.interconnect().gripper_feedback().motor(0).position() / 100.0; 
+    double actual_gripper_position;
+    int n_stuck = 0;
+
+    // Break the loop if the trajectory is not running or if the trajectory lasted more than the timeout limit
+    while(m_is_trajectory_running && (std::chrono::duration<double>(now - m_trajectory_start_time).count() < GRIPPER_TRAJECTORY_TIME_LIMIT))
+    {
+        // Every 50ms
+        std::this_thread::sleep_for(std::chrono::milliseconds(50));
+
+        // Get gripper position and find if we're stuck
+        feedback = m_base_cyclic->RefreshFeedback();
+        actual_gripper_position = feedback.interconnect().gripper_feedback().motor(0).position() / 100.0;
+        if (fabs(actual_gripper_position - previous_gripper_position) > MAX_CONSECUTIVE_POSITION_DIFFERENCE)
+        {
+            n_stuck = 0;
+        }
+        else 
+        {
+            n_stuck++;
+        }
+        previous_gripper_position = actual_gripper_position;
+
+        // If we're stuck, the trajectory is over
+        if (n_stuck >= MAX_CONSECUTIVE_IDENTICAL_POSITIONS) // 200ms in the same position
+        {
+            m_is_trajectory_running_lock.lock();
+            m_is_trajectory_running = false;
+            m_is_trajectory_running_lock.unlock();
+        }
+    }
+
+    // We got out this loop, meaning the trajectory is over or the time is up
+    // The trajectory is not running, meaning it's finished or it was stopped
+    if (!m_is_trajectory_running)
+    {        
+        if (is_goal_tolerance_respected())
+        {
+            m_goal.setSucceeded();
+        }
+        else
+        {
+            ROS_ERROR("we're finished");
+            m_goal.setAborted();
+        }
+    }
+
+    // Timeout was reached
+    else
+    {
+        ROS_ERROR("BANG timeout");
+        m_goal.setAborted();
+    }
+
+    return;
+}
+
+bool RobotiqGripperCommandActionServer::is_goal_acceptable(actionlib::ActionServer<control_msgs::GripperCommandAction>::GoalHandle goal_handle)
+{
+    // First check if goal is valid
+    if (!goal_handle.isValid())
+    { 
+        return false;
+    }
+
+    // Retrieve the goal
+    control_msgs::GripperCommandGoalConstPtr goal = goal_handle.getGoal();
+
+    // If the position is not in the joint limits range, reject the goal
+    double relative_position = m_math_util.relative_position_from_absolute(goal_handle.getGoal()->command.position, m_gripper_joint_limit_min, m_gripper_joint_limit_max);
+    if (relative_position > 1 || relative_position < 0)
+    {
+        return false;
+    }
+
+    return true;
+}
+
+bool RobotiqGripperCommandActionServer::is_goal_tolerance_respected()
+{
+    Kinova::Api::BaseCyclic::Feedback feedback = m_base_cyclic->RefreshFeedback();
+    double actual_gripper_position = feedback.interconnect().gripper_feedback().motor(0).position() / 100.0;
+    double goal_as_relative_position = m_math_util.relative_position_from_absolute(m_goal.getGoal()->command.position, m_gripper_joint_limit_min, m_gripper_joint_limit_max);
+
+    ROS_INFO("%f and %f", actual_gripper_position, goal_as_relative_position);
+
+    return fabs(actual_gripper_position - goal_as_relative_position) < MAX_GRIPPER_RELATIVE_ERROR;
+}
+
+void RobotiqGripperCommandActionServer::join_polling_thread()
+{
+    if (m_gripper_position_polling_thread.joinable())
+    {
+        m_gripper_position_polling_thread.join();
+    }
+}
+
+void RobotiqGripperCommandActionServer::stop_all_movement()
+{
+    ROS_INFO("Sending zero-speed Gripper Command on the robot.");
+    try
+    {
+        m_base->SendGripperCommand(m_cancel_gripper_command);
+        m_is_trajectory_running_lock.lock();
+        m_is_trajectory_running = false;
+        m_is_trajectory_running_lock.unlock();
+    }
+    catch(const Kinova::Api::KBasicException& e)
+    {
+        ROS_ERROR("Sending a gripper speed of 0 failed : %s", e.what());
+    }
+}
diff --git a/kortex_driver/src/non-generated/main.cpp b/kortex_driver/src/non-generated/main.cpp
new file mode 100644
index 0000000..ed1c2f8
--- /dev/null
+++ b/kortex_driver/src/non-generated/main.cpp
@@ -0,0 +1,30 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+#include "kortex_driver/non-generated/kortex_arm_driver.h"
+
+int main(int argc, char **argv)
+{
+    ros::init(argc, argv, "kortex_arm_driver");
+
+    // if(ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug) ) {
+    //     ros::console::notifyLoggerLevelsChanged();
+    // }
+    
+    ros::NodeHandle n;
+
+    KortexArmDriver kortex_arm_driver(n);
+
+    ros::spin();
+
+    return 1;
+}
\ No newline at end of file
diff --git a/kortex_driver/src/non-generated/tests/kortex_arm_driver_func_tests.cc b/kortex_driver/src/non-generated/tests/kortex_arm_driver_func_tests.cc
new file mode 100644
index 0000000..60ec3c5
--- /dev/null
+++ b/kortex_driver/src/non-generated/tests/kortex_arm_driver_func_tests.cc
@@ -0,0 +1,56 @@
+#include <ros/ros.h>
+#include <kortex_driver/non-generated/kortex_arm_driver.h>
+#include <gtest/gtest.h>
+#include <urdf/model.h>
+
+class KortexDriverTest : public ::testing::Test {
+ protected:
+  
+  void SetUp() override 
+  {
+  }
+
+  void TearDown() override 
+  {
+  }
+
+  ros::NodeHandle n;
+
+};
+
+// Wait for is_initialized to become true or until we reach the 10 seconds timeout
+TEST_F(KortexDriverTest, initializeDriver)
+{
+    bool is_initialized = false;
+    const int max_attempts = 20;
+    for (int i = 0; i < max_attempts && is_initialized == false; i++)
+    {
+        ros::param::get("is_initialized", is_initialized);
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    }    
+    ASSERT_TRUE(is_initialized);
+}
+
+// Check for all MoveIt services
+// If they're advertised, then MoveIt started correctly
+TEST_F(KortexDriverTest, initializeMoveIt)
+{
+    std::this_thread::sleep_for(std::chrono::milliseconds(10000));
+
+    ASSERT_TRUE(ros::service::waitForService("apply_planning_scene", 30));
+    ASSERT_TRUE(ros::service::waitForService("clear_octomap", 30));
+    ASSERT_TRUE(ros::service::waitForService("compute_cartesian_path", 30));
+    ASSERT_TRUE(ros::service::waitForService("compute_fk", 30));
+    ASSERT_TRUE(ros::service::waitForService("compute_ik", 30));
+    ASSERT_TRUE(ros::service::waitForService("get_planning_scene", 30));
+    ASSERT_TRUE(ros::service::waitForService("plan_kinematic_path", 30));
+    ASSERT_TRUE(ros::service::waitForService("query_planner_interface", 30));
+    ASSERT_TRUE(ros::service::waitForService("check_state_validity", 30));
+}
+
+// Make sure the robot_description is parsable
+TEST_F(KortexDriverTest, parseURDF)
+{
+    urdf::Model model;
+    ASSERT_TRUE(model.initParam("robot_description"));
+}
diff --git a/kortex_driver/src/non-generated/tests/kortex_simulator_unit_tests.cc b/kortex_driver/src/non-generated/tests/kortex_simulator_unit_tests.cc
new file mode 100644
index 0000000..9b05c1f
--- /dev/null
+++ b/kortex_driver/src/non-generated/tests/kortex_simulator_unit_tests.cc
@@ -0,0 +1,508 @@
+#include <ros/ros.h>
+#include <kortex_driver/non-generated/kortex_arm_driver.h>
+#include <kortex_driver/non-generated/kortex_arm_simulation.h>
+#include <gtest/gtest.h>
+#include <urdf/model.h>
+#include "kortex_driver/ActionEvent.h"
+#include "kortex_driver/CartesianReferenceFrame.h"
+#include "kortex_driver/GripperMode.h"
+
+class KortexSimulatorTest : public ::testing::Test {
+  protected:
+  
+    void SetUp() override 
+    {
+        // Create Simulator
+        m_simulator.reset(new KortexArmSimulation(n));
+
+        // Create dummy action
+        dummy_action.name = "MyDummyAction";
+        dummy_action.handle.action_type = kortex_driver::ActionType::REACH_JOINT_ANGLES;
+        dummy_action.handle.permission = 7;
+        kortex_driver::ConstrainedJointAngles angles;
+        for (int i = 0; i < m_simulator->GetDOF(); i++)
+        {
+            kortex_driver::JointAngle angle;
+            angle.joint_identifier = i;
+            angle.value = 10.0f*i;
+            angles.joint_angles.joint_angles.push_back(angle);
+        }
+        dummy_action.oneof_action_parameters.reach_joint_angles.push_back(angles);
+
+        // Create action topic subscriber
+        m_action_topic_sub = n.subscribe("action_topic", 5, &KortexSimulatorTest::ActionTopicHandler, this);
+        m_received_notifications.clear();
+    }
+
+    void TearDown() override 
+    {
+    }
+
+    void CompareReachJointAnglesActions(const kortex_driver::Action& a1, const kortex_driver::Action& a2, bool same)
+    {
+        ASSERT_EQ(a1.oneof_action_parameters.reach_joint_angles.size(), a2.oneof_action_parameters.reach_joint_angles.size());
+        auto angles1 = a1.oneof_action_parameters.reach_joint_angles[0];
+        auto angles2 = a2.oneof_action_parameters.reach_joint_angles[0];
+        ASSERT_EQ(angles1.joint_angles.joint_angles.size(), angles2.joint_angles.joint_angles.size());
+        for (int i = 0; i < angles1.joint_angles.joint_angles.size() && same; i++)
+        {
+            ASSERT_EQ(same, angles1.joint_angles.joint_angles.at(i) == angles2.joint_angles.joint_angles.at(i));
+        }
+    }
+
+    void ActionTopicHandler(const kortex_driver::ActionNotification& notif)
+    {
+        m_received_notifications.push_back(notif);
+    }
+
+    kortex_driver::Action dummy_action;
+    ros::NodeHandle n;
+    std::unique_ptr<KortexArmSimulation> m_simulator;
+    ros::Subscriber m_action_topic_sub;
+    std::vector<kortex_driver::ActionNotification> m_received_notifications;
+};
+
+// Make sure after initialisation the default actions are
+// Tests ReadAllActions at the same time
+TEST_F(KortexSimulatorTest, DefaultActions)
+{
+    auto actions = m_simulator->GetActionsMap();
+    bool retract, home, zero, other = false;
+    for (auto a : actions)
+    {
+        if (a.second.name == "Retract") retract = true;
+        else if (a.second.name == "Home") home = true;
+        else if (a.second.name == "Zero") zero = true;
+        else other = true;
+    }
+    ASSERT_TRUE(retract);
+    ASSERT_TRUE(home);
+    ASSERT_TRUE(zero);
+    ASSERT_FALSE(other);
+}
+
+// Tests DeleteAction so default actions are not deleted
+TEST_F(KortexSimulatorTest, DeleteDefaultActions)
+{
+    static const std::vector<unsigned int> DEFAULT_ACTIONS_IDENTIFIERS{1,2,3};
+    // Make sure the action can be deleted properly
+    kortex_driver::DeleteAction::Request req;
+    kortex_driver::ActionHandle handle;
+    for (unsigned int i : DEFAULT_ACTIONS_IDENTIFIERS)
+    {
+        handle.identifier = i;
+        req.input = handle;
+        m_simulator->DeleteAction(req);
+        auto actions_map = m_simulator->GetActionsMap();
+        ASSERT_EQ(actions_map.count(i), 1);
+    }
+}
+
+// Tests UpdateAction so default actions are not updated
+TEST_F(KortexSimulatorTest, UpdateDefaultActions)
+{
+    static const std::vector<unsigned int> DEFAULT_ACTIONS_IDENTIFIERS{1,2,3};
+    // Make sure the action cannot be updated
+    kortex_driver::UpdateAction::Request req;
+    for (unsigned int i : DEFAULT_ACTIONS_IDENTIFIERS)
+    {
+        dummy_action.handle.identifier = i;
+        req.input = dummy_action;
+        m_simulator->UpdateAction(req);
+        auto actions_map = m_simulator->GetActionsMap();
+        ASSERT_EQ(actions_map.count(i), 1);
+        CompareReachJointAnglesActions(actions_map[i], dummy_action, false);
+    }
+}
+
+// Tests ReadAllActions
+TEST_F(KortexSimulatorTest, ReadAllActions)
+{
+    // Test for 3 known actions (default) of this type in the map
+    kortex_driver::ReadAllActions::Request req;
+    kortex_driver::RequestedActionType type;
+    type.action_type = kortex_driver::ActionType::REACH_JOINT_ANGLES;
+    req.input = type;
+    auto res = m_simulator->ReadAllActions(req);
+    auto action_list = res.output;
+    ASSERT_EQ(action_list.action_list.size(), 3); // Number of default actions
+
+    // Test for 0 known actions of this type in the map
+    type.action_type = kortex_driver::ActionType::REACH_POSE;
+    req.input = type;
+    res = m_simulator->ReadAllActions(req);
+    action_list = res.output;
+    ASSERT_TRUE(action_list.action_list.empty());
+}
+
+// Tests CreateAction handler for a supported Action, and DeleteAction
+TEST_F(KortexSimulatorTest, CreateSupportedAction)
+{
+    static const std::string name = "MyNewAction";
+
+    kortex_driver::CreateAction::Request req;
+    dummy_action.name = name;
+    req.input = dummy_action;
+    auto res = m_simulator->CreateAction(req);
+    auto handle = res.output;
+    auto actions_map = m_simulator->GetActionsMap();
+
+    // Make sure the action was added to the map
+    ASSERT_EQ(actions_map.count(handle.identifier), 1);
+    ASSERT_EQ(actions_map[handle.identifier].name, name);
+    ASSERT_EQ(actions_map[handle.identifier].handle.action_type, kortex_driver::ActionType::REACH_JOINT_ANGLES);
+
+    // Make sure the action can be deleted properly
+    kortex_driver::DeleteAction::Request del_req;
+    del_req.input = handle;
+    m_simulator->DeleteAction(del_req);
+    actions_map = m_simulator->GetActionsMap();
+    ASSERT_EQ(actions_map.count(handle.identifier), 0);
+}
+
+// Tests CreateAction handler for an unsupported Action
+TEST_F(KortexSimulatorTest, CreateUnsupportedAction)
+{
+    kortex_driver::CreateAction::Request req;
+    dummy_action.oneof_action_parameters.reach_joint_angles.clear();
+    dummy_action.handle.action_type = kortex_driver::ActionType::SEND_JOINT_SPEEDS;
+    kortex_driver::Base_JointSpeeds speeds;
+    for (int i = 0; i < m_simulator->GetDOF(); i++)
+    {
+        kortex_driver::JointSpeed speed;
+        speed.joint_identifier = i;
+        speed.value = 10.0f*i;
+        speeds.joint_speeds.push_back(speed);
+    }
+    dummy_action.oneof_action_parameters.send_joint_speeds.push_back(speeds);
+    req.input = dummy_action;
+    auto res = m_simulator->CreateAction(req);
+    auto handle = res.output;
+    auto actions_map = m_simulator->GetActionsMap();
+
+    // Make sure the action was added to the map
+    ASSERT_EQ(actions_map.count(handle.identifier), 0);
+}
+
+// Tests UpdateAction on existing and non-existing actions
+TEST_F(KortexSimulatorTest, UpdateAction)
+{
+    // Create Action at first
+    kortex_driver::CreateAction::Request req;
+    req.input = dummy_action;
+    auto res = m_simulator->CreateAction(req);
+    auto handle = res.output;
+    auto actions_map = m_simulator->GetActionsMap();
+
+    // Make sure the action was added to the map
+    ASSERT_EQ(actions_map.count(handle.identifier), 1);
+    ASSERT_EQ(actions_map[handle.identifier].handle.action_type, kortex_driver::ActionType::REACH_JOINT_ANGLES);
+
+    // Modify and update the Action
+    dummy_action.name = "MyUpdatedName";
+    dummy_action.handle.identifier = handle.identifier;
+    dummy_action.oneof_action_parameters.reach_joint_angles[0].joint_angles.joint_angles[3].value = 0.0f;
+    kortex_driver::UpdateAction::Request update_req;
+    update_req.input = dummy_action;
+    m_simulator->UpdateAction(update_req);
+    actions_map = m_simulator->GetActionsMap();
+    ASSERT_EQ(actions_map.count(handle.identifier), 1);
+    ASSERT_EQ(dummy_action.name, actions_map[handle.identifier].name);
+    CompareReachJointAnglesActions(dummy_action, actions_map[handle.identifier], true);
+
+    // Modify and update the Action with a different type
+    kortex_driver::Action wrong_type_action;
+    wrong_type_action.name = "WrongType";
+    wrong_type_action.handle.identifier = handle.identifier;
+    wrong_type_action.handle.action_type = kortex_driver::ActionType::SEND_JOINT_SPEEDS;
+    wrong_type_action.oneof_action_parameters.reach_joint_angles.clear();
+    wrong_type_action.oneof_action_parameters.send_joint_speeds.push_back(kortex_driver::Base_JointSpeeds());
+    update_req.input = wrong_type_action;
+    m_simulator->UpdateAction(update_req);
+    actions_map = m_simulator->GetActionsMap();
+    ASSERT_EQ(actions_map.count(handle.identifier), 1);
+    ASSERT_EQ(dummy_action.name, actions_map[handle.identifier].name);
+    ASSERT_EQ(kortex_driver::ActionType::REACH_JOINT_ANGLES, actions_map[handle.identifier].handle.action_type);
+}
+
+// This uses a TIME_DELAY action to test execution
+TEST_F(KortexSimulatorTest, ExecuteAction)
+{
+    static constexpr uint32_t SLEEP_DURATION_SECONDS = 4;
+
+    dummy_action.oneof_action_parameters.reach_joint_angles.clear();
+    dummy_action.handle.action_type = kortex_driver::ActionType::TIME_DELAY;
+    kortex_driver::Delay delay;
+    delay.duration = SLEEP_DURATION_SECONDS;
+    dummy_action.oneof_action_parameters.delay.push_back(delay);
+    kortex_driver::ExecuteAction::Request req;
+    req.input = dummy_action;
+
+    ASSERT_EQ(m_received_notifications.size(), 0);
+    m_simulator->ExecuteAction(req);
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+    // Make sure after a couple seconds we received the ACTION_START
+    ASSERT_EQ(m_received_notifications.size(), 1);
+    ASSERT_EQ(m_received_notifications[0].action_event, kortex_driver::ActionEvent::ACTION_START);
+    std::this_thread::sleep_for(std::chrono::seconds(3));
+    ASSERT_EQ(m_received_notifications.size(), 2);
+    ASSERT_EQ(m_received_notifications[1].action_event, kortex_driver::ActionEvent::ACTION_END);
+}
+
+// This uses a TIME_DELAY action to test execution from reference
+TEST_F(KortexSimulatorTest, ExecuteActionFromReference)
+{
+    static constexpr uint32_t SLEEP_DURATION_SECONDS = 4;
+
+    // Create the Delay action
+    dummy_action.oneof_action_parameters.reach_joint_angles.clear();
+    dummy_action.handle.action_type = kortex_driver::ActionType::TIME_DELAY;
+    kortex_driver::Delay delay;
+    delay.duration = SLEEP_DURATION_SECONDS;
+    dummy_action.oneof_action_parameters.delay.push_back(delay);
+    kortex_driver::CreateAction::Request req;
+    req.input = dummy_action;
+    auto res = m_simulator->CreateAction(req);
+    dummy_action.handle = res.output;
+    auto actions_map = m_simulator->GetActionsMap();
+    ASSERT_EQ(actions_map.count(dummy_action.handle.identifier), 1);
+
+    // Execute the Delay action by reference
+    ASSERT_EQ(m_received_notifications.size(), 0);
+    kortex_driver::ExecuteActionFromReference::Request execute_req;
+    execute_req.input = dummy_action.handle;
+    m_simulator->ExecuteActionFromReference(execute_req);
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+    // Make sure after a couple seconds we received the ACTION_START
+    ASSERT_EQ(m_received_notifications.size(), 1);
+    ASSERT_EQ(m_received_notifications[0].action_event, kortex_driver::ActionEvent::ACTION_START);
+    std::this_thread::sleep_for(std::chrono::seconds(3));
+    ASSERT_EQ(m_received_notifications.size(), 2);
+    ASSERT_EQ(m_received_notifications[1].action_event, kortex_driver::ActionEvent::ACTION_END);
+}
+
+// This uses a TIME_DELAY action to test aborting
+TEST_F(KortexSimulatorTest, StopAction)
+{
+    static constexpr uint32_t SLEEP_DURATION_SECONDS = 4;
+
+    // Create delay action object
+    dummy_action.oneof_action_parameters.reach_joint_angles.clear();
+    dummy_action.handle.action_type = kortex_driver::ActionType::TIME_DELAY;
+    kortex_driver::Delay delay;
+    delay.duration = SLEEP_DURATION_SECONDS;
+    dummy_action.oneof_action_parameters.delay.push_back(delay);
+    kortex_driver::ExecuteAction::Request req;
+    req.input = dummy_action;
+
+    // Prepare StopAction request
+    kortex_driver::StopAction::Request stop_req;
+
+    // Execute the action
+    ASSERT_EQ(m_received_notifications.size(), 0);
+    m_simulator->ExecuteAction(req);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // Make sure after one second we received the ACTION_START
+    ASSERT_EQ(m_received_notifications.size(), 1);
+    ASSERT_EQ(m_received_notifications[0].action_event, kortex_driver::ActionEvent::ACTION_START);
+
+    // Abort the action now
+    m_simulator->StopAction(stop_req);
+
+    // Wait a biut and make sure we received the ACTION_ABORT
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+    ASSERT_EQ(m_received_notifications.size(), 2);
+    ASSERT_EQ(m_received_notifications[1].action_event, kortex_driver::ActionEvent::ACTION_ABORT);
+}
+
+TEST_F(KortexSimulatorTest, PlayCartesianTrajectory)
+{
+    kortex_driver::PlayCartesianTrajectory::Request req;
+    kortex_driver::ConstrainedPose pose;
+    pose.target_pose.x = 0.1;
+    pose.target_pose.y = 0.1;
+    pose.target_pose.z = 0.1;
+    pose.target_pose.theta_x = 0.1;
+    pose.target_pose.theta_y = 0.1;
+    pose.target_pose.theta_z = 0.1;
+    req.input = pose;
+
+    // Execute the action
+    ASSERT_EQ(m_received_notifications.size(), 0);
+    m_simulator->PlayCartesianTrajectory(req);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // TODO Change when implementation is filled
+    // Make sure after one second we received the ACTION_START and ACTION_END
+    ASSERT_EQ(m_received_notifications.size(), 2);
+    ASSERT_EQ(m_received_notifications[0].action_event, kortex_driver::ActionEvent::ACTION_START);
+    ASSERT_EQ(m_received_notifications[1].action_event, kortex_driver::ActionEvent::ACTION_END);
+}
+
+TEST_F(KortexSimulatorTest, SendTwistCommand)
+{
+    kortex_driver::SendTwistCommand::Request req;
+    kortex_driver::TwistCommand twist_command;
+    twist_command.reference_frame = kortex_driver::CartesianReferenceFrame::CARTESIAN_REFERENCE_FRAME_BASE;
+    twist_command.twist.linear_x = 0.1;
+    twist_command.twist.linear_y = 0.1;
+    twist_command.twist.linear_z = 0.1;
+    twist_command.twist.angular_x = 0.1;
+    twist_command.twist.angular_y = 0.1;
+    twist_command.twist.angular_z = 0.1;
+    req.input = twist_command;
+
+    // Execute the action
+    ASSERT_EQ(m_received_notifications.size(), 0);
+    m_simulator->SendTwistCommand(req);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // TODO Change when implementation is filled
+    // Make sure after one second we received the ACTION_START and ACTION_END
+    ASSERT_EQ(m_received_notifications.size(), 2);
+    ASSERT_EQ(m_received_notifications[0].action_event, kortex_driver::ActionEvent::ACTION_START);
+    ASSERT_EQ(m_received_notifications[1].action_event, kortex_driver::ActionEvent::ACTION_END);
+}
+
+TEST_F(KortexSimulatorTest, PlayJointTrajectory)
+{
+    kortex_driver::PlayJointTrajectory::Request req;
+    kortex_driver::ConstrainedJointAngles constrained_joint_angles;
+    for (int i = 0; i < m_simulator->GetDOF(); i++)
+    {
+        kortex_driver::JointAngle angle;
+        angle.joint_identifier = i;
+        angle.value = i*10.0f;
+        constrained_joint_angles.joint_angles.joint_angles.push_back(angle);
+    }
+    req.input = constrained_joint_angles;
+
+    // Execute the action
+    ASSERT_EQ(m_received_notifications.size(), 0);
+    m_simulator->PlayJointTrajectory(req);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // TODO Change when implementation is filled
+    // Make sure after one second we received the ACTION_START and ACTION_END
+    ASSERT_EQ(m_received_notifications.size(), 2);
+    ASSERT_EQ(m_received_notifications[0].action_event, kortex_driver::ActionEvent::ACTION_START);
+    ASSERT_EQ(m_received_notifications[1].action_event, kortex_driver::ActionEvent::ACTION_END);
+}
+
+TEST_F(KortexSimulatorTest, SendJointSpeedsCommand)
+{
+    kortex_driver::SendJointSpeedsCommand::Request req;
+    kortex_driver::Base_JointSpeeds joint_speeds;
+    for (int i = 0; i < m_simulator->GetDOF(); i++)
+    {
+        kortex_driver::JointSpeed speed;
+        speed.joint_identifier = i;
+        speed.value = i*10.0f;
+        joint_speeds.joint_speeds.push_back(speed);
+    }
+    req.input = joint_speeds;
+
+    // Execute the action
+    ASSERT_EQ(m_received_notifications.size(), 0);
+    m_simulator->SendJointSpeedsCommand(req);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // TODO Change when implementation is filled
+    // Make sure after one second we received the ACTION_START and ACTION_END
+    ASSERT_EQ(m_received_notifications.size(), 2);
+    ASSERT_EQ(m_received_notifications[0].action_event, kortex_driver::ActionEvent::ACTION_START);
+    ASSERT_EQ(m_received_notifications[1].action_event, kortex_driver::ActionEvent::ACTION_END);
+}
+
+TEST_F(KortexSimulatorTest, SendGripperCommand)
+{
+    kortex_driver::SendGripperCommand::Request req;
+    kortex_driver::GripperCommand gripper_command;
+    gripper_command.mode = kortex_driver::GripperMode::GRIPPER_POSITION;
+    kortex_driver::Finger finger;
+    finger.finger_identifier = 0;
+    finger.value = 10.0f;
+    gripper_command.gripper.finger.push_back(finger);
+    req.input = gripper_command;
+
+    // Execute the action
+    ASSERT_EQ(m_received_notifications.size(), 0);
+    m_simulator->SendGripperCommand(req);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // TODO Change when implementation is filled
+    // Make sure after one second we received the ACTION_START and ACTION_END
+    ASSERT_EQ(m_received_notifications.size(), 2);
+    ASSERT_EQ(m_received_notifications[0].action_event, kortex_driver::ActionEvent::ACTION_START);
+    ASSERT_EQ(m_received_notifications[1].action_event, kortex_driver::ActionEvent::ACTION_END);
+}
+
+// Use a TIME_DELAY action to test the Stop RPC
+TEST_F(KortexSimulatorTest, Stop)
+{
+    static constexpr uint32_t SLEEP_DURATION_SECONDS = 4;
+
+    // Create delay action object
+    dummy_action.oneof_action_parameters.reach_joint_angles.clear();
+    dummy_action.handle.action_type = kortex_driver::ActionType::TIME_DELAY;
+    kortex_driver::Delay delay;
+    delay.duration = SLEEP_DURATION_SECONDS;
+    dummy_action.oneof_action_parameters.delay.push_back(delay);
+    kortex_driver::ExecuteAction::Request req;
+    req.input = dummy_action;
+
+    // Prepare Stop request
+    kortex_driver::Stop::Request stop_req;
+
+    // Execute the action
+    ASSERT_EQ(m_received_notifications.size(), 0);
+    m_simulator->ExecuteAction(req);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // Make sure after one second we received the ACTION_START
+    ASSERT_EQ(m_received_notifications.size(), 1);
+    ASSERT_EQ(m_received_notifications[0].action_event, kortex_driver::ActionEvent::ACTION_START);
+
+    // Abort the action now
+    m_simulator->Stop(stop_req);
+
+    // Wait a biut and make sure we received the ACTION_ABORT
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+    ASSERT_EQ(m_received_notifications.size(), 2);
+    ASSERT_EQ(m_received_notifications[1].action_event, kortex_driver::ActionEvent::ACTION_ABORT);
+}
+
+TEST_F(KortexSimulatorTest, ApplyEmergencyStop)
+{
+    static constexpr uint32_t SLEEP_DURATION_SECONDS = 4;
+
+    // Create delay action object
+    dummy_action.oneof_action_parameters.reach_joint_angles.clear();
+    dummy_action.handle.action_type = kortex_driver::ActionType::TIME_DELAY;
+    kortex_driver::Delay delay;
+    delay.duration = SLEEP_DURATION_SECONDS;
+    dummy_action.oneof_action_parameters.delay.push_back(delay);
+    kortex_driver::ExecuteAction::Request req;
+    req.input = dummy_action;
+
+    // Prepare Stop request
+    kortex_driver::ApplyEmergencyStop::Request stop_req;
+
+    // Execute the action
+    ASSERT_EQ(m_received_notifications.size(), 0);
+    m_simulator->ExecuteAction(req);
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    // Make sure after one second we received the ACTION_START
+    ASSERT_EQ(m_received_notifications.size(), 1);
+    ASSERT_EQ(m_received_notifications[0].action_event, kortex_driver::ActionEvent::ACTION_START);
+
+    // Abort the action now
+    m_simulator->ApplyEmergencyStop(stop_req);
+
+    // Wait a biut and make sure we received the ACTION_ABORT
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+    ASSERT_EQ(m_received_notifications.size(), 2);
+    ASSERT_EQ(m_received_notifications[1].action_event, kortex_driver::ActionEvent::ACTION_ABORT);
+}
diff --git a/kortex_driver/src/non-generated/tests/main.cc b/kortex_driver/src/non-generated/tests/main.cc
new file mode 100644
index 0000000..d330136
--- /dev/null
+++ b/kortex_driver/src/non-generated/tests/main.cc
@@ -0,0 +1,15 @@
+#include <ros/ros.h>
+#include <thread>
+#include <gtest/gtest.h>
+
+int main(int argc, char** argv){
+  ros::init(argc, argv, "TestNode");
+  testing::InitGoogleTest(&argc, argv);
+
+  std::thread t([]{while(ros::ok()) ros::spin();});
+
+  auto res = RUN_ALL_TESTS();
+
+  ros::shutdown();
+  return res;
+}
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/ActuatorConfig_ClearFaults.srv b/kortex_driver/srv/generated/actuator_config/ActuatorConfig_ClearFaults.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/ActuatorConfig_ClearFaults.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/ActuatorConfig_GetControlMode.srv b/kortex_driver/srv/generated/actuator_config/ActuatorConfig_GetControlMode.srv
new file mode 100644
index 0000000..e6993e1
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/ActuatorConfig_GetControlMode.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ActuatorConfig_ControlModeInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/GetActivatedControlLoop.srv b/kortex_driver/srv/generated/actuator_config/GetActivatedControlLoop.srv
new file mode 100644
index 0000000..a19e213
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/GetActivatedControlLoop.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ControlLoop output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/GetAxisOffsets.srv b/kortex_driver/srv/generated/actuator_config/GetAxisOffsets.srv
new file mode 100644
index 0000000..4735b95
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/GetAxisOffsets.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+AxisOffsets output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/GetCoggingFeedforwardMode.srv b/kortex_driver/srv/generated/actuator_config/GetCoggingFeedforwardMode.srv
new file mode 100644
index 0000000..9fe719d
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/GetCoggingFeedforwardMode.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+CoggingFeedforwardModeInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/GetCommandMode.srv b/kortex_driver/srv/generated/actuator_config/GetCommandMode.srv
new file mode 100644
index 0000000..bdfef0a
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/GetCommandMode.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+CommandModeInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/GetControlLoopParameters.srv b/kortex_driver/srv/generated/actuator_config/GetControlLoopParameters.srv
new file mode 100644
index 0000000..d999a54
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/GetControlLoopParameters.srv
@@ -0,0 +1,3 @@
+LoopSelection input
+---
+ControlLoopParameters output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/GetSelectedCustomData.srv b/kortex_driver/srv/generated/actuator_config/GetSelectedCustomData.srv
new file mode 100644
index 0000000..cdc7309
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/GetSelectedCustomData.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+CustomDataSelection output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/GetServoing.srv b/kortex_driver/srv/generated/actuator_config/GetServoing.srv
new file mode 100644
index 0000000..d4a6734
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/GetServoing.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Servoing output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/GetTorqueOffset.srv b/kortex_driver/srv/generated/actuator_config/GetTorqueOffset.srv
new file mode 100644
index 0000000..f8d55a7
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/GetTorqueOffset.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+TorqueOffset output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/MoveToPosition.srv b/kortex_driver/srv/generated/actuator_config/MoveToPosition.srv
new file mode 100644
index 0000000..bca986c
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/MoveToPosition.srv
@@ -0,0 +1,3 @@
+PositionCommand input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/SelectCustomData.srv b/kortex_driver/srv/generated/actuator_config/SelectCustomData.srv
new file mode 100644
index 0000000..0bf1dfa
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/SelectCustomData.srv
@@ -0,0 +1,3 @@
+CustomDataSelection input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/SetActivatedControlLoop.srv b/kortex_driver/srv/generated/actuator_config/SetActivatedControlLoop.srv
new file mode 100644
index 0000000..14dbadc
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/SetActivatedControlLoop.srv
@@ -0,0 +1,3 @@
+ControlLoop input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/SetAxisOffsets.srv b/kortex_driver/srv/generated/actuator_config/SetAxisOffsets.srv
new file mode 100644
index 0000000..0060243
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/SetAxisOffsets.srv
@@ -0,0 +1,3 @@
+AxisPosition input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/SetCoggingFeedforwardMode.srv b/kortex_driver/srv/generated/actuator_config/SetCoggingFeedforwardMode.srv
new file mode 100644
index 0000000..5766f76
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/SetCoggingFeedforwardMode.srv
@@ -0,0 +1,3 @@
+CoggingFeedforwardModeInformation input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/SetCommandMode.srv b/kortex_driver/srv/generated/actuator_config/SetCommandMode.srv
new file mode 100644
index 0000000..9ba28a5
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/SetCommandMode.srv
@@ -0,0 +1,3 @@
+CommandModeInformation input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/SetControlLoopParameters.srv b/kortex_driver/srv/generated/actuator_config/SetControlLoopParameters.srv
new file mode 100644
index 0000000..8f7419a
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/SetControlLoopParameters.srv
@@ -0,0 +1,3 @@
+ControlLoopParameters input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/SetControlMode.srv b/kortex_driver/srv/generated/actuator_config/SetControlMode.srv
new file mode 100644
index 0000000..679458c
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/SetControlMode.srv
@@ -0,0 +1,3 @@
+ActuatorConfig_ControlModeInformation input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/SetServoing.srv b/kortex_driver/srv/generated/actuator_config/SetServoing.srv
new file mode 100644
index 0000000..3eb8801
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/SetServoing.srv
@@ -0,0 +1,3 @@
+Servoing input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/actuator_config/SetTorqueOffset.srv b/kortex_driver/srv/generated/actuator_config/SetTorqueOffset.srv
new file mode 100644
index 0000000..6f2857b
--- /dev/null
+++ b/kortex_driver/srv/generated/actuator_config/SetTorqueOffset.srv
@@ -0,0 +1,3 @@
+TorqueOffset input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ActivateMap.srv b/kortex_driver/srv/generated/base/ActivateMap.srv
new file mode 100644
index 0000000..e6b9a56
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ActivateMap.srv
@@ -0,0 +1,3 @@
+ActivateMapHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/AddSequenceTasks.srv b/kortex_driver/srv/generated/base/AddSequenceTasks.srv
new file mode 100644
index 0000000..2bce3e5
--- /dev/null
+++ b/kortex_driver/srv/generated/base/AddSequenceTasks.srv
@@ -0,0 +1,3 @@
+SequenceTasksConfiguration input
+---
+SequenceTasksRange output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/AddWifiConfiguration.srv b/kortex_driver/srv/generated/base/AddWifiConfiguration.srv
new file mode 100644
index 0000000..48a3c35
--- /dev/null
+++ b/kortex_driver/srv/generated/base/AddWifiConfiguration.srv
@@ -0,0 +1,3 @@
+WifiConfiguration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ApplyEmergencyStop.srv b/kortex_driver/srv/generated/base/ApplyEmergencyStop.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ApplyEmergencyStop.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/Base_ClearFaults.srv b/kortex_driver/srv/generated/base/Base_ClearFaults.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/Base_ClearFaults.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/Base_GetCapSenseConfig.srv b/kortex_driver/srv/generated/base/Base_GetCapSenseConfig.srv
new file mode 100644
index 0000000..7e64acd
--- /dev/null
+++ b/kortex_driver/srv/generated/base/Base_GetCapSenseConfig.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Base_CapSenseConfig output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/Base_GetControlMode.srv b/kortex_driver/srv/generated/base/Base_GetControlMode.srv
new file mode 100644
index 0000000..7a9f0ad
--- /dev/null
+++ b/kortex_driver/srv/generated/base/Base_GetControlMode.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Base_ControlModeInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/Base_SetCapSenseConfig.srv b/kortex_driver/srv/generated/base/Base_SetCapSenseConfig.srv
new file mode 100644
index 0000000..0e2e726
--- /dev/null
+++ b/kortex_driver/srv/generated/base/Base_SetCapSenseConfig.srv
@@ -0,0 +1,3 @@
+Base_CapSenseConfig input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/Base_Unsubscribe.srv b/kortex_driver/srv/generated/base/Base_Unsubscribe.srv
new file mode 100644
index 0000000..403ee3b
--- /dev/null
+++ b/kortex_driver/srv/generated/base/Base_Unsubscribe.srv
@@ -0,0 +1,3 @@
+NotificationHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ChangePassword.srv b/kortex_driver/srv/generated/base/ChangePassword.srv
new file mode 100644
index 0000000..f9fceed
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ChangePassword.srv
@@ -0,0 +1,3 @@
+PasswordChange input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ConnectWifi.srv b/kortex_driver/srv/generated/base/ConnectWifi.srv
new file mode 100644
index 0000000..4e1a65a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ConnectWifi.srv
@@ -0,0 +1,3 @@
+Ssid input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/CreateAction.srv b/kortex_driver/srv/generated/base/CreateAction.srv
new file mode 100644
index 0000000..25d11da
--- /dev/null
+++ b/kortex_driver/srv/generated/base/CreateAction.srv
@@ -0,0 +1,3 @@
+Action input
+---
+ActionHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/CreateMap.srv b/kortex_driver/srv/generated/base/CreateMap.srv
new file mode 100644
index 0000000..93c9e1d
--- /dev/null
+++ b/kortex_driver/srv/generated/base/CreateMap.srv
@@ -0,0 +1,3 @@
+Map input
+---
+MapHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/CreateMapping.srv b/kortex_driver/srv/generated/base/CreateMapping.srv
new file mode 100644
index 0000000..241110b
--- /dev/null
+++ b/kortex_driver/srv/generated/base/CreateMapping.srv
@@ -0,0 +1,3 @@
+Mapping input
+---
+MappingHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/CreateProtectionZone.srv b/kortex_driver/srv/generated/base/CreateProtectionZone.srv
new file mode 100644
index 0000000..12c649a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/CreateProtectionZone.srv
@@ -0,0 +1,3 @@
+ProtectionZone input
+---
+ProtectionZoneHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/CreateSequence.srv b/kortex_driver/srv/generated/base/CreateSequence.srv
new file mode 100644
index 0000000..884f87c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/CreateSequence.srv
@@ -0,0 +1,3 @@
+Sequence input
+---
+SequenceHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/CreateUserProfile.srv b/kortex_driver/srv/generated/base/CreateUserProfile.srv
new file mode 100644
index 0000000..9b5dbd6
--- /dev/null
+++ b/kortex_driver/srv/generated/base/CreateUserProfile.srv
@@ -0,0 +1,3 @@
+FullUserProfile input
+---
+UserProfileHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DeleteAction.srv b/kortex_driver/srv/generated/base/DeleteAction.srv
new file mode 100644
index 0000000..6668d04
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DeleteAction.srv
@@ -0,0 +1,3 @@
+ActionHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DeleteAllSequenceTasks.srv b/kortex_driver/srv/generated/base/DeleteAllSequenceTasks.srv
new file mode 100644
index 0000000..00e870c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DeleteAllSequenceTasks.srv
@@ -0,0 +1,3 @@
+SequenceHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DeleteMap.srv b/kortex_driver/srv/generated/base/DeleteMap.srv
new file mode 100644
index 0000000..1e16cb8
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DeleteMap.srv
@@ -0,0 +1,3 @@
+MapHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DeleteMapping.srv b/kortex_driver/srv/generated/base/DeleteMapping.srv
new file mode 100644
index 0000000..ea8df28
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DeleteMapping.srv
@@ -0,0 +1,3 @@
+MappingHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DeleteProtectionZone.srv b/kortex_driver/srv/generated/base/DeleteProtectionZone.srv
new file mode 100644
index 0000000..bc933b5
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DeleteProtectionZone.srv
@@ -0,0 +1,3 @@
+ProtectionZoneHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DeleteSequence.srv b/kortex_driver/srv/generated/base/DeleteSequence.srv
new file mode 100644
index 0000000..00e870c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DeleteSequence.srv
@@ -0,0 +1,3 @@
+SequenceHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DeleteSequenceTask.srv b/kortex_driver/srv/generated/base/DeleteSequenceTask.srv
new file mode 100644
index 0000000..b4170eb
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DeleteSequenceTask.srv
@@ -0,0 +1,3 @@
+SequenceTaskHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DeleteUserProfile.srv b/kortex_driver/srv/generated/base/DeleteUserProfile.srv
new file mode 100644
index 0000000..e5c214e
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DeleteUserProfile.srv
@@ -0,0 +1,3 @@
+UserProfileHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DeleteWifiConfiguration.srv b/kortex_driver/srv/generated/base/DeleteWifiConfiguration.srv
new file mode 100644
index 0000000..4e1a65a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DeleteWifiConfiguration.srv
@@ -0,0 +1,3 @@
+Ssid input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DisableBridge.srv b/kortex_driver/srv/generated/base/DisableBridge.srv
new file mode 100644
index 0000000..70f1c9f
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DisableBridge.srv
@@ -0,0 +1,3 @@
+BridgeIdentifier input
+---
+BridgeResult output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DisconnectWifi.srv b/kortex_driver/srv/generated/base/DisconnectWifi.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DisconnectWifi.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DuplicateMap.srv b/kortex_driver/srv/generated/base/DuplicateMap.srv
new file mode 100644
index 0000000..399961a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DuplicateMap.srv
@@ -0,0 +1,3 @@
+MapHandle input
+---
+MapHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/DuplicateMapping.srv b/kortex_driver/srv/generated/base/DuplicateMapping.srv
new file mode 100644
index 0000000..7b51d73
--- /dev/null
+++ b/kortex_driver/srv/generated/base/DuplicateMapping.srv
@@ -0,0 +1,3 @@
+MappingHandle input
+---
+MappingHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/EnableBridge.srv b/kortex_driver/srv/generated/base/EnableBridge.srv
new file mode 100644
index 0000000..59fca2a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/EnableBridge.srv
@@ -0,0 +1,3 @@
+BridgeConfig input
+---
+BridgeResult output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ExecuteAction.srv b/kortex_driver/srv/generated/base/ExecuteAction.srv
new file mode 100644
index 0000000..c74f124
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ExecuteAction.srv
@@ -0,0 +1,3 @@
+Action input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ExecuteActionFromReference.srv b/kortex_driver/srv/generated/base/ExecuteActionFromReference.srv
new file mode 100644
index 0000000..6668d04
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ExecuteActionFromReference.srv
@@ -0,0 +1,3 @@
+ActionHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetActuatorCount.srv b/kortex_driver/srv/generated/base/GetActuatorCount.srv
new file mode 100644
index 0000000..cb92302
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetActuatorCount.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ActuatorInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetAllConfiguredWifis.srv b/kortex_driver/srv/generated/base/GetAllConfiguredWifis.srv
new file mode 100644
index 0000000..7a64466
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetAllConfiguredWifis.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+WifiConfigurationList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetAllConnectedControllers.srv b/kortex_driver/srv/generated/base/GetAllConnectedControllers.srv
new file mode 100644
index 0000000..2397aaf
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetAllConnectedControllers.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ControllerList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetAllControllerConfigurations.srv b/kortex_driver/srv/generated/base/GetAllControllerConfigurations.srv
new file mode 100644
index 0000000..f541490
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetAllControllerConfigurations.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ControllerConfigurationList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetAllJointsSpeedHardLimitation.srv b/kortex_driver/srv/generated/base/GetAllJointsSpeedHardLimitation.srv
new file mode 100644
index 0000000..2725503
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetAllJointsSpeedHardLimitation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+JointsLimitationsList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetAllJointsSpeedSoftLimitation.srv b/kortex_driver/srv/generated/base/GetAllJointsSpeedSoftLimitation.srv
new file mode 100644
index 0000000..2725503
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetAllJointsSpeedSoftLimitation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+JointsLimitationsList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetAllJointsTorqueHardLimitation.srv b/kortex_driver/srv/generated/base/GetAllJointsTorqueHardLimitation.srv
new file mode 100644
index 0000000..2725503
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetAllJointsTorqueHardLimitation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+JointsLimitationsList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetAllJointsTorqueSoftLimitation.srv b/kortex_driver/srv/generated/base/GetAllJointsTorqueSoftLimitation.srv
new file mode 100644
index 0000000..2725503
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetAllJointsTorqueSoftLimitation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+JointsLimitationsList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetArmState.srv b/kortex_driver/srv/generated/base/GetArmState.srv
new file mode 100644
index 0000000..9c9bcd8
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetArmState.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ArmStateInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetAvailableWifi.srv b/kortex_driver/srv/generated/base/GetAvailableWifi.srv
new file mode 100644
index 0000000..be8692f
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetAvailableWifi.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+WifiInformationList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetBridgeConfig.srv b/kortex_driver/srv/generated/base/GetBridgeConfig.srv
new file mode 100644
index 0000000..9c546ec
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetBridgeConfig.srv
@@ -0,0 +1,3 @@
+BridgeIdentifier input
+---
+BridgeConfig output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetBridgeList.srv b/kortex_driver/srv/generated/base/GetBridgeList.srv
new file mode 100644
index 0000000..2da2a77
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetBridgeList.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+BridgeList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetConfiguredWifi.srv b/kortex_driver/srv/generated/base/GetConfiguredWifi.srv
new file mode 100644
index 0000000..76f8d17
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetConfiguredWifi.srv
@@ -0,0 +1,3 @@
+Ssid input
+---
+WifiConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetConnectedWifiInformation.srv b/kortex_driver/srv/generated/base/GetConnectedWifiInformation.srv
new file mode 100644
index 0000000..deced6e
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetConnectedWifiInformation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+WifiInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetControllerConfiguration.srv b/kortex_driver/srv/generated/base/GetControllerConfiguration.srv
new file mode 100644
index 0000000..6f58bbf
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetControllerConfiguration.srv
@@ -0,0 +1,3 @@
+ControllerHandle input
+---
+ControllerConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetControllerConfigurationMode.srv b/kortex_driver/srv/generated/base/GetControllerConfigurationMode.srv
new file mode 100644
index 0000000..6232371
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetControllerConfigurationMode.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ControllerConfigurationMode output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetControllerState.srv b/kortex_driver/srv/generated/base/GetControllerState.srv
new file mode 100644
index 0000000..5596f9e
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetControllerState.srv
@@ -0,0 +1,3 @@
+ControllerHandle input
+---
+ControllerState output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetFirmwareBundleVersions.srv b/kortex_driver/srv/generated/base/GetFirmwareBundleVersions.srv
new file mode 100644
index 0000000..8bcabb6
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetFirmwareBundleVersions.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+FirmwareBundleVersions output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetIPv4Configuration.srv b/kortex_driver/srv/generated/base/GetIPv4Configuration.srv
new file mode 100644
index 0000000..1515ce2
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetIPv4Configuration.srv
@@ -0,0 +1,3 @@
+NetworkHandle input
+---
+IPv4Configuration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetIPv4Information.srv b/kortex_driver/srv/generated/base/GetIPv4Information.srv
new file mode 100644
index 0000000..5b5a39c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetIPv4Information.srv
@@ -0,0 +1,3 @@
+NetworkHandle input
+---
+IPv4Information output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetMeasuredCartesianPose.srv b/kortex_driver/srv/generated/base/GetMeasuredCartesianPose.srv
new file mode 100644
index 0000000..a79dc7e
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetMeasuredCartesianPose.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Pose output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetMeasuredGripperMovement.srv b/kortex_driver/srv/generated/base/GetMeasuredGripperMovement.srv
new file mode 100644
index 0000000..1311aa7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetMeasuredGripperMovement.srv
@@ -0,0 +1,3 @@
+GripperRequest input
+---
+Gripper output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetMeasuredJointAngles.srv b/kortex_driver/srv/generated/base/GetMeasuredJointAngles.srv
new file mode 100644
index 0000000..bc24fba
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetMeasuredJointAngles.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+JointAngles output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetOperatingMode.srv b/kortex_driver/srv/generated/base/GetOperatingMode.srv
new file mode 100644
index 0000000..d836452
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetOperatingMode.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+OperatingModeInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetProductConfiguration.srv b/kortex_driver/srv/generated/base/GetProductConfiguration.srv
new file mode 100644
index 0000000..9d34ae4
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetProductConfiguration.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+CompleteProductConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetServoingMode.srv b/kortex_driver/srv/generated/base/GetServoingMode.srv
new file mode 100644
index 0000000..345f256
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetServoingMode.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ServoingModeInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetTrajectoryErrorReport.srv b/kortex_driver/srv/generated/base/GetTrajectoryErrorReport.srv
new file mode 100644
index 0000000..6fc9f2c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetTrajectoryErrorReport.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+TrajectoryErrorReport output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetTwistHardLimitation.srv b/kortex_driver/srv/generated/base/GetTwistHardLimitation.srv
new file mode 100644
index 0000000..57c7808
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetTwistHardLimitation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+TwistLimitation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetTwistSoftLimitation.srv b/kortex_driver/srv/generated/base/GetTwistSoftLimitation.srv
new file mode 100644
index 0000000..57c7808
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetTwistSoftLimitation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+TwistLimitation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetWifiCountryCode.srv b/kortex_driver/srv/generated/base/GetWifiCountryCode.srv
new file mode 100644
index 0000000..5e7f98f
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetWifiCountryCode.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+CountryCode output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetWifiInformation.srv b/kortex_driver/srv/generated/base/GetWifiInformation.srv
new file mode 100644
index 0000000..9208c10
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetWifiInformation.srv
@@ -0,0 +1,3 @@
+Ssid input
+---
+WifiInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetWrenchHardLimitation.srv b/kortex_driver/srv/generated/base/GetWrenchHardLimitation.srv
new file mode 100644
index 0000000..ff151a9
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetWrenchHardLimitation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+WrenchLimitation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/GetWrenchSoftLimitation.srv b/kortex_driver/srv/generated/base/GetWrenchSoftLimitation.srv
new file mode 100644
index 0000000..ff151a9
--- /dev/null
+++ b/kortex_driver/srv/generated/base/GetWrenchSoftLimitation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+WrenchLimitation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/IsCommunicationInterfaceEnable.srv b/kortex_driver/srv/generated/base/IsCommunicationInterfaceEnable.srv
new file mode 100644
index 0000000..a3ad49c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/IsCommunicationInterfaceEnable.srv
@@ -0,0 +1,3 @@
+NetworkHandle input
+---
+CommunicationInterfaceConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/MoveSequenceTask.srv b/kortex_driver/srv/generated/base/MoveSequenceTask.srv
new file mode 100644
index 0000000..781d09a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/MoveSequenceTask.srv
@@ -0,0 +1,3 @@
+SequenceTasksPair input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationActionTopic.srv b/kortex_driver/srv/generated/base/OnNotificationActionTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationActionTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationArmStateTopic.srv b/kortex_driver/srv/generated/base/OnNotificationArmStateTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationArmStateTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationConfigurationChangeTopic.srv b/kortex_driver/srv/generated/base/OnNotificationConfigurationChangeTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationConfigurationChangeTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationControlModeTopic.srv b/kortex_driver/srv/generated/base/OnNotificationControlModeTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationControlModeTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationControllerTopic.srv b/kortex_driver/srv/generated/base/OnNotificationControllerTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationControllerTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationFactoryTopic.srv b/kortex_driver/srv/generated/base/OnNotificationFactoryTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationFactoryTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationMappingInfoTopic.srv b/kortex_driver/srv/generated/base/OnNotificationMappingInfoTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationMappingInfoTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationNetworkTopic.srv b/kortex_driver/srv/generated/base/OnNotificationNetworkTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationNetworkTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationOperatingModeTopic.srv b/kortex_driver/srv/generated/base/OnNotificationOperatingModeTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationOperatingModeTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationProtectionZoneTopic.srv b/kortex_driver/srv/generated/base/OnNotificationProtectionZoneTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationProtectionZoneTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationRobotEventTopic.srv b/kortex_driver/srv/generated/base/OnNotificationRobotEventTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationRobotEventTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationSequenceInfoTopic.srv b/kortex_driver/srv/generated/base/OnNotificationSequenceInfoTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationSequenceInfoTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationServoingModeTopic.srv b/kortex_driver/srv/generated/base/OnNotificationServoingModeTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationServoingModeTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/OnNotificationUserTopic.srv b/kortex_driver/srv/generated/base/OnNotificationUserTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/base/OnNotificationUserTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/PauseAction.srv b/kortex_driver/srv/generated/base/PauseAction.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/PauseAction.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/PauseSequence.srv b/kortex_driver/srv/generated/base/PauseSequence.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/PauseSequence.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/PlayAdvancedSequence.srv b/kortex_driver/srv/generated/base/PlayAdvancedSequence.srv
new file mode 100644
index 0000000..151aa31
--- /dev/null
+++ b/kortex_driver/srv/generated/base/PlayAdvancedSequence.srv
@@ -0,0 +1,3 @@
+AdvancedSequenceHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/PlayCartesianTrajectory.srv b/kortex_driver/srv/generated/base/PlayCartesianTrajectory.srv
new file mode 100644
index 0000000..1a64dd4
--- /dev/null
+++ b/kortex_driver/srv/generated/base/PlayCartesianTrajectory.srv
@@ -0,0 +1,3 @@
+ConstrainedPose input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/PlayCartesianTrajectoryOrientation.srv b/kortex_driver/srv/generated/base/PlayCartesianTrajectoryOrientation.srv
new file mode 100644
index 0000000..5bac981
--- /dev/null
+++ b/kortex_driver/srv/generated/base/PlayCartesianTrajectoryOrientation.srv
@@ -0,0 +1,3 @@
+ConstrainedOrientation input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/PlayCartesianTrajectoryPosition.srv b/kortex_driver/srv/generated/base/PlayCartesianTrajectoryPosition.srv
new file mode 100644
index 0000000..68c1748
--- /dev/null
+++ b/kortex_driver/srv/generated/base/PlayCartesianTrajectoryPosition.srv
@@ -0,0 +1,3 @@
+ConstrainedPosition input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/PlayJointTrajectory.srv b/kortex_driver/srv/generated/base/PlayJointTrajectory.srv
new file mode 100644
index 0000000..2d17f3c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/PlayJointTrajectory.srv
@@ -0,0 +1,3 @@
+ConstrainedJointAngles input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/PlayPreComputedJointTrajectory.srv b/kortex_driver/srv/generated/base/PlayPreComputedJointTrajectory.srv
new file mode 100644
index 0000000..264c3b0
--- /dev/null
+++ b/kortex_driver/srv/generated/base/PlayPreComputedJointTrajectory.srv
@@ -0,0 +1,3 @@
+PreComputedJointTrajectory input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/PlaySelectedJointTrajectory.srv b/kortex_driver/srv/generated/base/PlaySelectedJointTrajectory.srv
new file mode 100644
index 0000000..b6dfbaa
--- /dev/null
+++ b/kortex_driver/srv/generated/base/PlaySelectedJointTrajectory.srv
@@ -0,0 +1,3 @@
+ConstrainedJointAngle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/PlaySequence.srv b/kortex_driver/srv/generated/base/PlaySequence.srv
new file mode 100644
index 0000000..00e870c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/PlaySequence.srv
@@ -0,0 +1,3 @@
+SequenceHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadAction.srv b/kortex_driver/srv/generated/base/ReadAction.srv
new file mode 100644
index 0000000..f9d93fb
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadAction.srv
@@ -0,0 +1,3 @@
+ActionHandle input
+---
+Action output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadAllActions.srv b/kortex_driver/srv/generated/base/ReadAllActions.srv
new file mode 100644
index 0000000..3f1d6d4
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadAllActions.srv
@@ -0,0 +1,3 @@
+RequestedActionType input
+---
+ActionList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadAllMappings.srv b/kortex_driver/srv/generated/base/ReadAllMappings.srv
new file mode 100644
index 0000000..06aba6a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadAllMappings.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+MappingList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadAllMaps.srv b/kortex_driver/srv/generated/base/ReadAllMaps.srv
new file mode 100644
index 0000000..30e520c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadAllMaps.srv
@@ -0,0 +1,3 @@
+MappingHandle input
+---
+MapList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadAllProtectionZones.srv b/kortex_driver/srv/generated/base/ReadAllProtectionZones.srv
new file mode 100644
index 0000000..31307fb
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadAllProtectionZones.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ProtectionZoneList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadAllSequenceTasks.srv b/kortex_driver/srv/generated/base/ReadAllSequenceTasks.srv
new file mode 100644
index 0000000..7f83e4c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadAllSequenceTasks.srv
@@ -0,0 +1,3 @@
+SequenceHandle input
+---
+SequenceTasks output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadAllSequences.srv b/kortex_driver/srv/generated/base/ReadAllSequences.srv
new file mode 100644
index 0000000..146a255
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadAllSequences.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+SequenceList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadAllUserProfiles.srv b/kortex_driver/srv/generated/base/ReadAllUserProfiles.srv
new file mode 100644
index 0000000..46d8141
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadAllUserProfiles.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+UserProfileList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadAllUsers.srv b/kortex_driver/srv/generated/base/ReadAllUsers.srv
new file mode 100644
index 0000000..7ffb2d0
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadAllUsers.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+UserList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadMap.srv b/kortex_driver/srv/generated/base/ReadMap.srv
new file mode 100644
index 0000000..b250efb
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadMap.srv
@@ -0,0 +1,3 @@
+MapHandle input
+---
+Map output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadMapping.srv b/kortex_driver/srv/generated/base/ReadMapping.srv
new file mode 100644
index 0000000..27349a2
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadMapping.srv
@@ -0,0 +1,3 @@
+MappingHandle input
+---
+Mapping output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadProtectionZone.srv b/kortex_driver/srv/generated/base/ReadProtectionZone.srv
new file mode 100644
index 0000000..bc7600b
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadProtectionZone.srv
@@ -0,0 +1,3 @@
+ProtectionZoneHandle input
+---
+ProtectionZone output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadSequence.srv b/kortex_driver/srv/generated/base/ReadSequence.srv
new file mode 100644
index 0000000..f7fb91c
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadSequence.srv
@@ -0,0 +1,3 @@
+SequenceHandle input
+---
+Sequence output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadSequenceTask.srv b/kortex_driver/srv/generated/base/ReadSequenceTask.srv
new file mode 100644
index 0000000..727d451
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadSequenceTask.srv
@@ -0,0 +1,3 @@
+SequenceTaskHandle input
+---
+SequenceTask output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ReadUserProfile.srv b/kortex_driver/srv/generated/base/ReadUserProfile.srv
new file mode 100644
index 0000000..58fedf8
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ReadUserProfile.srv
@@ -0,0 +1,3 @@
+UserProfileHandle input
+---
+UserProfile output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/RestoreFactoryProductConfiguration.srv b/kortex_driver/srv/generated/base/RestoreFactoryProductConfiguration.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/RestoreFactoryProductConfiguration.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/RestoreFactorySettings.srv b/kortex_driver/srv/generated/base/RestoreFactorySettings.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/RestoreFactorySettings.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ResumeAction.srv b/kortex_driver/srv/generated/base/ResumeAction.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ResumeAction.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/ResumeSequence.srv b/kortex_driver/srv/generated/base/ResumeSequence.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/ResumeSequence.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SendGripperCommand.srv b/kortex_driver/srv/generated/base/SendGripperCommand.srv
new file mode 100644
index 0000000..f83e0fc
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SendGripperCommand.srv
@@ -0,0 +1,3 @@
+GripperCommand input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SendJointSpeedsCommand.srv b/kortex_driver/srv/generated/base/SendJointSpeedsCommand.srv
new file mode 100644
index 0000000..055bd54
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SendJointSpeedsCommand.srv
@@ -0,0 +1,3 @@
+Base_JointSpeeds input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SendJointSpeedsJoystickCommand.srv b/kortex_driver/srv/generated/base/SendJointSpeedsJoystickCommand.srv
new file mode 100644
index 0000000..055bd54
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SendJointSpeedsJoystickCommand.srv
@@ -0,0 +1,3 @@
+Base_JointSpeeds input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SendSelectedJointSpeedCommand.srv b/kortex_driver/srv/generated/base/SendSelectedJointSpeedCommand.srv
new file mode 100644
index 0000000..2cc3285
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SendSelectedJointSpeedCommand.srv
@@ -0,0 +1,3 @@
+JointSpeed input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SendSelectedJointSpeedJoystickCommand.srv b/kortex_driver/srv/generated/base/SendSelectedJointSpeedJoystickCommand.srv
new file mode 100644
index 0000000..2cc3285
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SendSelectedJointSpeedJoystickCommand.srv
@@ -0,0 +1,3 @@
+JointSpeed input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SendTwistCommand.srv b/kortex_driver/srv/generated/base/SendTwistCommand.srv
new file mode 100644
index 0000000..afa8aa1
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SendTwistCommand.srv
@@ -0,0 +1,3 @@
+TwistCommand input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SendTwistJoystickCommand.srv b/kortex_driver/srv/generated/base/SendTwistJoystickCommand.srv
new file mode 100644
index 0000000..afa8aa1
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SendTwistJoystickCommand.srv
@@ -0,0 +1,3 @@
+TwistCommand input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SendWrenchCommand.srv b/kortex_driver/srv/generated/base/SendWrenchCommand.srv
new file mode 100644
index 0000000..3d23b95
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SendWrenchCommand.srv
@@ -0,0 +1,3 @@
+WrenchCommand input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SendWrenchJoystickCommand.srv b/kortex_driver/srv/generated/base/SendWrenchJoystickCommand.srv
new file mode 100644
index 0000000..3d23b95
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SendWrenchJoystickCommand.srv
@@ -0,0 +1,3 @@
+WrenchCommand input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SetAdmittance.srv b/kortex_driver/srv/generated/base/SetAdmittance.srv
new file mode 100644
index 0000000..9e132b8
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SetAdmittance.srv
@@ -0,0 +1,3 @@
+Admittance input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SetCommunicationInterfaceEnable.srv b/kortex_driver/srv/generated/base/SetCommunicationInterfaceEnable.srv
new file mode 100644
index 0000000..91007ce
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SetCommunicationInterfaceEnable.srv
@@ -0,0 +1,3 @@
+CommunicationInterfaceConfiguration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SetControllerConfiguration.srv b/kortex_driver/srv/generated/base/SetControllerConfiguration.srv
new file mode 100644
index 0000000..e785bdc
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SetControllerConfiguration.srv
@@ -0,0 +1,3 @@
+ControllerConfiguration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SetControllerConfigurationMode.srv b/kortex_driver/srv/generated/base/SetControllerConfigurationMode.srv
new file mode 100644
index 0000000..9c3825a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SetControllerConfigurationMode.srv
@@ -0,0 +1,3 @@
+ControllerConfigurationMode input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SetIPv4Configuration.srv b/kortex_driver/srv/generated/base/SetIPv4Configuration.srv
new file mode 100644
index 0000000..58ed27e
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SetIPv4Configuration.srv
@@ -0,0 +1,3 @@
+FullIPv4Configuration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SetOperatingMode.srv b/kortex_driver/srv/generated/base/SetOperatingMode.srv
new file mode 100644
index 0000000..a91aa07
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SetOperatingMode.srv
@@ -0,0 +1,3 @@
+OperatingModeInformation input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SetServoingMode.srv b/kortex_driver/srv/generated/base/SetServoingMode.srv
new file mode 100644
index 0000000..b8dc46d
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SetServoingMode.srv
@@ -0,0 +1,3 @@
+ServoingModeInformation input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SetWifiCountryCode.srv b/kortex_driver/srv/generated/base/SetWifiCountryCode.srv
new file mode 100644
index 0000000..77d30c0
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SetWifiCountryCode.srv
@@ -0,0 +1,3 @@
+CountryCode input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/StartTeaching.srv b/kortex_driver/srv/generated/base/StartTeaching.srv
new file mode 100644
index 0000000..b4170eb
--- /dev/null
+++ b/kortex_driver/srv/generated/base/StartTeaching.srv
@@ -0,0 +1,3 @@
+SequenceTaskHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/StartWifiScan.srv b/kortex_driver/srv/generated/base/StartWifiScan.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/StartWifiScan.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/Stop.srv b/kortex_driver/srv/generated/base/Stop.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/Stop.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/StopAction.srv b/kortex_driver/srv/generated/base/StopAction.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/StopAction.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/StopSequence.srv b/kortex_driver/srv/generated/base/StopSequence.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/StopSequence.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/StopTeaching.srv b/kortex_driver/srv/generated/base/StopTeaching.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/StopTeaching.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/SwapSequenceTasks.srv b/kortex_driver/srv/generated/base/SwapSequenceTasks.srv
new file mode 100644
index 0000000..781d09a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/SwapSequenceTasks.srv
@@ -0,0 +1,3 @@
+SequenceTasksPair input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/TakeSnapshot.srv b/kortex_driver/srv/generated/base/TakeSnapshot.srv
new file mode 100644
index 0000000..acc5a54
--- /dev/null
+++ b/kortex_driver/srv/generated/base/TakeSnapshot.srv
@@ -0,0 +1,3 @@
+Snapshot input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/UpdateAction.srv b/kortex_driver/srv/generated/base/UpdateAction.srv
new file mode 100644
index 0000000..c74f124
--- /dev/null
+++ b/kortex_driver/srv/generated/base/UpdateAction.srv
@@ -0,0 +1,3 @@
+Action input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/UpdateEndEffectorTypeConfiguration.srv b/kortex_driver/srv/generated/base/UpdateEndEffectorTypeConfiguration.srv
new file mode 100644
index 0000000..52bb1c5
--- /dev/null
+++ b/kortex_driver/srv/generated/base/UpdateEndEffectorTypeConfiguration.srv
@@ -0,0 +1,3 @@
+ProductConfigurationEndEffectorType input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/UpdateMap.srv b/kortex_driver/srv/generated/base/UpdateMap.srv
new file mode 100644
index 0000000..e58c7af
--- /dev/null
+++ b/kortex_driver/srv/generated/base/UpdateMap.srv
@@ -0,0 +1,3 @@
+Map input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/UpdateMapping.srv b/kortex_driver/srv/generated/base/UpdateMapping.srv
new file mode 100644
index 0000000..98a8392
--- /dev/null
+++ b/kortex_driver/srv/generated/base/UpdateMapping.srv
@@ -0,0 +1,3 @@
+Mapping input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/UpdateProtectionZone.srv b/kortex_driver/srv/generated/base/UpdateProtectionZone.srv
new file mode 100644
index 0000000..1b07d48
--- /dev/null
+++ b/kortex_driver/srv/generated/base/UpdateProtectionZone.srv
@@ -0,0 +1,3 @@
+ProtectionZone input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/UpdateSequence.srv b/kortex_driver/srv/generated/base/UpdateSequence.srv
new file mode 100644
index 0000000..5805a3a
--- /dev/null
+++ b/kortex_driver/srv/generated/base/UpdateSequence.srv
@@ -0,0 +1,3 @@
+Sequence input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/UpdateSequenceTask.srv b/kortex_driver/srv/generated/base/UpdateSequenceTask.srv
new file mode 100644
index 0000000..ad95ec4
--- /dev/null
+++ b/kortex_driver/srv/generated/base/UpdateSequenceTask.srv
@@ -0,0 +1,3 @@
+SequenceTaskConfiguration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/base/UpdateUserProfile.srv b/kortex_driver/srv/generated/base/UpdateUserProfile.srv
new file mode 100644
index 0000000..bbd7d54
--- /dev/null
+++ b/kortex_driver/srv/generated/base/UpdateUserProfile.srv
@@ -0,0 +1,3 @@
+UserProfile input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/ControlConfig_GetControlMode.srv b/kortex_driver/srv/generated/control_config/ControlConfig_GetControlMode.srv
new file mode 100644
index 0000000..345b6cf
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/ControlConfig_GetControlMode.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ControlConfig_ControlModeInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/ControlConfig_Unsubscribe.srv b/kortex_driver/srv/generated/control_config/ControlConfig_Unsubscribe.srv
new file mode 100644
index 0000000..403ee3b
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/ControlConfig_Unsubscribe.srv
@@ -0,0 +1,3 @@
+NotificationHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/GetAllKinematicSoftLimits.srv b/kortex_driver/srv/generated/control_config/GetAllKinematicSoftLimits.srv
new file mode 100644
index 0000000..7382c9e
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/GetAllKinematicSoftLimits.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+KinematicLimitsList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/GetCartesianReferenceFrame.srv b/kortex_driver/srv/generated/control_config/GetCartesianReferenceFrame.srv
new file mode 100644
index 0000000..918b627
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/GetCartesianReferenceFrame.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+CartesianReferenceFrameInfo output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/GetDesiredSpeeds.srv b/kortex_driver/srv/generated/control_config/GetDesiredSpeeds.srv
new file mode 100644
index 0000000..922ffd4
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/GetDesiredSpeeds.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+DesiredSpeeds output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/GetGravityVector.srv b/kortex_driver/srv/generated/control_config/GetGravityVector.srv
new file mode 100644
index 0000000..2d7fb24
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/GetGravityVector.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+GravityVector output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/GetKinematicHardLimits.srv b/kortex_driver/srv/generated/control_config/GetKinematicHardLimits.srv
new file mode 100644
index 0000000..22633d7
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/GetKinematicHardLimits.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+KinematicLimits output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/GetKinematicSoftLimits.srv b/kortex_driver/srv/generated/control_config/GetKinematicSoftLimits.srv
new file mode 100644
index 0000000..2a253c2
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/GetKinematicSoftLimits.srv
@@ -0,0 +1,3 @@
+ControlConfig_ControlModeInformation input
+---
+KinematicLimits output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/GetPayloadInformation.srv b/kortex_driver/srv/generated/control_config/GetPayloadInformation.srv
new file mode 100644
index 0000000..8ace35b
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/GetPayloadInformation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+PayloadInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/GetToolConfiguration.srv b/kortex_driver/srv/generated/control_config/GetToolConfiguration.srv
new file mode 100644
index 0000000..f7aad83
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/GetToolConfiguration.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ToolConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/OnNotificationControlConfigurationTopic.srv b/kortex_driver/srv/generated/control_config/OnNotificationControlConfigurationTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/OnNotificationControlConfigurationTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/ResetGravityVector.srv b/kortex_driver/srv/generated/control_config/ResetGravityVector.srv
new file mode 100644
index 0000000..2d7fb24
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/ResetGravityVector.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+GravityVector output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/ResetJointAccelerationSoftLimits.srv b/kortex_driver/srv/generated/control_config/ResetJointAccelerationSoftLimits.srv
new file mode 100644
index 0000000..72c58a0
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/ResetJointAccelerationSoftLimits.srv
@@ -0,0 +1,3 @@
+ControlConfig_ControlModeInformation input
+---
+JointAccelerationSoftLimits output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/ResetJointSpeedSoftLimits.srv b/kortex_driver/srv/generated/control_config/ResetJointSpeedSoftLimits.srv
new file mode 100644
index 0000000..1010cd8
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/ResetJointSpeedSoftLimits.srv
@@ -0,0 +1,3 @@
+ControlConfig_ControlModeInformation input
+---
+JointSpeedSoftLimits output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/ResetPayloadInformation.srv b/kortex_driver/srv/generated/control_config/ResetPayloadInformation.srv
new file mode 100644
index 0000000..8ace35b
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/ResetPayloadInformation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+PayloadInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/ResetToolConfiguration.srv b/kortex_driver/srv/generated/control_config/ResetToolConfiguration.srv
new file mode 100644
index 0000000..f7aad83
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/ResetToolConfiguration.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ToolConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/ResetTwistAngularSoftLimit.srv b/kortex_driver/srv/generated/control_config/ResetTwistAngularSoftLimit.srv
new file mode 100644
index 0000000..78dcf95
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/ResetTwistAngularSoftLimit.srv
@@ -0,0 +1,3 @@
+ControlConfig_ControlModeInformation input
+---
+TwistAngularSoftLimit output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/ResetTwistLinearSoftLimit.srv b/kortex_driver/srv/generated/control_config/ResetTwistLinearSoftLimit.srv
new file mode 100644
index 0000000..5ccca5e
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/ResetTwistLinearSoftLimit.srv
@@ -0,0 +1,3 @@
+ControlConfig_ControlModeInformation input
+---
+TwistLinearSoftLimit output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetCartesianReferenceFrame.srv b/kortex_driver/srv/generated/control_config/SetCartesianReferenceFrame.srv
new file mode 100644
index 0000000..9e68bf7
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetCartesianReferenceFrame.srv
@@ -0,0 +1,3 @@
+CartesianReferenceFrameInfo input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetDesiredAngularTwist.srv b/kortex_driver/srv/generated/control_config/SetDesiredAngularTwist.srv
new file mode 100644
index 0000000..e7ad9cc
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetDesiredAngularTwist.srv
@@ -0,0 +1,3 @@
+AngularTwist input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetDesiredJointSpeeds.srv b/kortex_driver/srv/generated/control_config/SetDesiredJointSpeeds.srv
new file mode 100644
index 0000000..3df0702
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetDesiredJointSpeeds.srv
@@ -0,0 +1,3 @@
+ControlConfig_JointSpeeds input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetDesiredLinearTwist.srv b/kortex_driver/srv/generated/control_config/SetDesiredLinearTwist.srv
new file mode 100644
index 0000000..fa9bff4
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetDesiredLinearTwist.srv
@@ -0,0 +1,3 @@
+LinearTwist input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetGravityVector.srv b/kortex_driver/srv/generated/control_config/SetGravityVector.srv
new file mode 100644
index 0000000..a8918bf
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetGravityVector.srv
@@ -0,0 +1,3 @@
+GravityVector input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetJointAccelerationSoftLimits.srv b/kortex_driver/srv/generated/control_config/SetJointAccelerationSoftLimits.srv
new file mode 100644
index 0000000..8c0bc27
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetJointAccelerationSoftLimits.srv
@@ -0,0 +1,3 @@
+JointAccelerationSoftLimits input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetJointSpeedSoftLimits.srv b/kortex_driver/srv/generated/control_config/SetJointSpeedSoftLimits.srv
new file mode 100644
index 0000000..253a261
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetJointSpeedSoftLimits.srv
@@ -0,0 +1,3 @@
+JointSpeedSoftLimits input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetPayloadInformation.srv b/kortex_driver/srv/generated/control_config/SetPayloadInformation.srv
new file mode 100644
index 0000000..961ff3a
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetPayloadInformation.srv
@@ -0,0 +1,3 @@
+PayloadInformation input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetToolConfiguration.srv b/kortex_driver/srv/generated/control_config/SetToolConfiguration.srv
new file mode 100644
index 0000000..c076f1f
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetToolConfiguration.srv
@@ -0,0 +1,3 @@
+ToolConfiguration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetTwistAngularSoftLimit.srv b/kortex_driver/srv/generated/control_config/SetTwistAngularSoftLimit.srv
new file mode 100644
index 0000000..643d91a
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetTwistAngularSoftLimit.srv
@@ -0,0 +1,3 @@
+TwistAngularSoftLimit input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/control_config/SetTwistLinearSoftLimit.srv b/kortex_driver/srv/generated/control_config/SetTwistLinearSoftLimit.srv
new file mode 100644
index 0000000..a07d696
--- /dev/null
+++ b/kortex_driver/srv/generated/control_config/SetTwistLinearSoftLimit.srv
@@ -0,0 +1,3 @@
+TwistLinearSoftLimit input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/ClearAllSafetyStatus.srv b/kortex_driver/srv/generated/device_config/ClearAllSafetyStatus.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/ClearAllSafetyStatus.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/ClearSafetyStatus.srv b/kortex_driver/srv/generated/device_config/ClearSafetyStatus.srv
new file mode 100644
index 0000000..a44abf7
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/ClearSafetyStatus.srv
@@ -0,0 +1,3 @@
+SafetyHandle input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/DeviceConfig_GetCapSenseConfig.srv b/kortex_driver/srv/generated/device_config/DeviceConfig_GetCapSenseConfig.srv
new file mode 100644
index 0000000..9502cbd
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/DeviceConfig_GetCapSenseConfig.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+DeviceConfig_CapSenseConfig output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/DeviceConfig_SetCapSenseConfig.srv b/kortex_driver/srv/generated/device_config/DeviceConfig_SetCapSenseConfig.srv
new file mode 100644
index 0000000..94302cf
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/DeviceConfig_SetCapSenseConfig.srv
@@ -0,0 +1,3 @@
+DeviceConfig_CapSenseConfig input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/ExecuteCalibration.srv b/kortex_driver/srv/generated/device_config/ExecuteCalibration.srv
new file mode 100644
index 0000000..bf707a7
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/ExecuteCalibration.srv
@@ -0,0 +1,3 @@
+Calibration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetAllSafetyConfiguration.srv b/kortex_driver/srv/generated/device_config/GetAllSafetyConfiguration.srv
new file mode 100644
index 0000000..f60360f
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetAllSafetyConfiguration.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+SafetyConfigurationList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetAllSafetyInformation.srv b/kortex_driver/srv/generated/device_config/GetAllSafetyInformation.srv
new file mode 100644
index 0000000..ccb6480
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetAllSafetyInformation.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+SafetyInformationList output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetBootloaderVersion.srv b/kortex_driver/srv/generated/device_config/GetBootloaderVersion.srv
new file mode 100644
index 0000000..f9df34b
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetBootloaderVersion.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+BootloaderVersion output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetCalibrationResult.srv b/kortex_driver/srv/generated/device_config/GetCalibrationResult.srv
new file mode 100644
index 0000000..b88c306
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetCalibrationResult.srv
@@ -0,0 +1,3 @@
+CalibrationElement input
+---
+CalibrationResult output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetDeviceType.srv b/kortex_driver/srv/generated/device_config/GetDeviceType.srv
new file mode 100644
index 0000000..841cafb
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetDeviceType.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+DeviceType output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetFirmwareVersion.srv b/kortex_driver/srv/generated/device_config/GetFirmwareVersion.srv
new file mode 100644
index 0000000..f92f54c
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetFirmwareVersion.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+FirmwareVersion output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetIPv4Settings.srv b/kortex_driver/srv/generated/device_config/GetIPv4Settings.srv
new file mode 100644
index 0000000..dbe3ca4
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetIPv4Settings.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+IPv4Settings output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetMACAddress.srv b/kortex_driver/srv/generated/device_config/GetMACAddress.srv
new file mode 100644
index 0000000..8b79b41
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetMACAddress.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+MACAddress output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetModelNumber.srv b/kortex_driver/srv/generated/device_config/GetModelNumber.srv
new file mode 100644
index 0000000..7d685d9
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetModelNumber.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ModelNumber output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetPartNumber.srv b/kortex_driver/srv/generated/device_config/GetPartNumber.srv
new file mode 100644
index 0000000..b4d0677
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetPartNumber.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+PartNumber output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetPartNumberRevision.srv b/kortex_driver/srv/generated/device_config/GetPartNumberRevision.srv
new file mode 100644
index 0000000..dde505d
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetPartNumberRevision.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+PartNumberRevision output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetRunMode.srv b/kortex_driver/srv/generated/device_config/GetRunMode.srv
new file mode 100644
index 0000000..0b17a75
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetRunMode.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+RunMode output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetSafetyConfiguration.srv b/kortex_driver/srv/generated/device_config/GetSafetyConfiguration.srv
new file mode 100644
index 0000000..21b52ca
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetSafetyConfiguration.srv
@@ -0,0 +1,3 @@
+SafetyHandle input
+---
+SafetyConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetSafetyEnable.srv b/kortex_driver/srv/generated/device_config/GetSafetyEnable.srv
new file mode 100644
index 0000000..b095731
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetSafetyEnable.srv
@@ -0,0 +1,3 @@
+SafetyHandle input
+---
+SafetyEnable output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetSafetyInformation.srv b/kortex_driver/srv/generated/device_config/GetSafetyInformation.srv
new file mode 100644
index 0000000..2869681
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetSafetyInformation.srv
@@ -0,0 +1,3 @@
+SafetyHandle input
+---
+SafetyInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetSafetyStatus.srv b/kortex_driver/srv/generated/device_config/GetSafetyStatus.srv
new file mode 100644
index 0000000..c188202
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetSafetyStatus.srv
@@ -0,0 +1,3 @@
+SafetyHandle input
+---
+SafetyStatus output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/GetSerialNumber.srv b/kortex_driver/srv/generated/device_config/GetSerialNumber.srv
new file mode 100644
index 0000000..e1bc96c
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/GetSerialNumber.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+SerialNumber output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/OnNotificationSafetyTopic.srv b/kortex_driver/srv/generated/device_config/OnNotificationSafetyTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/OnNotificationSafetyTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/RebootRequest.srv b/kortex_driver/srv/generated/device_config/RebootRequest.srv
new file mode 100644
index 0000000..25cc189
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/RebootRequest.srv
@@ -0,0 +1,3 @@
+RebootRqst input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/ResetSafetyDefaults.srv b/kortex_driver/srv/generated/device_config/ResetSafetyDefaults.srv
new file mode 100644
index 0000000..4d7a11a
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/ResetSafetyDefaults.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/SetIPv4Settings.srv b/kortex_driver/srv/generated/device_config/SetIPv4Settings.srv
new file mode 100644
index 0000000..a745cb1
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/SetIPv4Settings.srv
@@ -0,0 +1,3 @@
+IPv4Settings input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/SetRunMode.srv b/kortex_driver/srv/generated/device_config/SetRunMode.srv
new file mode 100644
index 0000000..fc420a7
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/SetRunMode.srv
@@ -0,0 +1,3 @@
+RunMode input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/SetSafetyConfiguration.srv b/kortex_driver/srv/generated/device_config/SetSafetyConfiguration.srv
new file mode 100644
index 0000000..db370ae
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/SetSafetyConfiguration.srv
@@ -0,0 +1,3 @@
+SafetyConfiguration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/SetSafetyEnable.srv b/kortex_driver/srv/generated/device_config/SetSafetyEnable.srv
new file mode 100644
index 0000000..198bd12
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/SetSafetyEnable.srv
@@ -0,0 +1,3 @@
+SafetyEnable input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/SetSafetyErrorThreshold.srv b/kortex_driver/srv/generated/device_config/SetSafetyErrorThreshold.srv
new file mode 100644
index 0000000..04c3ade
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/SetSafetyErrorThreshold.srv
@@ -0,0 +1,3 @@
+SafetyThreshold input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/SetSafetyWarningThreshold.srv b/kortex_driver/srv/generated/device_config/SetSafetyWarningThreshold.srv
new file mode 100644
index 0000000..04c3ade
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/SetSafetyWarningThreshold.srv
@@ -0,0 +1,3 @@
+SafetyThreshold input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_config/StopCalibration.srv b/kortex_driver/srv/generated/device_config/StopCalibration.srv
new file mode 100644
index 0000000..8fccb47
--- /dev/null
+++ b/kortex_driver/srv/generated/device_config/StopCalibration.srv
@@ -0,0 +1,3 @@
+Calibration input
+---
+CalibrationResult output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/device_manager/ReadAllDevices.srv b/kortex_driver/srv/generated/device_manager/ReadAllDevices.srv
new file mode 100644
index 0000000..8f01b62
--- /dev/null
+++ b/kortex_driver/srv/generated/device_manager/ReadAllDevices.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+DeviceHandles output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/GetEthernetConfiguration.srv b/kortex_driver/srv/generated/interconnect_config/GetEthernetConfiguration.srv
new file mode 100644
index 0000000..222659c
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/GetEthernetConfiguration.srv
@@ -0,0 +1,3 @@
+EthernetDeviceIdentification input
+---
+EthernetConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/GetGPIOConfiguration.srv b/kortex_driver/srv/generated/interconnect_config/GetGPIOConfiguration.srv
new file mode 100644
index 0000000..4674efd
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/GetGPIOConfiguration.srv
@@ -0,0 +1,3 @@
+GPIOIdentification input
+---
+GPIOConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/GetGPIOState.srv b/kortex_driver/srv/generated/interconnect_config/GetGPIOState.srv
new file mode 100644
index 0000000..586a5f4
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/GetGPIOState.srv
@@ -0,0 +1,3 @@
+GPIOIdentification input
+---
+GPIOState output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/GetI2CConfiguration.srv b/kortex_driver/srv/generated/interconnect_config/GetI2CConfiguration.srv
new file mode 100644
index 0000000..bc9ca67
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/GetI2CConfiguration.srv
@@ -0,0 +1,3 @@
+I2CDeviceIdentification input
+---
+I2CConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/GetUARTConfiguration.srv b/kortex_driver/srv/generated/interconnect_config/GetUARTConfiguration.srv
new file mode 100644
index 0000000..506bdf1
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/GetUARTConfiguration.srv
@@ -0,0 +1,3 @@
+UARTDeviceIdentification input
+---
+UARTConfiguration output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/I2CRead.srv b/kortex_driver/srv/generated/interconnect_config/I2CRead.srv
new file mode 100644
index 0000000..c2fc6c4
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/I2CRead.srv
@@ -0,0 +1,3 @@
+I2CReadParameter input
+---
+I2CData output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/I2CReadRegister.srv b/kortex_driver/srv/generated/interconnect_config/I2CReadRegister.srv
new file mode 100644
index 0000000..5368c96
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/I2CReadRegister.srv
@@ -0,0 +1,3 @@
+I2CReadRegisterParameter input
+---
+I2CData output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/I2CWrite.srv b/kortex_driver/srv/generated/interconnect_config/I2CWrite.srv
new file mode 100644
index 0000000..bd9d0f2
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/I2CWrite.srv
@@ -0,0 +1,3 @@
+I2CWriteParameter input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/I2CWriteRegister.srv b/kortex_driver/srv/generated/interconnect_config/I2CWriteRegister.srv
new file mode 100644
index 0000000..faab28f
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/I2CWriteRegister.srv
@@ -0,0 +1,3 @@
+I2CWriteRegisterParameter input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/SetEthernetConfiguration.srv b/kortex_driver/srv/generated/interconnect_config/SetEthernetConfiguration.srv
new file mode 100644
index 0000000..f7e62e5
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/SetEthernetConfiguration.srv
@@ -0,0 +1,3 @@
+EthernetConfiguration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/SetGPIOConfiguration.srv b/kortex_driver/srv/generated/interconnect_config/SetGPIOConfiguration.srv
new file mode 100644
index 0000000..0cefe47
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/SetGPIOConfiguration.srv
@@ -0,0 +1,3 @@
+GPIOConfiguration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/SetGPIOState.srv b/kortex_driver/srv/generated/interconnect_config/SetGPIOState.srv
new file mode 100644
index 0000000..b77f87d
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/SetGPIOState.srv
@@ -0,0 +1,3 @@
+GPIOState input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/SetI2CConfiguration.srv b/kortex_driver/srv/generated/interconnect_config/SetI2CConfiguration.srv
new file mode 100644
index 0000000..c8e8419
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/SetI2CConfiguration.srv
@@ -0,0 +1,3 @@
+I2CConfiguration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/interconnect_config/SetUARTConfiguration.srv b/kortex_driver/srv/generated/interconnect_config/SetUARTConfiguration.srv
new file mode 100644
index 0000000..66e7f87
--- /dev/null
+++ b/kortex_driver/srv/generated/interconnect_config/SetUARTConfiguration.srv
@@ -0,0 +1,3 @@
+UARTConfiguration input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/DoSensorFocusAction.srv b/kortex_driver/srv/generated/vision_config/DoSensorFocusAction.srv
new file mode 100644
index 0000000..96d7baa
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/DoSensorFocusAction.srv
@@ -0,0 +1,3 @@
+SensorFocusAction input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/GetExtrinsicParameters.srv b/kortex_driver/srv/generated/vision_config/GetExtrinsicParameters.srv
new file mode 100644
index 0000000..c7705f1
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/GetExtrinsicParameters.srv
@@ -0,0 +1,3 @@
+Empty input
+---
+ExtrinsicParameters output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/GetIntrinsicParameters.srv b/kortex_driver/srv/generated/vision_config/GetIntrinsicParameters.srv
new file mode 100644
index 0000000..706f2ab
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/GetIntrinsicParameters.srv
@@ -0,0 +1,3 @@
+SensorIdentifier input
+---
+IntrinsicParameters output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/GetIntrinsicParametersProfile.srv b/kortex_driver/srv/generated/vision_config/GetIntrinsicParametersProfile.srv
new file mode 100644
index 0000000..66ec9a9
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/GetIntrinsicParametersProfile.srv
@@ -0,0 +1,3 @@
+IntrinsicProfileIdentifier input
+---
+IntrinsicParameters output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/GetOptionInformation.srv b/kortex_driver/srv/generated/vision_config/GetOptionInformation.srv
new file mode 100644
index 0000000..995b3a8
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/GetOptionInformation.srv
@@ -0,0 +1,3 @@
+OptionIdentifier input
+---
+OptionInformation output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/GetOptionValue.srv b/kortex_driver/srv/generated/vision_config/GetOptionValue.srv
new file mode 100644
index 0000000..be41673
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/GetOptionValue.srv
@@ -0,0 +1,3 @@
+OptionIdentifier input
+---
+OptionValue output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/GetSensorSettings.srv b/kortex_driver/srv/generated/vision_config/GetSensorSettings.srv
new file mode 100644
index 0000000..c663698
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/GetSensorSettings.srv
@@ -0,0 +1,3 @@
+SensorIdentifier input
+---
+SensorSettings output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/OnNotificationVisionTopic.srv b/kortex_driver/srv/generated/vision_config/OnNotificationVisionTopic.srv
new file mode 100644
index 0000000..43c15c7
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/OnNotificationVisionTopic.srv
@@ -0,0 +1,3 @@
+NotificationOptions input
+---
+NotificationHandle output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/SetExtrinsicParameters.srv b/kortex_driver/srv/generated/vision_config/SetExtrinsicParameters.srv
new file mode 100644
index 0000000..6a05356
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/SetExtrinsicParameters.srv
@@ -0,0 +1,3 @@
+ExtrinsicParameters input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/SetIntrinsicParameters.srv b/kortex_driver/srv/generated/vision_config/SetIntrinsicParameters.srv
new file mode 100644
index 0000000..24db7c3
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/SetIntrinsicParameters.srv
@@ -0,0 +1,3 @@
+IntrinsicParameters input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/SetOptionValue.srv b/kortex_driver/srv/generated/vision_config/SetOptionValue.srv
new file mode 100644
index 0000000..3214d55
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/SetOptionValue.srv
@@ -0,0 +1,3 @@
+OptionValue input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/generated/vision_config/SetSensorSettings.srv b/kortex_driver/srv/generated/vision_config/SetSensorSettings.srv
new file mode 100644
index 0000000..e5e5868
--- /dev/null
+++ b/kortex_driver/srv/generated/vision_config/SetSensorSettings.srv
@@ -0,0 +1,3 @@
+SensorSettings input
+---
+Empty output
\ No newline at end of file
diff --git a/kortex_driver/srv/non_generated/SetApiOptions.srv b/kortex_driver/srv/non_generated/SetApiOptions.srv
new file mode 100644
index 0000000..cab7c81
--- /dev/null
+++ b/kortex_driver/srv/non_generated/SetApiOptions.srv
@@ -0,0 +1,3 @@
+ApiOptions input
+---
+
diff --git a/kortex_driver/srv/non_generated/SetDeviceID.srv b/kortex_driver/srv/non_generated/SetDeviceID.srv
new file mode 100644
index 0000000..396957c
--- /dev/null
+++ b/kortex_driver/srv/non_generated/SetDeviceID.srv
@@ -0,0 +1,2 @@
+uint32 device_id
+---
diff --git a/kortex_driver/templates/proto_converter.cpp.jinja2 b/kortex_driver/templates/proto_converter.cpp.jinja2
new file mode 100644
index 0000000..8ce16a7
--- /dev/null
+++ b/kortex_driver/templates/proto_converter.cpp.jinja2
@@ -0,0 +1,75 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "{{current_header_filename}}"
+
+{% for detailed_message in package.messages -%}
+int ToProtoData(kortex_driver::{{detailed_message.prepend_message_name}}{{detailed_message.name}} input, {{detailed_message.cpp_namespace}}::{{detailed_message.name}} *output)
+{
+	{% for field in detailed_message.message.field -%}
+	{%- if not field.HasField("oneof_index") -%}
+	{%- if field.label == 3 -%} {# REPEATED #}
+	{%- if field.type == 11 %} {# MESSAGE #}
+	output->clear_{{field.name|lower}}();
+	for(int i = 0; i < input.{{field.name}}.size(); i++)
+	{
+		ToProtoData(input.{{field.name}}[i], output->add_{{field.name|lower}}());
+	}
+	{%- elif field.type == 14 %} {# ENUM #}
+	output->clear_{{field.name|lower}}();
+	for(int i = 0; i < input.{{field.name}}.size(); i++)
+	{
+		output->add_{{field.name}}(({{field.type_name|replace(".", "", 1)|replace(".", "::")}})input.{{field.name}}[i]);
+	}
+	{%- else %}
+	output->clear_{{field.name|lower}}();
+	for(int i = 0; i < input.{{field.name}}.size(); i++)
+	{
+		output->add_{{field.name|lower}}(input.{{field.name}}[i]);
+	}	
+	{%- endif -%} 
+	{%- else -%} {# NOT REPEATED #}
+	{%- if field.type == 11 %} {# MESSAGE #}
+	ToProtoData(input.{{field.name}}, output->mutable_{{field.name}}());
+	{%- elif field.type == 14 %}{# ENUM #}
+	output->set_{{field.name}}(({{field.type_name|replace(".", "", 1)|replace(".", "::")}})input.{{field.name}}); 
+	{%- elif field.type == 12 %}
+	output->set_{{field.name}}(std::string(input.{{field.name}}.begin(), input.{{field.name}}.end()));
+	{%- else %}
+	output->set_{{field.name}}(input.{{field.name}});
+	{%- endif -%}
+	{%- endif -%}
+	{%- endif -%}
+	{%- endfor -%}
+
+	{% for detailed_one_of in detailed_message.one_of_list -%}
+	{%- for field in detailed_one_of.fields %}
+	if(input.oneof_{{detailed_one_of.name}}.{{field.name}}.size() > 0)
+	{
+		{%- if field.type == 11 %}
+		ToProtoData(input.oneof_{{detailed_one_of.name}}.{{field.name}}[0], output->mutable_{{field.name}}());
+		{%- elif field.type == 14 %}
+		output->set_{{field.name}}(({{field.type_name|replace(".", "", 1)|replace(".", "::")}})input.oneof_{{detailed_one_of.name}}.{{field.name}}[0]);
+		{%- else %}
+		output->set_{{field.name|lower}}(input.oneof_{{detailed_one_of.name}}.{{field.name}}[0]);
+		{%- endif %}
+	}
+	{%- endfor -%}
+	{%- endfor %}
+	
+	return 0;
+}
+{% endfor %}
diff --git a/kortex_driver/templates/proto_converter.h.jinja2 b/kortex_driver/templates/proto_converter.h.jinja2
new file mode 100644
index 0000000..ae6ae75
--- /dev/null
+++ b/kortex_driver/templates/proto_converter.h.jinja2
@@ -0,0 +1,43 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_{{package.short_name.upper()}}_PROTO_CONVERTER_H_
+#define _KORTEX_{{package.short_name.upper()}}_PROTO_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <{{package.short_name}}.pb.h>
+
+{% for file in include_file_names -%}
+{%- if file !=  current_filename-%}
+#include "{{file}}"
+{% endif -%}
+{%- endfor %}
+
+{% for detailed_message in package.messages -%}
+#include "kortex_driver/{{detailed_message.prepend_message_name}}{{detailed_message.name}}.h"
+{% endfor %}
+
+{% for detailed_message in package.messages -%}
+int ToProtoData(kortex_driver::{{detailed_message.prepend_message_name}}{{detailed_message.name}} input, {{detailed_message.cpp_namespace}}::{{detailed_message.name}} *output);
+{% endfor %}
+#endif
\ No newline at end of file
diff --git a/kortex_driver/templates/ros_converter.cpp.jinja2 b/kortex_driver/templates/ros_converter.cpp.jinja2
new file mode 100644
index 0000000..538771d
--- /dev/null
+++ b/kortex_driver/templates/ros_converter.cpp.jinja2
@@ -0,0 +1,79 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#include "{{current_header_filename}}"
+
+{% for detailed_message in package.messages -%}
+int ToRosData({{detailed_message.cpp_namespace}}::{{detailed_message.name}} input, kortex_driver::{{detailed_message.prepend_message_name}}{{detailed_message.name}} &output)
+{
+	{% for field in detailed_message.message.field -%}
+	{%- if not field.HasField("oneof_index") -%}
+	{%- if field.label == 3 -%} {# REPEATED #}
+	{%- if field.type == 11 %}
+	output.{{field.name}}.clear();
+	for(int i = 0; i < input.{{field.name|lower}}_size(); i++)
+	{
+		kortex_driver::{{field.type_name.split(".")[-1]}} temp;
+		ToRosData(input.{{field.name|lower}}(i), temp);
+		output.{{field.name}}.push_back(temp);
+	}
+	{%- else %}
+	output.{{field.name}}.clear();
+	for(int i = 0; i < input.{{field.name|lower}}_size(); i++)
+	{
+		output.{{field.name}}.push_back(input.{{field.name|lower}}(i));
+	}	
+	{%- endif %}
+	{%- else %}
+	{%- if field.type == 11 %}
+	ToRosData(input.{{field.name}}(), output.{{field.name}});
+	{%- elif field.type == 14 %}
+	output.{{field.name}} = input.{{field.name}}(); 
+	{%- elif field.type == 12 %}
+	output.{{field.name}} = std::vector<uint8_t>(input.{{field.name}}().begin(), input.{{field.name}}().end());
+	{%- else %}
+	output.{{field.name}} = input.{{field.name}}(); 
+	{%- endif %}
+	{%- endif %}
+	{%- endif %}
+	{%- endfor %}
+
+	{% for detailed_one_of in detailed_message.one_of_list %}
+	auto oneof_type_{{detailed_one_of.name}} = input.{{detailed_one_of.name}}_case();
+	switch(oneof_type_{{detailed_one_of.name}})
+	{
+	{%- for field in detailed_one_of.fields %}
+	{%- if "_" in field.name -%} {%- set EnumName = field.name.replace("_", " ").title().replace(" ", "") -%} {# In case the field is in the form of "gripper_command" #}
+	{%- else -%} {%- set EnumName = field.name[0]|upper + field.name[1:] -%} {%- endif %} {# In case the field is in the form of "gripperCommand" #}
+	
+		case {{detailed_message.cpp_namespace}}::{{detailed_message.message.name}}::k{{EnumName}}:
+		{
+	{%- if field.type == 11 %}
+			decltype(output.oneof_{{detailed_one_of.name}}.{{field.name}})::value_type temp;
+			ToRosData(input.{{field.name}}(), temp);
+			output.oneof_{{detailed_one_of.name}}.{{field.name}}.push_back(temp);
+	{%- elif field.type == 14 %}
+			output.oneof_{{detailed_one_of.name}}.{{field.name}}.push_back(input.{{field.name}}());
+	{% endif %}
+			break;
+		}
+	{%- endfor -%}
+	}
+	{%- endfor %}
+	
+	return 0;
+}
+{% endfor %}
diff --git a/kortex_driver/templates/ros_converter.h.jinja2 b/kortex_driver/templates/ros_converter.h.jinja2
new file mode 100644
index 0000000..f2ddd2a
--- /dev/null
+++ b/kortex_driver/templates/ros_converter.h.jinja2
@@ -0,0 +1,43 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_{{package.short_name.upper()}}_ROS_CONVERTER_H_
+#define _KORTEX_{{package.short_name.upper()}}_ROS_CONVERTER_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+#include <{{package.short_name}}.pb.h>
+
+{% for file in include_file_names -%}
+{%- if file !=  current_filename-%}
+#include "{{file}}"
+{% endif -%}
+{%- endfor %}
+
+{% for detailed_message in package.messages -%}
+#include "kortex_driver/{{detailed_message.prepend_message_name}}{{detailed_message.name}}.h"
+{% endfor %}
+
+{% for detailed_message in package.messages -%}
+int ToRosData({{detailed_message.cpp_namespace}}::{{detailed_message.name}} input, kortex_driver::{{detailed_message.prepend_message_name}}{{detailed_message.name}} &output);
+{% endfor %}
+#endif
\ No newline at end of file
diff --git a/kortex_driver/templates/ros_enum.msg.jinja2 b/kortex_driver/templates/ros_enum.msg.jinja2
new file mode 100644
index 0000000..d358808
--- /dev/null
+++ b/kortex_driver/templates/ros_enum.msg.jinja2
@@ -0,0 +1,3 @@
+{% for member in item.message.value %}
+uint32 {{member.name}} = {{member.number}}
+{% endfor %}
diff --git a/kortex_driver/templates/ros_message.msg.jinja2 b/kortex_driver/templates/ros_message.msg.jinja2
new file mode 100644
index 0000000..45270bc
--- /dev/null
+++ b/kortex_driver/templates/ros_message.msg.jinja2
@@ -0,0 +1,47 @@
+{%- for member in item.message.field -%}
+{%- if not member.HasField("oneof_index") -%}
+{%- if member.type == field_descriptor_class.TYPE_STRING %}
+string{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_BYTES %}
+uint8[] {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_DOUBLE %}
+float64{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_FIXED32 %}
+uint32{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_FIXED64 %}
+uint64{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_FLOAT %}
+float32{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_INT32 %}
+int32{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_INT64 %}
+int64{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_SFIXED32 %}
+int32{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_SFIXED64 %}
+int64{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_SINT32 %}
+int32{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_SINT64 %}
+int64{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_UINT32 %}
+uint32{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_UINT64 %}
+uint64{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_ENUM %}
+uint32{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_BOOL %}
+bool {{member.name}}
+{%- elif member.type == field_descriptor_class.TYPE_MESSAGE %}
+{% set split_message_type = member.type_name.split('.') -%}
+{%- if split_message_type[-1] in item.duplicated_fields -%}
+{{split_message_type[-2]}}_{{split_message_type[-1]}}{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- else -%}
+{{split_message_type[-1]}}{%- if member.label == field_descriptor_class.LABEL_REPEATED -%}[]{% endif %} {{member.name}}
+{%- endif %}
+{%- endif -%}
+{%- endif -%}
+{%- endfor -%}
+{% for one_of in item.one_of_list %}
+{{item.prepend_message_name}}{{item.name}}_{{one_of.name}} oneof_{{one_of.name}}
+{%- endfor -%}
\ No newline at end of file
diff --git a/kortex_driver/templates/ros_oneof.msg.jinja2 b/kortex_driver/templates/ros_oneof.msg.jinja2
new file mode 100644
index 0000000..7569820
--- /dev/null
+++ b/kortex_driver/templates/ros_oneof.msg.jinja2
@@ -0,0 +1,12 @@
+{% for field in detailed_one_of.fields %}
+{% if field.type == field_descriptor_class.TYPE_MESSAGE %}
+{%- set split_message_type = field.type_name.split('.') -%}
+{%- if split_message_type[-1] in detailed_one_of.duplicated_fields -%}
+{{split_message_type[-2]}}_{{split_message_type[-1]}}[] {{field.name}}
+{%- else -%}
+{{split_message_type[-1]}}[] {{field.name}}
+{%- endif -%}
+{%- else -%}
+uint32[] {{field.name}}
+{%- endif -%}
+{% endfor %}
\ No newline at end of file
diff --git a/kortex_driver/templates/ros_service.srv.jinja2 b/kortex_driver/templates/ros_service.srv.jinja2
new file mode 100644
index 0000000..e6c85e0
--- /dev/null
+++ b/kortex_driver/templates/ros_service.srv.jinja2
@@ -0,0 +1,3 @@
+{{item.ros_service_input_name}} input
+---
+{{item.ros_service_output_name}} output
diff --git a/kortex_driver/templates/services_interface.h.jinja2 b/kortex_driver/templates/services_interface.h.jinja2
new file mode 100644
index 0000000..9350d79
--- /dev/null
+++ b/kortex_driver/templates/services_interface.h.jinja2
@@ -0,0 +1,74 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_{{package.short_name|upper}}_SERVICES_INTERFACE_H_
+#define _KORTEX_{{package.short_name|upper}}_SERVICES_INTERFACE_H_
+
+#include "ros/ros.h"
+
+#include <string>
+#include <iostream>
+#include <cstdio>
+#include <iostream>
+#include <chrono>
+
+{%- for method in package.methods %}
+#include "kortex_driver/{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}.h"
+{%- if method.is_notification_rpc %}
+#include "kortex_driver/{{method_prepend_rpc_package_name}}{{method.name|replace("Topic", "")}}Notification.h"
+{%- endif %}
+{%- endfor %}
+
+#include "kortex_driver/KortexError.h"
+#include "kortex_driver/SetDeviceID.h"
+#include "kortex_driver/SetApiOptions.h"
+#include "kortex_driver/ApiOptions.h"
+
+using namespace std;
+
+class I{{package.short_name}}Services
+{
+    public:
+        I{{package.short_name}}Services(ros::NodeHandle& node_handle) : m_node_handle(node_handle) {}
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) = 0;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) = 0;
+{%- for method in package.methods %}
+        virtual bool {{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}(kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Request  &req, kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Response &res) = 0;
+{%- if method.is_notification_rpc %}
+        virtual void cb_{{method.name}}({{method.notification_message_cpp_namespace}}::{{method.prepend_rpc_package_name}}{{method.name|replace("Topic", "")}}Notification notif) = 0;
+{%- endif %}
+{%- endfor %}
+
+protected:
+        ros::NodeHandle m_node_handle;
+        ros::Publisher m_pub_Error;
+
+{%- for method in package.methods %}
+{%- if method.is_notification_rpc %}
+        ros::Publisher m_pub_{{method.name}};
+        bool m_is_activated_{{method.name}};
+{%- endif %}
+{%- endfor %}
+
+        ros::ServiceServer m_serviceSetDeviceID;
+        ros::ServiceServer m_serviceSetApiOptions;
+{% for method in package.methods %}
+	ros::ServiceServer m_service{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}};
+{%- endfor %}
+};
+#endif
+
diff --git a/kortex_driver/templates/services_robot.cpp.jinja2 b/kortex_driver/templates/services_robot.cpp.jinja2
new file mode 100644
index 0000000..d559de0
--- /dev/null
+++ b/kortex_driver/templates/services_robot.cpp.jinja2
@@ -0,0 +1,133 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+{% for include_file_name in include_file_names -%}
+#include "{{include_file_name}}"
+{% endfor -%}
+#include "{{current_header_filename}}"
+
+{{package.short_name}}RobotServices::{{package.short_name}}RobotServices(ros::NodeHandle& node_handle, {{package.cpp_namespace}}::{{package.short_name}}Client* {{package.short_name|lower}}, uint32_t device_id, uint32_t timeout_ms): 
+	I{{package.short_name}}Services(node_handle),
+	m_{{package.short_name|lower}}({{package.short_name|lower}}),
+	m_current_device_id(device_id)
+{
+	m_api_options.timeout_ms = timeout_ms;
+
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+{%- for method in package.methods -%}
+{%- if method.is_notification_rpc %}
+	m_pub_{{method.name}} = m_node_handle.advertise<kortex_driver::{{method_prepend_rpc_package_name}}{{method.name|replace("Topic", "")}}Notification>("{{method.name_lowercase_with_underscores}}", 1000);
+	m_is_activated_{{method.name}} = false;
+{%- endif -%}
+{%- endfor %}
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("{{package.short_name_lowercase_with_underscores}}/set_device_id", &{{package.short_name}}RobotServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("{{package.short_name_lowercase_with_underscores}}/set_api_options", &{{package.short_name}}RobotServices::SetApiOptions, this);
+{% for method in package.methods %}
+	m_service{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}} = m_node_handle.advertiseService("{{package.short_name_lowercase_with_underscores}}/{%- if method.prepend_on_notification -%}activate_publishing_of_{%- endif -%}{{method.name_lowercase_with_underscores}}", &{{package.short_name}}RobotServices::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}, this);
+{%- endfor %}
+}
+
+bool {{package.short_name}}RobotServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	m_current_device_id = req.device_id;
+
+	return true;
+}
+
+bool {{package.short_name}}RobotServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	m_api_options.timeout_ms = req.input.timeout_ms;
+
+	return true;
+}
+
+{% for method in package.methods %}
+bool {{package.short_name}}RobotServices::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}(kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Request  &req, kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Response &res)
+{
+	{% if method.is_rpc_deprecated -%}
+	ROS_WARN("The {{package.short_name_lowercase_with_underscores}}/{%- if method.prepend_on_notification -%}activate_publishing_of_{%- endif -%}{{method.name_lowercase_with_underscores}} service is now deprecated and will be removed in a future release.");
+	{% endif -%}
+
+	{% if method.is_notification_rpc %}
+	// If the notification is already activated, don't activate multiple times
+	if (m_is_activated_{{method.name}})
+		return true;
+	{%- endif %}
+
+	{%- if not method.input_type_short_name == "Empty" %}
+	{{method.input_type_cpp_namespace}}::{{method.input_type_short_name}} input;
+	ToProtoData(req.input, &input);
+	{%- endif %}
+	{%- if not method.output_type_short_name == "Empty" %}
+	{{method.output_type_cpp_namespace}}::{{method.output_type_short_name}} output;
+	{% endif %}
+	kortex_driver::KortexError result_error;
+	
+	try
+	{
+		{%- if not method.output_type_short_name == "Empty" %}
+		{%- if not method.input_type_short_name == "Empty" %}
+		{%- if method.is_notification_rpc %}
+		std::function< void ({{method.notification_message_cpp_namespace}}::{{method.name|replace("Topic", "")}}Notification) > callback = std::bind(&{{package.short_name}}RobotServices::cb_{{method.name}}, this, std::placeholders::_1);
+		output = m_{{package.short_name|lower}}->{{method.prepend_on_notification}}{{method.name}}(callback, input, m_current_device_id);
+		m_is_activated_{{method.name}} = true;
+		{%- else %}
+		output = m_{{package.short_name|lower}}->{{method.name}}(input, m_current_device_id, m_api_options);
+		{%- endif %}
+		{%- else %}
+		output = m_{{package.short_name|lower}}->{{method.name}}(m_current_device_id, m_api_options);
+		{%- endif %}
+		{%- else %}
+		{%- if not method.input_type_short_name == "Empty" %}
+		m_{{package.short_name|lower}}->{{method.name}}(input, m_current_device_id, m_api_options);
+		{%- else %}
+		m_{{package.short_name|lower}}->{{method.name}}(m_current_device_id, m_api_options);
+		{%- endif %}
+		{%- endif %}
+	}
+
+	catch (Kinova::Api::KDetailedException& ex)
+	{
+		result_error.subCode = ex.getErrorInfo().getError().error_sub_code();
+		result_error.code = ex.getErrorInfo().getError().error_code();
+		result_error.description = ex.toString();
+		m_pub_Error.publish(result_error);
+		ROS_INFO("Kortex exception");
+		ROS_INFO("KINOVA exception error code: %d\n", ex.getErrorInfo().getError().error_code());
+		ROS_INFO("KINOVA exception error sub code: %d\n", ex.getErrorInfo().getError().error_sub_code());
+		ROS_INFO("KINOVA exception description: %s\n", ex.what());
+		return false;
+	}
+	catch (std::runtime_error& ex2)
+	{
+		ROS_INFO("%s", ex2.what());
+		return false;
+	}
+	{%- if not method.output_type_short_name == "Empty" %}
+	ToRosData(output, res.output);
+	{%- endif %}
+	return true;
+}
+{%- if method.is_notification_rpc %}
+void {{package.short_name}}RobotServices::cb_{{method.name}}({{method.notification_message_cpp_namespace}}::{{method.name|replace("Topic", "")}}Notification notif)
+{
+	kortex_driver::{{method.name|replace("Topic", "")}}Notification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_{{method.name}}.publish(ros_msg);
+}
+{%- endif %}
+{% endfor -%}
diff --git a/kortex_driver/templates/services_robot.h.jinja2 b/kortex_driver/templates/services_robot.h.jinja2
new file mode 100644
index 0000000..7a19498
--- /dev/null
+++ b/kortex_driver/templates/services_robot.h.jinja2
@@ -0,0 +1,48 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_{{package.short_name|upper}}_ROBOT_SERVICES_H_
+#define _KORTEX_{{package.short_name|upper}}_ROBOT_SERVICES_H_
+
+#include "{{current_interface_header_filename}}"
+
+#include <{{package.short_name}}.pb.h>
+#include <{{package.short_name}}ClientRpc.h>
+
+using namespace std;
+
+class {{package.short_name}}RobotServices : public I{{package.short_name}}Services
+{
+    public:
+        {{package.short_name}}RobotServices(ros::NodeHandle& node_handle, {{package.cpp_namespace}}::{{package.short_name}}Client* {{package.short_name|lower}}, uint32_t device_id, uint32_t timeout_ms);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+{%- for method in package.methods %}
+        virtual bool {{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}(kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Request  &req, kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Response &res) override;
+{%- if method.is_notification_rpc %}
+        virtual void cb_{{method.name}}({{method.notification_message_cpp_namespace}}::{{method.prepend_rpc_package_name}}{{method.name|replace("Topic", "")}}Notification notif) override;
+{%- endif %}
+{%- endfor %}
+
+private:
+        uint32_t m_current_device_id;
+        Kinova::Api::RouterClientSendOptions m_api_options;
+
+        {{package.cpp_namespace}}::{{package.short_name}}Client* m_{{package.short_name|lower}};
+};
+#endif
+
diff --git a/kortex_driver/templates/services_simulation.cpp.jinja2 b/kortex_driver/templates/services_simulation.cpp.jinja2
new file mode 100644
index 0000000..6c47876
--- /dev/null
+++ b/kortex_driver/templates/services_simulation.cpp.jinja2
@@ -0,0 +1,81 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+{% for include_file_name in include_file_names -%}
+#include "{{include_file_name}}"
+{% endfor -%}
+#include "{{current_header_filename}}"
+
+{{package.short_name}}SimulationServices::{{package.short_name}}SimulationServices(ros::NodeHandle& node_handle): 
+	I{{package.short_name}}Services(node_handle)
+{
+	m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000);
+{%- for method in package.methods -%}
+{%- if method.is_notification_rpc %}
+	m_pub_{{method.name}} = m_node_handle.advertise<kortex_driver::{{method_prepend_rpc_package_name}}{{method.name|replace("Topic", "")}}Notification>("{{method.name_lowercase_with_underscores}}", 1000);
+	m_is_activated_{{method.name}} = false;
+{%- endif -%}
+{%- endfor %}
+
+	m_serviceSetDeviceID = m_node_handle.advertiseService("{{package.short_name_lowercase_with_underscores}}/set_device_id", &{{package.short_name}}SimulationServices::SetDeviceID, this);
+	m_serviceSetApiOptions = m_node_handle.advertiseService("{{package.short_name_lowercase_with_underscores}}/set_api_options", &{{package.short_name}}SimulationServices::SetApiOptions, this);
+{% for method in package.methods %}
+	m_service{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}} = m_node_handle.advertiseService("{{package.short_name_lowercase_with_underscores}}/{%- if method.prepend_on_notification -%}activate_publishing_of_{%- endif -%}{{method.name_lowercase_with_underscores}}", &{{package.short_name}}SimulationServices::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}, this);
+{%- endfor %}
+}
+
+bool {{package.short_name}}SimulationServices::SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+bool {{package.short_name}}SimulationServices::SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res)
+{
+	ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect.");
+	return true;
+}
+
+{% for method in package.methods %}
+bool {{package.short_name}}SimulationServices::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}(kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Request  &req, kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Response &res)
+{
+	{% if method.is_rpc_deprecated -%}
+	ROS_WARN("The {{package.short_name_lowercase_with_underscores}}/{%- if method.prepend_on_notification -%}activate_publishing_of_{%- endif -%}{{method.name_lowercase_with_underscores}} service is now deprecated and will be removed in a future release.");
+	{% endif -%}
+	
+	{%- if method.is_notification_rpc %}
+	m_is_activated_{{method.name}} = true;
+	{%- endif %}
+	
+	if ({{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}Handler)
+	{
+		res = {{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}Handler(req);
+	}
+	else
+	{
+		ROS_WARN_ONCE("The simulation handler for {{package.short_name_lowercase_with_underscores}}/{%- if method.prepend_on_notification -%}activate_publishing_of_{%- endif -%}{{method.name_lowercase_with_underscores}} is not implemented, so the service calls will return the default response.");
+	}
+	return true;
+}
+{%- if method.is_notification_rpc %}
+void {{package.short_name}}SimulationServices::cb_{{method.name}}({{method.notification_message_cpp_namespace}}::{{method.name|replace("Topic", "")}}Notification notif)
+{
+	kortex_driver::{{method.name|replace("Topic", "")}}Notification ros_msg;
+	ToRosData(notif, ros_msg);
+	m_pub_{{method.name}}.publish(ros_msg);
+}
+{%- endif %}
+{% endfor -%}
diff --git a/kortex_driver/templates/services_simulation.h.jinja2 b/kortex_driver/templates/services_simulation.h.jinja2
new file mode 100644
index 0000000..c2ccd97
--- /dev/null
+++ b/kortex_driver/templates/services_simulation.h.jinja2
@@ -0,0 +1,41 @@
+/*
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2019 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed under the
+* terms of the BSD 3-Clause license.
+*
+* Refer to the LICENSE file for details.
+*
+*/
+
+/*
+ * This file has been auto-generated and should not be modified.
+ */
+ 
+#ifndef _KORTEX_{{package.short_name|upper}}_SIMULATION_SERVICES_H_
+#define _KORTEX_{{package.short_name|upper}}_SIMULATION_SERVICES_H_
+
+#include "{{current_interface_header_filename}}"
+
+using namespace std;
+
+class {{package.short_name}}SimulationServices : public I{{package.short_name}}Services
+{
+    public:
+        {{package.short_name}}SimulationServices(ros::NodeHandle& node_handle);
+
+        virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request  &req, kortex_driver::SetDeviceID::Response &res) override;
+        virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request  &req, kortex_driver::SetApiOptions::Response &res) override;
+{%- for method in package.methods %}
+        std::function<kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Response(const kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Request&)> {{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}Handler = nullptr;
+        virtual bool {{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}(kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Request  &req, kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Response &res) override;
+{%- if method.is_notification_rpc %}
+        virtual void cb_{{method.name}}({{method.notification_message_cpp_namespace}}::{{method.prepend_rpc_package_name}}{{method.name|replace("Topic", "")}}Notification notif) override;
+{%- endif %}
+{%- endfor %}
+
+};
+#endif
+
diff --git a/kortex_examples/CMakeLists.txt b/kortex_examples/CMakeLists.txt
new file mode 100644
index 0000000..378adbb
--- /dev/null
+++ b/kortex_examples/CMakeLists.txt
@@ -0,0 +1,64 @@
+
+cmake_minimum_required(VERSION 2.8.3)
+project(kortex_examples)
+
+add_compile_options(-std=c++11)
+add_definitions(-D_OS_UNIX)
+
+## Find catkin and any catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation kortex_driver)
+
+## Declare a catkin package
+catkin_package()
+catkin_python_setup()
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+include_directories(include ${PROJECT_SOURCE_DIR}/src)
+include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client)
+include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/client_stubs)
+include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/messages)
+include_directories(include ${PROJECT_SOURCE_DIR}/../kortex_api/include/common)
+
+add_executable(example_actuator_configuration_cpp src/actuator_config/example_actuator_configuration.cpp)
+add_dependencies(example_actuator_configuration_cpp ${catkin_EXPORTED_TARGETS})
+target_link_libraries(example_actuator_configuration_cpp ${catkin_LIBRARIES} )
+
+add_executable(example_vision_configuration_cpp src/vision_config/example_vision_configuration.cpp)
+add_dependencies(example_vision_configuration_cpp ${catkin_EXPORTED_TARGETS})
+target_link_libraries(example_vision_configuration_cpp ${catkin_LIBRARIES} )
+
+add_executable(example_full_arm_movement_cpp src/full_arm/example_full_arm_movement.cpp)
+add_dependencies(example_full_arm_movement_cpp ${catkin_EXPORTED_TARGETS})
+target_link_libraries(example_full_arm_movement_cpp ${catkin_LIBRARIES} )
+
+add_executable(example_cartesian_poses_with_notifications_cpp src/full_arm/example_cartesian_poses_with_notifications.cpp)
+add_dependencies(example_cartesian_poses_with_notifications_cpp ${catkin_EXPORTED_TARGETS})
+target_link_libraries(example_cartesian_poses_with_notifications_cpp ${catkin_LIBRARIES} )
+
+if(CATKIN_ENABLE_TESTING)
+	find_package(rostest REQUIRED)
+	catkin_add_gtest(kortex_examples_tests src/tests/kortex_examples_tests.cc)
+    target_link_libraries(kortex_examples_tests ${catkin_LIBRARIES})
+endif()
+
+# Install
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+catkin_install_python(PROGRAMS src/actuator_config/example_actuator_configuration.py
+                               src/full_arm/example_cartesian_poses_with_notifications.py
+                               src/full_arm/example_full_arm_movement.py
+                               src/move_it/example_move_it_trajectories.py
+                               src/vision_config/example_vision_configuration.py 
+                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+## Mark executables and/or libraries for installation
+install(TARGETS 
+    example_actuator_configuration_cpp
+    example_vision_configuration_cpp
+    example_full_arm_movement_cpp
+    example_cartesian_poses_with_notifications_cpp
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/kortex_examples/img/moveit.png b/kortex_examples/img/moveit.png
new file mode 100644
index 0000000000000000000000000000000000000000..f7572df531ca82fd67a37d6e85e48f4364dd5fea
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diff --git a/kortex_examples/launch/actuator_config_cpp.launch b/kortex_examples/launch/actuator_config_cpp.launch
new file mode 100644
index 0000000..8554df3
--- /dev/null
+++ b/kortex_examples/launch/actuator_config_cpp.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <!-- Robot namespace -->
+    <arg name="robot_name" default="my_gen3"/>
+    <arg name="start_delay_seconds" default="0"/>
+
+    <!-- Launch the example in that namespace -->
+    <node name="actuator_config_cpp" pkg="kortex_examples" type="example_actuator_configuration_cpp" output="screen" launch-prefix="bash -c 'sleep $(arg start_delay_seconds); $0 $@' ">
+        <param name="robot_name" value="$(arg robot_name)"/>
+    </node>
+
+</launch>
\ No newline at end of file
diff --git a/kortex_examples/launch/actuator_config_python.launch b/kortex_examples/launch/actuator_config_python.launch
new file mode 100644
index 0000000..1bbcd4e
--- /dev/null
+++ b/kortex_examples/launch/actuator_config_python.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <!-- Robot namespace -->
+    <arg name="robot_name" default="my_gen3"/>
+    <arg name="start_delay_seconds" default="0"/>
+
+    <!-- Launch the example in that namespace -->
+    <node name="actuator_config_python" pkg="kortex_examples" type="example_actuator_configuration.py" output="screen" launch-prefix="bash -c 'sleep $(arg start_delay_seconds); $0 $@' ">
+        <param name="robot_name" value="$(arg robot_name)"/>
+    </node>
+
+</launch>
\ No newline at end of file
diff --git a/kortex_examples/launch/cartesian_poses_with_notifications_cpp.launch b/kortex_examples/launch/cartesian_poses_with_notifications_cpp.launch
new file mode 100644
index 0000000..47b984c
--- /dev/null
+++ b/kortex_examples/launch/cartesian_poses_with_notifications_cpp.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <!-- Robot namespace -->
+    <arg name="robot_name" default="my_gen3"/>
+    <arg name="start_delay_seconds" default="0"/>
+
+    <!-- Launch the example in that namespace -->
+    <node name="cartesian_poses_with_notifications_cpp" pkg="kortex_examples" type="example_cartesian_poses_with_notifications_cpp" output="screen" launch-prefix="bash -c 'sleep $(arg start_delay_seconds); $0 $@' ">
+        <param name="robot_name" value="$(arg robot_name)"/>
+    </node>
+
+</launch>
\ No newline at end of file
diff --git a/kortex_examples/launch/cartesian_poses_with_notifications_python.launch b/kortex_examples/launch/cartesian_poses_with_notifications_python.launch
new file mode 100644
index 0000000..4979330
--- /dev/null
+++ b/kortex_examples/launch/cartesian_poses_with_notifications_python.launch
@@ -0,0 +1,12 @@
+    <launch>
+
+        <!-- Robot namespace -->
+        <arg name="robot_name" default="my_gen3"/>
+        <arg name="start_delay_seconds" default="0"/>
+    
+        <!-- Launch the example in that namespace -->
+        <node name="cartesian_poses_with_notifications_python" pkg="kortex_examples" type="example_cartesian_poses_with_notifications.py" output="screen" launch-prefix="bash -c 'sleep $(arg start_delay_seconds); $0 $@' ">
+            <param name="robot_name" value="$(arg robot_name)"/>
+        </node>
+
+    </launch>
\ No newline at end of file
diff --git a/kortex_examples/launch/full_arm_movement_cpp.launch b/kortex_examples/launch/full_arm_movement_cpp.launch
new file mode 100644
index 0000000..98c7998
--- /dev/null
+++ b/kortex_examples/launch/full_arm_movement_cpp.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <!-- Robot namespace -->
+    <arg name="robot_name" default="my_gen3"/>
+    <arg name="start_delay_seconds" default="0"/>
+
+    <!-- Launch the example in that namespace -->
+    <node name="full_arm_movement_cpp" pkg="kortex_examples" type="example_full_arm_movement_cpp" output="screen" launch-prefix="bash -c 'sleep $(arg start_delay_seconds); $0 $@' ">
+        <param name="robot_name" value="$(arg robot_name)"/>
+    </node>
+
+</launch>
\ No newline at end of file
diff --git a/kortex_examples/launch/full_arm_movement_python.launch b/kortex_examples/launch/full_arm_movement_python.launch
new file mode 100644
index 0000000..9bab2b0
--- /dev/null
+++ b/kortex_examples/launch/full_arm_movement_python.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <!-- Robot namespace -->
+    <arg name="robot_name" default="my_gen3"/>
+    <arg name="start_delay_seconds" default="0"/>
+
+    <!-- Launch the example in that namespace -->
+    <node name="full_arm_movement_python" pkg="kortex_examples" type="example_full_arm_movement.py" output="screen" launch-prefix="bash -c 'sleep $(arg start_delay_seconds); $0 $@' ">
+        <param name="robot_name" value="$(arg robot_name)"/>
+    </node>
+
+</launch>
\ No newline at end of file
diff --git a/kortex_examples/launch/moveit_example.launch b/kortex_examples/launch/moveit_example.launch
new file mode 100644
index 0000000..403f5bd
--- /dev/null
+++ b/kortex_examples/launch/moveit_example.launch
@@ -0,0 +1,10 @@
+<launch>
+
+    <!-- Robot namespace -->
+    <arg name="robot_name" default="my_gen3"/>
+    <arg name="start_delay_seconds" default="0"/>
+
+    <!-- Launch the example in that namespace -->
+    <node name="moveit_example" pkg="kortex_examples" type="example_move_it_trajectories.py" ns="$(arg robot_name)" output="screen" launch-prefix="bash -c 'sleep $(arg start_delay_seconds); $0 $@' "/>
+
+</launch>
\ No newline at end of file
diff --git a/kortex_examples/launch/run_all_examples.launch b/kortex_examples/launch/run_all_examples.launch
new file mode 100644
index 0000000..d20e6ed
--- /dev/null
+++ b/kortex_examples/launch/run_all_examples.launch
@@ -0,0 +1,56 @@
+<launch>
+
+    <!-- Robot namespace -->
+    <arg name="robot_name" default="my_gen3"/>
+
+    <!-- Launch all the examples with delays so they run one after the other -->
+    <include file="$(find kortex_examples)/launch/actuator_config_cpp.launch"> 
+        <arg name="robot_name" value="$(arg robot_name)"/>
+        <arg name="start_delay_seconds" value="95"/>
+    </include>
+
+    <include file="$(find kortex_examples)/launch/actuator_config_python.launch"> 
+        <arg name="robot_name" value="$(arg robot_name)"/>
+        <arg name="start_delay_seconds" value="8"/>
+    </include>
+
+    <include file="$(find kortex_examples)/launch/vision_configuration_cpp.launch"> 
+        <arg name="robot_name" value="$(arg robot_name)"/>
+        <arg name="start_delay_seconds" value="10"/>
+    </include>
+
+    <include file="$(find kortex_examples)/launch/vision_configuration_python.launch"> 
+        <arg name="robot_name" value="$(arg robot_name)"/>
+        <arg name="start_delay_seconds" value="15"/>
+    </include>
+
+    <include file="$(find kortex_examples)/launch/cartesian_poses_with_notifications_cpp.launch"> 
+        <arg name="robot_name" value="$(arg robot_name)"/>
+        <arg name="start_delay_seconds" value="20"/>
+    </include>
+
+    <include file="$(find kortex_examples)/launch/cartesian_poses_with_notifications_python.launch"> 
+        <arg name="robot_name" value="$(arg robot_name)"/>
+        <arg name="start_delay_seconds" value="60"/>
+    </include>
+
+    <include file="$(find kortex_examples)/launch/full_arm_movement_cpp.launch"> 
+        <arg name="robot_name" value="$(arg robot_name)"/>
+        <arg name="start_delay_seconds" value="100"/>
+    </include>
+
+    <include file="$(find kortex_examples)/launch/full_arm_movement_python.launch"> 
+        <arg name="robot_name" value="$(arg robot_name)"/>
+        <arg name="start_delay_seconds" value="160"/>
+    </include>
+
+    <include file="$(find kortex_examples)/launch/moveit_example.launch"> 
+        <arg name="robot_name" value="$(arg robot_name)"/>
+        <arg name="start_delay_seconds" value="220"/>
+    </include>
+
+    <test test-name="test_all_examples_success" pkg="kortex_examples" type="kortex_examples_tests" time-limit="340.0">
+        <param name="robot_name" value="$(arg robot_name)"/>
+    </test>
+
+</launch>
\ No newline at end of file
diff --git a/kortex_examples/launch/vision_configuration_cpp.launch b/kortex_examples/launch/vision_configuration_cpp.launch
new file mode 100644
index 0000000..1624674
--- /dev/null
+++ b/kortex_examples/launch/vision_configuration_cpp.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <!-- Robot namespace -->
+    <arg name="robot_name" default="my_gen3"/>
+    <arg name="start_delay_seconds" default="0"/>
+
+    <!-- Launch the example in that namespace -->
+    <node name="vision_configuration_cpp" pkg="kortex_examples" type="example_vision_configuration_cpp" output="screen" launch-prefix="bash -c 'sleep $(arg start_delay_seconds); $0 $@' ">
+        <param name="robot_name" value="$(arg robot_name)"/>
+    </node>
+
+</launch>
\ No newline at end of file
diff --git a/kortex_examples/launch/vision_configuration_python.launch b/kortex_examples/launch/vision_configuration_python.launch
new file mode 100644
index 0000000..ac355d0
--- /dev/null
+++ b/kortex_examples/launch/vision_configuration_python.launch
@@ -0,0 +1,12 @@
+<launch>
+
+    <!-- Robot namespace -->
+    <arg name="robot_name" default="my_gen3"/>
+    <arg name="start_delay_seconds" default="0"/>
+
+    <!-- Launch the example in that namespace -->
+    <node name="vision_configuration_python" pkg="kortex_examples" type="example_vision_configuration.py" output="screen" launch-prefix="bash -c 'sleep $(arg start_delay_seconds); $0 $@' ">
+        <param name="robot_name" value="$(arg robot_name)"/>
+    </node>
+
+</launch>
\ No newline at end of file
diff --git a/kortex_examples/package.xml b/kortex_examples/package.xml
new file mode 100644
index 0000000..6d9fbc5
--- /dev/null
+++ b/kortex_examples/package.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>kortex_examples</name>
+  <version>2.2.2</version>
+  <description>Examples to show usage of core kortex_arm_driver services and topics.</description>
+
+  <author email="hlamontagne@kinova.ca">Hugo Lamontagne</author>
+  <author email="avannobel@kinova.ca">Alexandre Vannobel</author>
+  <maintainer email="avannobel@kinova.ca" />
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>kortex_driver</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>moveit_commander</exec_depend>
+  <exec_depend>moveit_commander</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/kortex_examples/readme.md b/kortex_examples/readme.md
new file mode 100644
index 0000000..2083281
--- /dev/null
+++ b/kortex_examples/readme.md
@@ -0,0 +1,146 @@
+<!-- 
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2018 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed 
+* under the terms of the BSD 3-Clause license. 
+*
+* Refer to the LICENSE file for details.
+*
+* -->
+
+# Kortex Examples
+
+<!-- MarkdownTOC -->
+
+1. [Before running an example](#first_of_all)
+2. [Understanding the ways to use a Kortex arm with ROS](#the_ways)
+3. [Actuator configuration examples](#actuator_config)
+4. [Full arm movement examples](#full_arm)
+5. [Vision module configuration examples](#vision_config)
+6. [MoveIt! examples](#move_it)
+
+<!-- /MarkdownTOC -->
+
+<a id="first_of_all"></a>
+## Before running an example
+
+Before you run any example, make sure :
+- You have already built the packages using `catkin_make`.
+- You are physically connected to an arm (or you are connected over Wi-Fi) and you have started the `kortex_driver` node by following the [instructions](../kortex_driver/readme.md), or you have started the arm in simulation following the [instructions](../kortex_gazebo/readme.md).
+- The node started correctly and without errors.
+
+<a id="the_ways"></a>
+## The ways to use a Kortex arm with ROS
+
+There are a couple ways to use a Kortex arm with ROS, may it be in simulation or with a real arm.
+
+1. Using the auto-generated services and topics
+
+    The driver auto-generates ROS services based on the C++ Kortex API, so every API call has its ROS equivalent. Some topics (not  auto-generated) are also offered for convenience. You can read more about services, topics and notifications [here](../kortex_driver/readme.md#services).
+
+    **With a real arm**, the auto-generated wrapper translates ROS requests to Kortex API requests (Protobuf), and translated responses back to ROS structures.
+
+    ![](./img/services_real_arm.png)
+
+    **In simulation**, the same services and topics are advertised by the kortex_driver node, but instead of translating to Kortex API and forwarding to an arm, the message either goes through on our own simulator (if the handler for the given service is implemented) or a default response is sent back and a warning printed.
+
+    ![](./img/services_sim.png)
+
+    Only a couple "core" services handlers have been implemented in simulation (mostly the ones that make the robot move and stop), namely:
+    - PlayJointTrajectory and the REACH_JOINT_ANGLES action type (to reach an angular goal)
+    - PlayCartesianTrajectory and the REACH_POSE action type (to reach a Cartesian goal)
+    - SendGripperCommand and the SEND_GRIPPER_COMMAND action type (to actuate the gripper)
+    - SendJointSpeedsCommand (for joint velocity control)
+    - ApplyEmergencyStop and Stop (to stop the robot)
+    - The Actions interface (ExecuteAction, ExecuteActionFromReference, CreateAction, DeleteAction, UpdateAction, StopAction).
+
+    It is also important to note that IK solutions for real arms and simulated arms may vary, as KDL is used in simulation and our own kinematics library is used in the arm's firmware.  
+
+    The simulated SendTwistCommand service has a POC implementation, we decided it is not stable enough to be activated by default. You can uncomment the kortex_arm_driver.cpp simulation handler to re-enable it and try it yourself. The same goes for the Cartesian velocity topic.
+
+    There is no plan to add more simulated services for now, but any user can write his own implementation of a Kortex ROS Service and enable the handler for it (let's say you want to simulate an Interconnect Expansion GPIO device, or a Vision device). The kortex_arm_driver.cpp file should provide all guidelines as to how to define your handler, and you are welcome to open an issue if you want more information on simulation handlers.
+
+2. Using MoveIt
+
+    The kortex_driver offers a FollowJointTrajectory Action Server and a GripperCommand Action Server (when a gripper is used) and the MoveIt configuration files are stored for all configurations in kortex_move_it_config. This enables users to use the MoveIt Commander, or the MoveIt Python or C++ interfaces to control the arm with the motion planning framework.
+    
+    The FollowJointTrajectory Action Server pipeline is illustrated below:
+
+    ![](./img/moveit.png)
+
+    **With a real arm**, the FollowJointTrajectory Action Server uses the Kortex API `PlayPreComputedJointTrajectory`. This call expects a full joint trajectory interpolated at a 1ms timestep, because the arm takes the trajectory as is, verifies it respects all velocity and acceleration constraints and then executes it as a low-level trajectory. Because of this timestep constraint, the MoveIt OMPL planning pipeline has an additional step which uses the `industrial_trajectory_filters/UniformSampleFilter` to interpolate the MoveIt output with a 1ms-timestep. Any timestep that provides a wrong velocity or acceleration causes the whole trajectory to be rejected. The velocity and acceleration limits in the configuration files have been tuned so no trajectory should yield such values, but if you experience trajectory rejection problems, you can tune down those parameters.
+
+    **In simulation**, the FollowJointTrajectory and GripperCommand Action Servers are the ones spawned by the ros_controllers used with Gazebo. They don't need 1ms-timestep, but no option was added in MoveIt to switch between simulated or real action servers, so the same interpolator is used in simulation although it is not required. The Gen3 Intel Realsense camera is not simulated.
+
+3. Low-level control
+
+    **With a real arm**, the low-level control functions have not been added to the Kortex API wrapper because the arm absolutely needs 1kHz control, otherwise it jerks. As ROS is not really real-time friendly, we chose not to offer those functions.
+
+    **In simulation**, the ros_controllers used with Gazebo can be directly controlled with their associated topics if you prefer controlling the joints directly without using the simulation handlers, but be aware that this interface is not accessible with the real arm! The code you write that way will need to be changed significantly to be used with a real arm.
+
+
+<a id="actuator_config"></a>
+## Actuator configuration examples
+*Examples to show how to use actuator_config ROS services to configure a given actuator.*
+
+The examples look for advertised services in the **my_gen3** namespace by default and configures the first actuator.
+
+To run the C++ example: `roslaunch kortex_examples actuator_config_cpp.launch`
+
+To run the Python example: `roslaunch kortex_examples actuator_config_python.launch`
+
+If you started the `kortex_driver` node in another namespace (not **my_gen3**) or if you want to test the example on another actuator than the first one, you will have to supply node parameters in the command line (the syntax doesn't change if you run the C++ or Python example): 
+
+`roslaunch kortex_examples actuator_config_cpp.launch robot_name:=<your_robot_name> device_id:=<your_device_id>`
+
+<a id="full_arm"></a>
+## Full arm examples
+*Examples to show how to use the base ROS services to move and configure the arm.*
+
+The examples look for advertised services in the **my_gen3** namespace by default.
+
+- **Simple movement example**:
+
+    - To run the C++ example: `roslaunch kortex_examples full_arm_movement_cpp.launch`
+    - To run the Python example: `roslaunch kortex_examples full_arm_movement_python.launch`
+    
+    If you started the `kortex_driver` node in another namespace (not **my_gen3**), you will have to supply the node a parameter in the command line (the syntax doesn't change if you run the C++ or Python example) : 
+    
+    `roslaunch kortex_examples full_arm_movement_cpp.launch robot_name:=<your_robot_name>`
+
+- **Cartesian poses with notifications**:
+
+    - To run the C++ example: `roslaunch kortex_examples cartesian_poses_with_notifications_cpp.launch`
+    - To run the Python example: `roslaunch kortex_examples cartesian_poses_with_notifications_python.launch`
+    
+    If you started the `kortex_driver` node in another namespace (not **my_gen3**), you will have to supply the node a parameter in the command line (the syntax doesn't change if you run the C++ or Python example) : 
+    
+    `roslaunch kortex_examples cartesian_poses_with_notifications_cpp.launch robot_name:=<your_robot_name>`
+
+<a id="vision_config"></a>
+## Vision module configuration examples
+*Examples to show how to use the vision_config ROS services to configure the vision module.*
+
+The examples look for advertised services in the **my_gen3** namespace by default.
+
+To run the C++ example: `roslaunch kortex_examples vision_configuration_cpp.launch`
+
+To run the Python example: `roslaunch kortex_examples vision_configuration_python.launch`
+
+If you started the `kortex_driver` node in another namespace (not **my_gen3**), you will have to supply the node a parameter in the command line (the syntax doesn't change if you run the C++ or Python example) : 
+
+`roslaunch kortex_examples vision_configuration_cpp.launch robot_name:=<your_robot_name>`
+
+<a id="move_it"></a>
+## MoveIt! example
+*Example to show how to use the Python MoveIt! API to move the arm.*
+
+The example looks for advertised services and topics in the **my_gen3** namespace by default.
+
+To run the example: `roslaunch kortex_examples moveit_example.launch`
+
+If you started the `kortex_driver` node in a non-default namespace (not **my_gen3**), you will have to supply the node your own namespace in the command line : 
+
+`roslaunch kortex_examples moveit_example.launch robot_name:=<your_own_namespace>`
diff --git a/kortex_examples/setup.py b/kortex_examples/setup.py
new file mode 100644
index 0000000..a257e28
--- /dev/null
+++ b/kortex_examples/setup.py
@@ -0,0 +1,7 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+setup(**generate_distutils_setup(
+    packages=['kortex_examples'],
+    package_dir={'': 'src'}
+))
\ No newline at end of file
diff --git a/kortex_examples/src/actuator_config/example_actuator_configuration.cpp b/kortex_examples/src/actuator_config/example_actuator_configuration.cpp
new file mode 100644
index 0000000..7bd12b0
--- /dev/null
+++ b/kortex_examples/src/actuator_config/example_actuator_configuration.cpp
@@ -0,0 +1,226 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2019 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+#include "ros/ros.h"
+#include <std_msgs/Empty.h>
+#include <iostream>
+#include <kortex_driver/ReadAllDevices.h>
+#include <kortex_driver/DeviceHandle.h>
+#include <kortex_driver/DeviceTypes.h>
+#include <kortex_driver/SetDeviceID.h>
+#include <kortex_driver/GetControlLoopParameters.h>
+#include <kortex_driver/SetControlLoopParameters.h>
+#include <kortex_driver/ActuatorConfig_ClearFaults.h>
+#include <kortex_driver/ControlLoopSelection.h>
+
+typedef kortex_driver::GetControlLoopParameters::Response::_output_type ControlLoopParameters;
+
+std::string control_loop_to_string(uint32_t int_control_loop)
+{
+  switch (int_control_loop)
+  {
+    case kortex_driver::ControlLoopSelection::RESERVED:
+      return "RESERVED";
+    case kortex_driver::ControlLoopSelection::JOINT_POSITION:
+      return "JOINT POSITION";
+    case kortex_driver::ControlLoopSelection::MOTOR_POSITION:
+      return "MOTOR POSITION";
+    case kortex_driver::ControlLoopSelection::JOINT_VELOCITY:
+      return "JOINT VELOCITY";
+    case kortex_driver::ControlLoopSelection::MOTOR_VELOCITY:
+      return "MOTOR VELOCITY";
+    case kortex_driver::ControlLoopSelection::JOINT_TORQUE:
+      return "JOINT TORQUE";
+    case kortex_driver::ControlLoopSelection::MOTOR_CURRENT:
+      return "MOTOR CURRENT";
+    default:
+      return "UNKNOWN CONTROL LOOP TYPE";
+  }
+}
+
+bool example_find_actuators_and_set_device_id(ros::NodeHandle& n, const std::string& robot_name, uint32_t device_id)
+{
+  ros::ServiceClient service_client_read_all_devices = n.serviceClient<kortex_driver::ReadAllDevices>("/" + robot_name + "/device_manager/read_all_devices");
+  kortex_driver::ReadAllDevices service_read_all_devices;
+  kortex_driver::DeviceTypes device_type;
+  std::vector<uint32_t> device_id_vector;
+
+  std::ostringstream oss;
+  oss << std::endl;
+
+  if (service_client_read_all_devices.call(service_read_all_devices))
+  {
+    auto output = service_read_all_devices.response.output;
+    // Cycle through all found devices to find actuators
+    for(int i = 0; i < output.device_handle.size(); i++)
+    {
+
+      if((output.device_handle[i].device_type == device_type.BIG_ACTUATOR) ||
+          (output.device_handle[i].device_type == device_type.MEDIUM_ACTUATOR) ||
+          (output.device_handle[i].device_type == device_type.SMALL_ACTUATOR))
+      {
+        // Add the device_id to the vector if we found an actuator
+        device_id_vector.push_back(output.device_handle[i].device_identifier);
+        oss << "Found an actuator with device id " << output.device_handle[i].device_identifier << std::endl;
+      }
+    }
+  }
+  else
+  {
+    std::string error_string = "Failed to call ReadAllDevices"; 
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  oss << "----------------------------";
+  ROS_INFO("%s", oss.str().c_str());
+  oss.clear();
+
+  // Check if the specified device_id is in the vector
+  if (std::find(device_id_vector.begin(), device_id_vector.end(), device_id) != device_id_vector.end())
+  {
+    ROS_INFO("Device id %u is a valid actuator device id.", device_id);
+  }
+  else
+  {
+    std::string error_string = "Device id " + std::to_string(device_id) + " does not correspond to an actuator's device id."; 
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  // We need to set the device ID of the actuator we want to configure
+  ros::ServiceClient service_client_set_device_id = n.serviceClient<kortex_driver::SetDeviceID>("/" + robot_name + "/actuator_config/set_device_id");
+  kortex_driver::SetDeviceID service_set_device_id;
+  service_set_device_id.request.device_id = device_id;
+  if (service_client_set_device_id.call(service_set_device_id))
+  {
+    ROS_INFO("Device ID was properly set.");
+  }
+  else
+  {
+    std::string error_string = "Failed to call SetDeviceID"; 
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  return true;
+
+}
+
+bool example_clear_actuator_faults(ros::NodeHandle& n, const std::string& robot_name)
+{
+  ros::ServiceClient service_client_clear_faults = n.serviceClient<kortex_driver::ActuatorConfig_ClearFaults>("/" + robot_name + "/actuator_config/clear_faults");
+  kortex_driver::ActuatorConfig_ClearFaults service_clear_faults;
+  if (service_client_clear_faults.call(service_clear_faults))
+  {
+    ROS_INFO("Faults were cleared properly.");
+    return true;
+  }
+  else
+  {
+    std::string error_string = "Failed to call ActuatorConfig_ClearFaults"; 
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+}
+
+bool example_get_control_loop_parameters(ros::NodeHandle& n, const std::string& robot_name, ControlLoopParameters& output)
+{
+  // Get the actuator control loop parameters
+  ros::ServiceClient service_client_get_control_loop_parameters = n.serviceClient<kortex_driver::GetControlLoopParameters>("/" + robot_name + "/actuator_config/get_control_loop_parameters");
+  kortex_driver::GetControlLoopParameters service_get_control_loop_parameters;
+  std::ostringstream oss;
+  if (service_client_get_control_loop_parameters.call(service_get_control_loop_parameters))
+  {
+    // The msg file can be found at kortex_driver/msg/generated/actuator_config/ControlLoopParameters.msg
+    kortex_driver::GetControlLoopParametersResponse::_output_type initial_parameters = service_get_control_loop_parameters.response.output;
+    oss << std::endl << "Control Loop Parameters : " << std::endl;
+    oss << "Loop selection : " << control_loop_to_string(initial_parameters.loop_selection) << std::endl;
+    oss << "Error saturation : " << initial_parameters.error_saturation << std::endl;
+    oss << "Output saturation : " << initial_parameters.output_saturation << std::endl;
+    oss << "kAz : [";
+    for (auto element : initial_parameters.kAz)
+      oss << element << "; ";
+    oss << "]" << std::endl;  
+    oss << "kBz : [";
+    for (auto element : initial_parameters.kBz)
+      oss << element << "; ";
+    oss << "]" << std::endl; 
+    oss << "Error dead band : " << initial_parameters.error_dead_band << std::endl;
+    ROS_INFO("%s", oss.str().c_str());
+    output = initial_parameters;
+    return true;
+  }
+  else
+  {
+    std::string error_string = "Failed to call GetControlLoopParameters"; 
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+}
+
+int main(int argc, char **argv)
+{
+  // Init the node and get the namespace parameter
+  ros::init(argc, argv, "actuator_configuration_example_cpp");
+
+  // For testing purpose
+  ros::param::del("/kortex_examples_test_results/actuator_configuration_cpp");
+
+  bool success = true;
+
+  ros::NodeHandle n;
+  std::string robot_name = "my_gen3";
+  int device_id = 1;
+
+  // Parameter robot_name
+  if (!ros::param::get("~robot_name", robot_name))
+  {
+    std::string error_string = "Parameter robot_name was not specified, defaulting to " + robot_name + " as namespace";
+    ROS_WARN("%s", error_string.c_str());
+  }
+  else 
+  {
+    std::string error_string = "Using robot_name " + robot_name + " as namespace";
+    ROS_INFO("%s", error_string.c_str());
+  }
+
+  // Parameter device_id
+  if (!ros::param::get("~device_id", device_id))
+  {
+    std::string error_string = "Parameter device_id was not specified, defaulting to " + std::to_string(device_id);
+    ROS_WARN("%s", error_string.c_str());
+  }
+  else 
+  {
+    std::string error_string = "Using device_id " + std::to_string(device_id);
+    ROS_INFO("%s", error_string.c_str());
+  }
+
+  //-------------------------------------------------------------
+  // Find actuators and set which one we want to configure
+  success &= example_find_actuators_and_set_device_id(n, robot_name, device_id);
+
+  //-------------------------------------------------------------
+  // Clear the faults on a specific actuator
+  success &= example_clear_actuator_faults(n, robot_name);
+
+  //-------------------------------------------------------------
+  // Get the control loop parameters on a specific actuator
+  ControlLoopParameters parameters;
+  success &= example_get_control_loop_parameters(n, robot_name, parameters);
+
+  // Report success for testing purposes
+  ros::param::set("/kortex_examples_test_results/actuator_configuration_cpp", success);
+  
+  return success ? 0 : 1;
+}
\ No newline at end of file
diff --git a/kortex_examples/src/actuator_config/example_actuator_configuration.py b/kortex_examples/src/actuator_config/example_actuator_configuration.py
new file mode 100755
index 0000000..7291a3c
--- /dev/null
+++ b/kortex_examples/src/actuator_config/example_actuator_configuration.py
@@ -0,0 +1,176 @@
+#!/usr/bin/env python
+###
+# KINOVA (R) KORTEX (TM)
+#
+# Copyright (c) 2019 Kinova inc. All rights reserved.
+#
+# This software may be modified and distributed 
+# under the terms of the BSD 3-Clause license.
+#
+# Refer to the LICENSE file for details.
+#
+###
+
+import sys
+import rospy
+from std_msgs.msg import Bool
+from kortex_driver.srv import *
+from kortex_driver.msg import *
+
+class ExampleActuatorConfiguration:
+    def __init__(self):
+        try:
+            rospy.init_node('example_actuator_configuration_python')
+
+            # Get node params
+            self.robot_name = rospy.get_param('~robot_name', "my_gen3")
+            self.device_id = rospy.get_param('~device_id', 1)
+            rospy.loginfo("Using robot_name " + self.robot_name + " and device_id " + str(self.device_id))
+
+            # Init the services
+            read_all_devices_full_name = '/' + self.robot_name + '/device_manager/read_all_devices'
+            rospy.wait_for_service(read_all_devices_full_name, 0.5)
+            self.read_all_devices = rospy.ServiceProxy(read_all_devices_full_name, ReadAllDevices)
+
+            set_device_id_full_name = '/' + self.robot_name + '/actuator_config/set_device_id'
+            rospy.wait_for_service(set_device_id_full_name, 0.5)
+            self.set_device_id = rospy.ServiceProxy(set_device_id_full_name, SetDeviceID)
+
+            clear_faults_full_name = '/' + self.robot_name + '/actuator_config/clear_faults'
+            rospy.wait_for_service(clear_faults_full_name, 0.5)
+            self.clear_faults = rospy.ServiceProxy(clear_faults_full_name, ActuatorConfig_ClearFaults)
+
+            get_control_loop_parameters_full_name = '/' + self.robot_name + '/actuator_config/get_control_loop_parameters'
+            rospy.wait_for_service(get_control_loop_parameters_full_name, 0.5)
+            self.get_control_loop_parameters = rospy.ServiceProxy(get_control_loop_parameters_full_name, GetControlLoopParameters)
+        except:
+            self.is_init_success = False
+        else:
+            self.is_init_success = True
+
+    def control_loop_to_string(self, control_loop):
+        if control_loop == ControlLoopSelection.RESERVED:
+            return "RESERVED"
+        elif control_loop == ControlLoopSelection.JOINT_POSITION:
+            return "JOINT POSITION"
+        elif control_loop == ControlLoopSelection.MOTOR_POSITION:
+            return "MOTOR POSITION"
+        elif control_loop == ControlLoopSelection.JOINT_VELOCITY:
+            return "JOINT VELOCITY"
+        elif control_loop == ControlLoopSelection.MOTOR_VELOCITY:
+            return "MOTOR VELOCITY"
+        elif control_loop == ControlLoopSelection.JOINT_TORQUE:
+            return "JOINT TORQUE"
+        elif control_loop == ControlLoopSelection.MOTOR_CURRENT:
+            return "MOTOR CURRENT"
+        else:
+            return "UNKNOWN CONTROL LOOP TYPE";    
+
+    def example_find_actuators_and_set_device_id(self):
+        rospy.loginfo("-------------------------------")
+        rospy.loginfo("Finding actuators...")
+
+        actuator_device_ids = []
+
+        try:
+            all_devices = self.read_all_devices()
+            for device in all_devices.output.device_handle:
+                if device.device_type == DeviceTypes.BIG_ACTUATOR or device.device_type == DeviceTypes.SMALL_ACTUATOR or device.device_type == DeviceTypes.MEDIUM_ACTUATOR:
+                    # Add the device_id to the list if we found an actuator
+                    actuator_device_ids.append(device.device_identifier)
+                    rospy.loginfo("Found an actuator with device id " + str(device.device_identifier))
+
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call ReadAllDevices.")
+            return False
+
+        else:
+            rospy.loginfo("-------------------------------")
+
+            # Check if the specified device_id is in the list
+            if self.device_id in actuator_device_ids:
+                rospy.loginfo("Device id " + str(self.device_id) + " is a valid actuator device id.")
+            else:
+                raise ValueError("Device id " + str(self.device_id) + " does not correspond to an actuator's device id.")
+                return False
+
+            # We need to set the device ID of the actuator we want to configure
+            req = SetDeviceIDRequest()
+            req.device_id = self.device_id
+            try:
+                self.set_device_id(req)
+            except rospy.ServiceException:
+                rospy.logerr("Failed to call SetDeviceId")
+                return False
+
+            return True
+
+    def example_clear_actuator_faults(self):
+        try:
+            self.clear_faults()
+            rospy.loginfo("Faults were cleared successfully on actuator " + str(self.device_id))
+            return True
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call ActuatorConfig_ClearFaults")
+            return False
+  
+    def example_get_control_loop_parameters(self, output):
+        try:
+            control_loop_parameters_response = self.get_control_loop_parameters()
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call GetControlLoopParameters")
+            return False
+        else:
+            # The msg file can be found at kortex_driver/msg/generated/actuator_config/ControlLoopParameters.msg
+            oss = ""
+            control_loop_parameters = control_loop_parameters_response.output
+            oss = oss + "\nControl Loop parameters :\n"
+            oss = oss + "Loop selection : " + self.control_loop_to_string(control_loop_parameters.loop_selection) + "\n"
+            oss = oss + "Error saturation : " + str(control_loop_parameters.error_saturation) + "\n"
+            oss = oss + "Output saturation : " + str(control_loop_parameters.output_saturation) + "\n"
+            oss = oss + "kAz : ["
+            for element in control_loop_parameters.kAz:
+                oss = oss + str(element) + " ;"
+            oss = oss + "]\n"
+            oss = oss + "kBz : ["
+            for element in control_loop_parameters.kBz:
+                oss = oss + str(element) + " ; "
+            oss = oss + "]\n"
+            oss = oss + "Error dead band : " + str(control_loop_parameters.error_dead_band) + "\n"
+            rospy.loginfo(oss)
+
+            output = control_loop_parameters
+            return True
+
+    def main(self):
+        # For testing purposes
+        success = self.is_init_success
+        try:
+            rospy.delete_param("/kortex_examples_test_results/actuator_configuration_python")
+        except:
+            pass
+
+        if success:
+
+            #-------------------------------------------------------------
+            # Find actuators and set which one we want to configure
+            success &= self.example_find_actuators_and_set_device_id()
+
+            #-------------------------------------------------------------
+            # Clear the faults on a specific actuator
+            success &= self.example_clear_actuator_faults()
+            
+            #-------------------------------------------------------------
+            # Get the control loop parameters on a specific actuator
+            control_loop_parameters = None
+            success &= self.example_get_control_loop_parameters(control_loop_parameters)
+        
+        # For testing purposes
+        rospy.set_param("/kortex_examples_test_results/actuator_configuration_python", success)
+
+        if not success:
+            rospy.logerr("The example encountered an error.")
+
+if __name__ == "__main__":
+    ex = ExampleActuatorConfiguration()
+    ex.main()
diff --git a/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.cpp b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.cpp
new file mode 100644
index 0000000..37b0943
--- /dev/null
+++ b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.cpp
@@ -0,0 +1,270 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2019 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+#include <thread>
+#include <atomic>
+
+#include "ros/ros.h"
+#include <kortex_driver/Base_ClearFaults.h>
+#include <kortex_driver/PlayCartesianTrajectory.h>
+#include <kortex_driver/CartesianSpeed.h>
+#include <kortex_driver/BaseCyclic_Feedback.h>
+#include <kortex_driver/ReadAction.h>
+#include <kortex_driver/ExecuteAction.h>
+#include <kortex_driver/PlayJointTrajectory.h>
+#include <kortex_driver/SetCartesianReferenceFrame.h>
+#include <kortex_driver/CartesianReferenceFrame.h>
+#include <kortex_driver/SendGripperCommand.h>
+#include <kortex_driver/GripperMode.h>
+#include <kortex_driver/ActionNotification.h>
+#include <kortex_driver/ActionEvent.h>
+#include <kortex_driver/ActionType.h>
+#include <kortex_driver/GetMeasuredCartesianPose.h>
+#include <kortex_driver/OnNotificationActionTopic.h>
+
+#define HOME_ACTION_IDENTIFIER 2
+
+bool all_notifs_succeeded = true;
+
+std::atomic<int> last_action_notification_event{0};
+std::atomic<int> last_action_notification_id{0};
+
+void notification_callback(const kortex_driver::ActionNotification& notif)
+{
+  last_action_notification_event = notif.action_event;
+  last_action_notification_id = notif.handle.identifier;
+}
+
+bool wait_for_action_end_or_abort()
+{
+  while (ros::ok())
+  {
+    if (last_action_notification_event.load() == kortex_driver::ActionEvent::ACTION_END)
+    {
+      ROS_INFO("Received ACTION_END notification for action %d", last_action_notification_id.load());
+      return true;
+    }
+    else if (last_action_notification_event.load() == kortex_driver::ActionEvent::ACTION_ABORT)
+    {
+      ROS_INFO("Received ACTION_ABORT notification for action %d", last_action_notification_id.load());
+      all_notifs_succeeded = false;
+      return false;
+    }
+    ros::spinOnce();
+  }
+}
+
+bool example_home_the_robot(ros::NodeHandle n, std::string robot_name)
+{
+  ros::ServiceClient service_client_read_action = n.serviceClient<kortex_driver::ReadAction>("/" + robot_name + "/base/read_action");
+  kortex_driver::ReadAction service_read_action;
+
+  // The Home Action is used to home the robot. It cannot be deleted and is always ID #2:
+  service_read_action.request.input.identifier = HOME_ACTION_IDENTIFIER;
+
+  if (!service_client_read_action.call(service_read_action))
+  {
+    std::string error_string = "Failed to call ReadAction";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  // We can now execute the Action that we read 
+  ros::ServiceClient service_client_execute_action = n.serviceClient<kortex_driver::ExecuteAction>("/" + robot_name + "/base/execute_action");
+  kortex_driver::ExecuteAction service_execute_action;
+
+  service_execute_action.request.input = service_read_action.response.output;
+  
+  if (service_client_execute_action.call(service_execute_action))
+  {
+    ROS_INFO("The Home position action was sent to the robot.");
+  }
+  else
+  {
+    std::string error_string = "Failed to call ExecuteAction";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  return wait_for_action_end_or_abort();
+}
+
+bool example_cartesian_action(ros::NodeHandle n, std::string robot_name)
+{
+  ros::ServiceClient service_client_activate_notif = n.serviceClient<kortex_driver::OnNotificationActionTopic>("/" + robot_name + "/base/activate_publishing_of_action_topic");
+  kortex_driver::OnNotificationActionTopic service_activate_notif;
+
+  // We need to call this service to activate the Action Notification on the kortex_driver node.
+  if (service_client_activate_notif.call(service_activate_notif))
+  {
+    ROS_INFO("Action notification activated!");
+  }
+  else 
+  {
+    std::string error_string = "Action notification publication failed";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  ros::Duration(1.00).sleep();
+
+  kortex_driver::ConstrainedPose my_constrained_pose;
+  kortex_driver::CartesianSpeed my_cartesian_speed;
+
+  my_cartesian_speed.translation = 0.1f;
+  my_cartesian_speed.orientation = 15.0f;
+
+  my_constrained_pose.constraint.oneof_type.speed.push_back(my_cartesian_speed);
+
+  my_constrained_pose.target_pose.x = 0.374f;
+  my_constrained_pose.target_pose.y = 0.081f;
+  my_constrained_pose.target_pose.z = 0.450f;
+  my_constrained_pose.target_pose.theta_x = -57.6f;
+  my_constrained_pose.target_pose.theta_y = 91.1f;
+  my_constrained_pose.target_pose.theta_z = 2.3f;
+
+  ros::ServiceClient service_client_execute_action = n.serviceClient<kortex_driver::ExecuteAction>("/" + robot_name + "/base/execute_action");
+  kortex_driver::ExecuteAction service_execute_action;
+
+  service_execute_action.request.input.oneof_action_parameters.reach_pose.push_back(my_constrained_pose);
+  service_execute_action.request.input.name = "pose1";
+  service_execute_action.request.input.handle.identifier = 1001;
+  service_execute_action.request.input.handle.action_type = kortex_driver::ActionType::REACH_POSE;
+  
+  last_action_notification_event = 0;
+  if (service_client_execute_action.call(service_execute_action))
+  {
+    ROS_INFO("Pose 1 was sent to the robot.");
+  }
+  else
+  {
+    std::string error_string = "Failed to call ExecuteAction on pose 1";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  // Waiting for the pose 1 to end
+  wait_for_action_end_or_abort();
+
+  // Change the pose and give it a new identifier
+  service_execute_action.request.input.handle.identifier = 1002;
+  service_execute_action.request.input.name = "pose2";
+
+  my_constrained_pose.target_pose.z = 0.3f;
+
+  service_execute_action.request.input.oneof_action_parameters.reach_pose.clear();
+  service_execute_action.request.input.oneof_action_parameters.reach_pose.push_back(my_constrained_pose);
+
+  last_action_notification_event = 0;
+  if (service_client_execute_action.call(service_execute_action))
+  {
+    ROS_INFO("Pose 2 was sent to the robot.");
+  }
+  else
+  {
+    std::string error_string = "Failed to call ExecuteAction on pose 2";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  // Waiting for the pose 2 to end.
+  wait_for_action_end_or_abort();
+
+  // Change the pose and give it a new identifier
+  service_execute_action.request.input.handle.identifier = 1003;
+  service_execute_action.request.input.name = "pose3";
+  
+  my_constrained_pose.target_pose.x = 0.45f;
+
+  service_execute_action.request.input.oneof_action_parameters.reach_pose.clear();
+  service_execute_action.request.input.oneof_action_parameters.reach_pose.push_back(my_constrained_pose);
+
+  last_action_notification_event = 0;
+  if (service_client_execute_action.call(service_execute_action))
+  {
+    ROS_INFO("Pose 3 was sent to the robot.");
+  }
+  else
+  {
+    std::string error_string = "Failed to call ExecuteAction on pose 3";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  // Waiting for the pose 3 to end
+  wait_for_action_end_or_abort();
+
+  return true;
+}
+
+// This function sets the reference frame to the robot's base
+bool example_set_cartesian_reference_frame(ros::NodeHandle n, std::string robot_name)
+{
+  // Initialize the ServiceClient
+  ros::ServiceClient service_client_set_cartesian_reference_frame = n.serviceClient<kortex_driver::SetCartesianReferenceFrame>("/" + robot_name + "/control_config/set_cartesian_reference_frame");
+  kortex_driver::SetCartesianReferenceFrame service_set_cartesian_reference_frame;
+
+  service_set_cartesian_reference_frame.request.input.reference_frame = kortex_driver::CartesianReferenceFrame::CARTESIAN_REFERENCE_FRAME_BASE;
+  if (!service_client_set_cartesian_reference_frame.call(service_set_cartesian_reference_frame))
+  {
+    std::string error_string = "Failed to call SetCartesianReferenceFrame";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+  else
+  {
+    ROS_INFO("Set reference to base frame.");
+  }
+
+  // Wait a bit
+  std::this_thread::sleep_for(std::chrono::milliseconds(250));
+
+  return true;
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "full_arm_cartesian_action_cpp");
+
+  // For testing purpose
+  ros::param::del("/kortex_examples_test_results/cartesian_poses_with_notifications_cpp");
+
+  bool success = true;
+
+  //*******************************************************************************
+  // ROS Parameters
+  ros::NodeHandle n;
+  std::string robot_name = "my_gen3";
+
+  // Parameter robot_name
+  if (!ros::param::get("~robot_name", robot_name))
+  {
+    std::string error_string = "Parameter robot_name was not specified, defaulting to " + robot_name + " as namespace";
+    ROS_WARN("%s", error_string.c_str());
+  }
+  else 
+  {
+    std::string error_string = "Using robot_name " + robot_name + " as namespace";
+    ROS_INFO("%s", error_string.c_str());
+  }
+
+  ros::Subscriber sub = n.subscribe("/" + robot_name  + "/action_topic", 1000, notification_callback);
+  success &= example_set_cartesian_reference_frame(n, robot_name);
+  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+  success &= example_home_the_robot(n, robot_name);
+  success &= example_cartesian_action(n, robot_name);
+  success &= all_notifs_succeeded;
+
+  // Report success for testing purposes
+  ros::param::set("/kortex_examples_test_results/cartesian_poses_with_notifications_cpp", success);
+  
+  return success ? 0 : 1;
+}
\ No newline at end of file
diff --git a/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py
new file mode 100755
index 0000000..9e9e3dd
--- /dev/null
+++ b/kortex_examples/src/full_arm/example_cartesian_poses_with_notifications.py
@@ -0,0 +1,261 @@
+#!/usr/bin/env python
+###
+# KINOVA (R) KORTEX (TM)
+#
+# Copyright (c) 2019 Kinova inc. All rights reserved.
+#
+# This software may be modified and distributed
+# under the terms of the BSD 3-Clause license.
+#
+# Refer to the LICENSE file for details.
+#
+###
+
+import sys
+import rospy
+import time
+from kortex_driver.srv import *
+from kortex_driver.msg import *
+
+class ExampleCartesianActionsWithNotifications:
+    def __init__(self):
+        try:
+            rospy.init_node('example_cartesian_poses_with_notifications_python')
+
+            self.HOME_ACTION_IDENTIFIER = 2
+
+            self.action_topic_sub = None
+            self.all_notifs_succeeded = True
+
+            # Get node params
+            self.robot_name = rospy.get_param('~robot_name', "my_gen3")
+
+            rospy.loginfo("Using robot_name " + self.robot_name)
+
+            # Init the action topic subscriber
+            self.action_topic_sub = rospy.Subscriber("/" + self.robot_name + "/action_topic", ActionNotification, self.cb_action_topic)
+            self.last_action_notif_type = None
+
+            # Init the services
+            clear_faults_full_name = '/' + self.robot_name + '/base/clear_faults'
+            rospy.wait_for_service(clear_faults_full_name)
+            self.clear_faults = rospy.ServiceProxy(clear_faults_full_name, Base_ClearFaults)
+
+            read_action_full_name = '/' + self.robot_name + '/base/read_action'
+            rospy.wait_for_service(read_action_full_name)
+            self.read_action = rospy.ServiceProxy(read_action_full_name, ReadAction)
+
+            execute_action_full_name = '/' + self.robot_name + '/base/execute_action'
+            rospy.wait_for_service(execute_action_full_name)
+            self.execute_action = rospy.ServiceProxy(execute_action_full_name, ExecuteAction)
+
+            set_cartesian_reference_frame_full_name = '/' + self.robot_name + '/control_config/set_cartesian_reference_frame'
+            rospy.wait_for_service(set_cartesian_reference_frame_full_name)
+            self.set_cartesian_reference_frame = rospy.ServiceProxy(set_cartesian_reference_frame_full_name, SetCartesianReferenceFrame)
+
+            activate_publishing_of_action_notification_full_name = '/' + self.robot_name + '/base/activate_publishing_of_action_topic'
+            rospy.wait_for_service(activate_publishing_of_action_notification_full_name)
+            self.activate_publishing_of_action_notification = rospy.ServiceProxy(activate_publishing_of_action_notification_full_name, OnNotificationActionTopic)
+        except:
+            self.is_init_success = False
+        else:
+            self.is_init_success = True
+
+    def cb_action_topic(self, notif):
+        self.last_action_notif_type = notif.action_event
+
+    def wait_for_action_end_or_abort(self):
+        while not rospy.is_shutdown():
+            if (self.last_action_notif_type == ActionEvent.ACTION_END):
+                rospy.loginfo("Received ACTION_END notification")
+                return True
+            elif (self.last_action_notif_type == ActionEvent.ACTION_ABORT):
+                rospy.loginfo("Received ACTION_ABORT notification")
+                self.all_notifs_succeeded = False
+                return False
+            else:
+                time.sleep(0.01)
+
+    def example_clear_faults(self):
+        try:
+            self.clear_faults()
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call ClearFaults")
+            return False
+        else:
+            rospy.loginfo("Cleared the faults successfully")
+            rospy.sleep(2.5)
+            return True
+
+    def example_home_the_robot(self):
+        # The Home Action is used to home the robot. It cannot be deleted and is always ID #2:
+        req = ReadActionRequest()
+        req.input.identifier = self.HOME_ACTION_IDENTIFIER
+        self.last_action_notif_type = None
+        try:
+            res = self.read_action(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call ReadAction")
+            return False
+        # Execute the HOME action if we could read it
+        else:
+            # What we just read is the input of the ExecuteAction service
+            req = ExecuteActionRequest()
+            req.input = res.output
+            rospy.loginfo("Sending the robot home...")
+            try:
+                self.execute_action(req)
+            except rospy.ServiceException:
+                rospy.logerr("Failed to call ExecuteAction")
+                return False
+            else:
+                return self.wait_for_action_end_or_abort()
+
+    def example_set_cartesian_reference_frame(self):
+        # Prepare the request with the frame we want to set
+        req = SetCartesianReferenceFrameRequest()
+        req.input.reference_frame = CartesianReferenceFrame.CARTESIAN_REFERENCE_FRAME_MIXED
+
+        # Call the service
+        try:
+            self.set_cartesian_reference_frame()
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call SetCartesianReferenceFrame")
+            return False
+        else:
+            rospy.loginfo("Set the cartesian reference frame successfully")
+            return True
+
+        # Wait a bit
+        rospy.sleep(0.25)
+
+    def example_subscribe_to_a_robot_notification(self):
+        # Activate the publishing of the ActionNotification
+        req = OnNotificationActionTopicRequest()
+        rospy.loginfo("Activating the action notifications...")
+        try:
+            self.activate_publishing_of_action_notification(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call OnNotificationActionTopic")
+            return False
+        else:
+            rospy.loginfo("Successfully activated the Action Notifications!")
+
+        rospy.sleep(1.0)
+
+        return True
+
+    def main(self):
+        # For testing purposes
+        success = self.is_init_success
+        try:
+            rospy.delete_param("/kortex_examples_test_results/cartesian_poses_with_notifications_python")
+        except:
+            pass
+
+        if success:
+
+            #*******************************************************************************
+            # Make sure to clear the robot's faults else it won't move if it's already in fault
+            success &= self.example_clear_faults()
+            #*******************************************************************************
+
+            #*******************************************************************************
+            # Subscribe to ActionNotification's from the robot to know when a cartesian pose is finished
+            success &= self.example_subscribe_to_a_robot_notification()
+            #*******************************************************************************
+            
+            #*******************************************************************************
+            # Start the example from the Home position
+            success &= self.example_home_the_robot()
+            #*******************************************************************************
+
+            #*******************************************************************************
+            # Set the reference frame to "Mixed"
+            success &= self.example_set_cartesian_reference_frame()
+
+            #*******************************************************************************
+            # Prepare and send pose 1
+            my_cartesian_speed = CartesianSpeed()
+            my_cartesian_speed.translation = 0.1 # m/s
+            my_cartesian_speed.orientation = 15  # deg/s
+
+            my_constrained_pose = ConstrainedPose()
+            my_constrained_pose.constraint.oneof_type.speed.append(my_cartesian_speed)
+
+            my_constrained_pose.target_pose.x = 0.374
+            my_constrained_pose.target_pose.y = 0.081
+            my_constrained_pose.target_pose.z = 0.450
+            my_constrained_pose.target_pose.theta_x = -57.6
+            my_constrained_pose.target_pose.theta_y = 91.1
+            my_constrained_pose.target_pose.theta_z = 2.3
+
+            req = ExecuteActionRequest()
+            req.input.oneof_action_parameters.reach_pose.append(my_constrained_pose)
+            req.input.name = "pose1"
+            req.input.handle.action_type = ActionType.REACH_POSE
+            req.input.handle.identifier = 1001
+
+            rospy.loginfo("Sending pose 1...")
+            self.last_action_notif_type = None
+            try:
+                self.execute_action(req)
+            except rospy.ServiceException:
+                rospy.logerr("Failed to send pose 1")
+                success = False
+            else:
+                rospy.loginfo("Waiting for pose 1 to finish...")
+
+            self.wait_for_action_end_or_abort()
+
+            # Prepare and send pose 2
+            req.input.handle.identifier = 1002
+            req.input.name = "pose2"
+
+            my_constrained_pose.target_pose.z = 0.3
+
+            req.input.oneof_action_parameters.reach_pose[0] = my_constrained_pose
+
+            rospy.loginfo("Sending pose 2...")
+            self.last_action_notif_type = None
+            try:
+                self.execute_action(req)
+            except rospy.ServiceException:
+                rospy.logerr("Failed to send pose 2")
+                success = False
+            else:
+                rospy.loginfo("Waiting for pose 2 to finish...")
+
+            self.wait_for_action_end_or_abort()
+
+            # Prepare and send pose 3
+            req.input.handle.identifier = 1003
+            req.input.name = "pose3"
+
+            my_constrained_pose.target_pose.x = 0.45
+
+            req.input.oneof_action_parameters.reach_pose[0] = my_constrained_pose
+
+            rospy.loginfo("Sending pose 3...")
+            self.last_action_notif_type = None
+            try:
+                self.execute_action(req)
+            except rospy.ServiceException:
+                rospy.logerr("Failed to send pose 3")
+                success = False
+            else:
+                rospy.loginfo("Waiting for pose 3 to finish...")
+
+            self.wait_for_action_end_or_abort()
+
+            success &= self.all_notifs_succeeded
+
+        # For testing purposes
+        rospy.set_param("/kortex_examples_test_results/cartesian_poses_with_notifications_python", success)
+
+        if not success:
+            rospy.logerr("The example encountered an error.")
+
+if __name__ == "__main__":
+    ex = ExampleCartesianActionsWithNotifications()
+    ex.main()
diff --git a/kortex_examples/src/full_arm/example_full_arm_movement.cpp b/kortex_examples/src/full_arm/example_full_arm_movement.cpp
new file mode 100644
index 0000000..8459f12
--- /dev/null
+++ b/kortex_examples/src/full_arm/example_full_arm_movement.cpp
@@ -0,0 +1,363 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2019 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+#include <thread>
+#include <atomic>
+
+#include "ros/ros.h"
+#include <kortex_driver/Base_ClearFaults.h>
+#include <kortex_driver/PlayCartesianTrajectory.h>
+#include <kortex_driver/CartesianSpeed.h>
+#include <kortex_driver/BaseCyclic_Feedback.h>
+#include <kortex_driver/ReadAction.h>
+#include <kortex_driver/ExecuteAction.h>
+#include <kortex_driver/PlayJointTrajectory.h>
+#include <kortex_driver/SetCartesianReferenceFrame.h>
+#include <kortex_driver/CartesianReferenceFrame.h>
+#include <kortex_driver/SendGripperCommand.h>
+#include <kortex_driver/GripperMode.h>
+#include <kortex_driver/ActionNotification.h>
+#include <kortex_driver/ActionEvent.h>
+#include <kortex_driver/OnNotificationActionTopic.h>
+
+#define HOME_ACTION_IDENTIFIER 2
+
+std::atomic<int> last_action_notification_event{0};
+
+void notification_callback(const kortex_driver::ActionNotification& notif)
+{
+  last_action_notification_event = notif.action_event;
+}
+
+bool wait_for_action_end_or_abort()
+{
+  while (ros::ok())
+  {
+    if (last_action_notification_event.load() == kortex_driver::ActionEvent::ACTION_END)
+    {
+      ROS_INFO("Received ACTION_END notification");
+      return true;
+    }
+    else if (last_action_notification_event.load() == kortex_driver::ActionEvent::ACTION_ABORT)
+    {
+      ROS_INFO("Received ACTION_ABORT notification");
+      return false;
+    }
+    ros::spinOnce();
+  }
+}
+
+
+
+bool example_clear_faults(ros::NodeHandle n, std::string robot_name)
+{
+  ros::ServiceClient service_client_clear_faults = n.serviceClient<kortex_driver::Base_ClearFaults>("/" + robot_name + "/base/clear_faults");
+  kortex_driver::Base_ClearFaults service_clear_faults;
+
+  // Clear the faults
+  if (!service_client_clear_faults.call(service_clear_faults))
+  {
+    std::string error_string = "Failed to clear the faults";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  // Wait a bit
+  std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  return true;
+}
+
+bool example_home_the_robot(ros::NodeHandle n, std::string robot_name)
+{
+  ros::ServiceClient service_client_read_action = n.serviceClient<kortex_driver::ReadAction>("/" + robot_name + "/base/read_action");
+  kortex_driver::ReadAction service_read_action;
+  last_action_notification_event = 0;
+
+  // The Home Action is used to home the robot. It cannot be deleted and is always ID #2:
+  service_read_action.request.input.identifier = HOME_ACTION_IDENTIFIER;
+
+  if (!service_client_read_action.call(service_read_action))
+  {
+    std::string error_string = "Failed to call ReadAction";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  // We can now execute the Action that we read 
+  ros::ServiceClient service_client_execute_action = n.serviceClient<kortex_driver::ExecuteAction>("/" + robot_name + "/base/execute_action");
+  kortex_driver::ExecuteAction service_execute_action;
+
+  service_execute_action.request.input = service_read_action.response.output;
+  
+  if (service_client_execute_action.call(service_execute_action))
+  {
+    ROS_INFO("The Home position action was sent to the robot.");
+  }
+  else
+  {
+    std::string error_string = "Failed to call ExecuteAction";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  return wait_for_action_end_or_abort();
+}
+
+bool example_set_cartesian_reference_frame(ros::NodeHandle n, std::string robot_name)
+{
+  // Initialize the ServiceClient
+  ros::ServiceClient service_client_set_cartesian_reference_frame = n.serviceClient<kortex_driver::SetCartesianReferenceFrame>("/" + robot_name + "/control_config/set_cartesian_reference_frame");
+  kortex_driver::SetCartesianReferenceFrame service_set_cartesian_reference_frame;
+
+  service_set_cartesian_reference_frame.request.input.reference_frame = kortex_driver::CartesianReferenceFrame::CARTESIAN_REFERENCE_FRAME_MIXED;
+  if (!service_client_set_cartesian_reference_frame.call(service_set_cartesian_reference_frame))
+  {
+    std::string error_string = "Failed to call SetCartesianReferenceFrame";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  // Wait a bit
+  std::this_thread::sleep_for(std::chrono::milliseconds(250));
+
+  return true;
+}
+
+bool example_send_cartesian_pose(ros::NodeHandle n, std::string robot_name)
+{
+  last_action_notification_event = 0;
+  // Get the actual cartesian pose to increment it
+  // You can create a subscriber to listen to the base_feedback
+  // Here we only need the latest message in the topic though
+  auto feedback = ros::topic::waitForMessage<kortex_driver::BaseCyclic_Feedback>("/" + robot_name + "/base_feedback");
+
+  // Initialize the ServiceClient for the cartesian pose
+  ros::ServiceClient service_client_play_cartesian_trajectory = n.serviceClient<kortex_driver::PlayCartesianTrajectory>("/" + robot_name + "/base/play_cartesian_trajectory");
+  kortex_driver::PlayCartesianTrajectory service_play_cartesian_trajectory;
+
+  // Initialize input
+  float current_x = feedback->base.commanded_tool_pose_x;
+  float current_y = feedback->base.commanded_tool_pose_y;
+  float current_z = feedback->base.commanded_tool_pose_z;
+  float current_theta_x = feedback->base.commanded_tool_pose_theta_x;
+  float current_theta_y = feedback->base.commanded_tool_pose_theta_y;
+  float current_theta_z = feedback->base.commanded_tool_pose_theta_z;
+
+  // Creating the target pose
+  service_play_cartesian_trajectory.request.input.target_pose.x = current_x;
+  service_play_cartesian_trajectory.request.input.target_pose.y = current_y;
+  service_play_cartesian_trajectory.request.input.target_pose.z = current_z + 0.10;
+  service_play_cartesian_trajectory.request.input.target_pose.theta_x = current_theta_x;
+  service_play_cartesian_trajectory.request.input.target_pose.theta_y = current_theta_y;
+  service_play_cartesian_trajectory.request.input.target_pose.theta_z = current_theta_z;
+
+  kortex_driver::CartesianSpeed poseSpeed;
+  poseSpeed.translation = 0.1;
+  poseSpeed.orientation = 15;
+
+  // The constraint is a one_of in Protobuf. The one_of concept does not exist in ROS
+  // To specify a one_of, create it and put it in the appropriate vector of the oneof_type member of the ROS object : 
+  service_play_cartesian_trajectory.request.input.constraint.oneof_type.speed.push_back(poseSpeed);
+
+  if (service_client_play_cartesian_trajectory.call(service_play_cartesian_trajectory))
+  {
+    ROS_INFO("The new cartesian pose was sent to the robot.");
+  }
+  else
+  {
+    std::string error_string = "Failed to call PlayCartesianTrajectory";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  return wait_for_action_end_or_abort();
+}
+
+bool example_send_joint_angles(ros::NodeHandle n, std::string robot_name, int degrees_of_freedom)
+{
+  last_action_notification_event = 0;
+  // Initialize the ServiceClient
+  ros::ServiceClient service_client_play_joint_trajectory = n.serviceClient<kortex_driver::PlayJointTrajectory>("/" + robot_name + "/base/play_joint_trajectory");
+  kortex_driver::PlayJointTrajectory service_play_joint_trajectory;
+
+  std::vector<double> angles_to_send;
+  for (unsigned int i = 0; i < degrees_of_freedom; i++)
+  {
+    angles_to_send.push_back(0.0);
+  }
+
+  for (int i = 0; i < degrees_of_freedom; i++)
+  {
+    kortex_driver::JointAngle temp_angle;
+    temp_angle.joint_identifier = i;
+    temp_angle.value = angles_to_send[i];
+    service_play_joint_trajectory.request.input.joint_angles.joint_angles.push_back(temp_angle);
+  }
+
+  if (service_client_play_joint_trajectory.call(service_play_joint_trajectory))
+  {
+    ROS_INFO("The joint angles were sent to the robot.");
+  }
+  else
+  {
+    std::string error_string = "Failed to call PlayJointTrajectory";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  return wait_for_action_end_or_abort();
+}
+
+bool example_send_gripper_command(ros::NodeHandle n, std::string robot_name, double value)
+{
+  // Initialize the ServiceClient
+  ros::ServiceClient service_client_send_gripper_command = n.serviceClient<kortex_driver::SendGripperCommand>("/" + robot_name + "/base/send_gripper_command");
+  kortex_driver::SendGripperCommand service_send_gripper_command;
+
+  // Initialize the request
+  kortex_driver::Finger finger;
+  finger.finger_identifier = 0;
+  finger.value = value;
+  service_send_gripper_command.request.input.gripper.finger.push_back(finger);
+  service_send_gripper_command.request.input.mode = kortex_driver::GripperMode::GRIPPER_POSITION;
+
+  if (service_client_send_gripper_command.call(service_send_gripper_command))  
+  {
+    ROS_INFO("The gripper command was sent to the robot.");
+  }
+  else
+  {
+    std::string error_string = "Failed to call SendGripperCommand";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+  std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  return true;
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "full_arm_movement_example_cpp");
+
+  // For testing purpose
+  ros::param::del("/kortex_examples_test_results/full_arm_movement_cpp");
+
+  bool success = true;
+
+  //*******************************************************************************
+  // ROS Parameters
+  ros::NodeHandle n;
+  std::string robot_name = "my_gen3";
+  int degrees_of_freedom = 7;
+  bool is_gripper_present = false;
+
+  // Parameter robot_name
+  if (!ros::param::get("~robot_name", robot_name))
+  {
+    std::string error_string = "Parameter robot_name was not specified, defaulting to " + robot_name + " as namespace";
+    ROS_WARN("%s", error_string.c_str());
+  }
+  else 
+  {
+    std::string error_string = "Using robot_name " + robot_name + " as namespace";
+    ROS_INFO("%s", error_string.c_str());
+  }
+
+  // Parameter degrees_of_freedom
+  if (!ros::param::get("/" + robot_name + "/degrees_of_freedom", degrees_of_freedom))
+  {
+    std::string error_string = "Parameter /" + robot_name + "/degrees_of_freedom was not specified, defaulting to " + std::to_string(degrees_of_freedom) + " as degrees of freedom";
+    ROS_WARN("%s", error_string.c_str());
+  }
+  else 
+  {
+    std::string error_string = "Using degrees_of_freedom " + std::to_string(degrees_of_freedom) + " as degrees_of_freedom";
+    ROS_INFO("%s", error_string.c_str());
+  }
+
+  // Parameter is_gripper_present
+  if (!ros::param::get("/" + robot_name + "/is_gripper_present", is_gripper_present))
+  {
+    std::string error_string = "Parameter /" + robot_name + "/is_gripper_present was not specified, defaulting to " + std::to_string(is_gripper_present);
+    ROS_WARN("%s", error_string.c_str());
+  }
+  else 
+  {
+    std::string error_string = "Using is_gripper_present " + std::to_string(is_gripper_present);
+    ROS_INFO("%s", error_string.c_str());
+  }
+  //*******************************************************************************
+
+  // Subscribe to the Action Topic
+  ros::Subscriber sub = n.subscribe("/" + robot_name  + "/action_topic", 1000, notification_callback);
+
+  // We need to call this service to activate the Action Notification on the kortex_driver node.
+  ros::ServiceClient service_client_activate_notif = n.serviceClient<kortex_driver::OnNotificationActionTopic>("/" + robot_name + "/base/activate_publishing_of_action_topic");
+  kortex_driver::OnNotificationActionTopic service_activate_notif;
+  if (service_client_activate_notif.call(service_activate_notif))
+  {
+    ROS_INFO("Action notification activated!");
+  }
+  else 
+  {
+    std::string error_string = "Action notification publication failed";
+    ROS_ERROR("%s", error_string.c_str());
+    success = false;
+  }
+
+  //*******************************************************************************
+  // Make sure to clear the robot's faults else it won't move if it's already in fault
+  success &= example_clear_faults(n, robot_name);
+  //*******************************************************************************
+
+  //*******************************************************************************
+  // Move the robot to the Home position with an Action
+  success &= example_home_the_robot(n, robot_name);
+  //*******************************************************************************
+
+  //*******************************************************************************
+  // Example of gripper command
+  // Let's close the gripper
+  if (is_gripper_present)
+  {
+    success &= example_send_gripper_command(n, robot_name, 0.0);
+  }
+  //*******************************************************************************
+
+  //*******************************************************************************
+  // Set the reference frame to "Mixed"
+  success &= example_set_cartesian_reference_frame(n, robot_name);
+
+  // Example of cartesian pose
+  // Let's make it move in Z
+  success &= example_send_cartesian_pose(n, robot_name);
+  //*******************************************************************************
+
+  //*******************************************************************************
+  // Example of angular position
+  // Let's send the arm to vertical position
+  success &= example_send_joint_angles(n, robot_name, degrees_of_freedom);
+  //*******************************************************************************
+
+  //*******************************************************************************
+  // Example of gripper command
+  // Let's close the gripper
+  if (is_gripper_present)
+  {
+    success &= example_send_gripper_command(n, robot_name, 0.5);
+  }
+  //*******************************************************************************
+
+  // Report success for testing purposes
+  ros::param::set("/kortex_examples_test_results/full_arm_movement_cpp", success);
+  
+  return success ? 0 : 1;
+}
\ No newline at end of file
diff --git a/kortex_examples/src/full_arm/example_full_arm_movement.py b/kortex_examples/src/full_arm/example_full_arm_movement.py
new file mode 100755
index 0000000..14868b1
--- /dev/null
+++ b/kortex_examples/src/full_arm/example_full_arm_movement.py
@@ -0,0 +1,300 @@
+#!/usr/bin/env python
+###
+# KINOVA (R) KORTEX (TM)
+#
+# Copyright (c) 2019 Kinova inc. All rights reserved.
+#
+# This software may be modified and distributed 
+# under the terms of the BSD 3-Clause license.
+#
+# Refer to the LICENSE file for details.
+#
+###
+
+import sys
+import rospy
+import time
+from kortex_driver.srv import *
+from kortex_driver.msg import *
+
+class ExampleFullArmMovement:
+    def __init__(self):
+        try:
+            rospy.init_node('example_full_arm_movement_python')
+
+            self.HOME_ACTION_IDENTIFIER = 2
+
+            # Get node params
+            self.robot_name = rospy.get_param('~robot_name', "my_gen3")
+            self.degrees_of_freedom = rospy.get_param("/" + self.robot_name + "/degrees_of_freedom", 7)
+            self.is_gripper_present = rospy.get_param("/" + self.robot_name + "/is_gripper_present", False)
+
+            rospy.loginfo("Using robot_name " + self.robot_name + " , robot has " + str(self.degrees_of_freedom) + " degrees of freedom and is_gripper_present is " + str(self.is_gripper_present))
+
+            # Init the action topic subscriber
+            self.action_topic_sub = rospy.Subscriber("/" + self.robot_name + "/action_topic", ActionNotification, self.cb_action_topic)
+            self.last_action_notif_type = None
+
+            # Init the services
+            clear_faults_full_name = '/' + self.robot_name + '/base/clear_faults'
+            rospy.wait_for_service(clear_faults_full_name)
+            self.clear_faults = rospy.ServiceProxy(clear_faults_full_name, Base_ClearFaults)
+
+            read_action_full_name = '/' + self.robot_name + '/base/read_action'
+            rospy.wait_for_service(read_action_full_name)
+            self.read_action = rospy.ServiceProxy(read_action_full_name, ReadAction)
+
+            execute_action_full_name = '/' + self.robot_name + '/base/execute_action'
+            rospy.wait_for_service(execute_action_full_name)
+            self.execute_action = rospy.ServiceProxy(execute_action_full_name, ExecuteAction)
+
+            set_cartesian_reference_frame_full_name = '/' + self.robot_name + '/control_config/set_cartesian_reference_frame'
+            rospy.wait_for_service(set_cartesian_reference_frame_full_name)
+            self.set_cartesian_reference_frame = rospy.ServiceProxy(set_cartesian_reference_frame_full_name, SetCartesianReferenceFrame)
+
+            play_cartesian_trajectory_full_name = '/' + self.robot_name + '/base/play_cartesian_trajectory'
+            rospy.wait_for_service(play_cartesian_trajectory_full_name)
+            self.play_cartesian_trajectory = rospy.ServiceProxy(play_cartesian_trajectory_full_name, PlayCartesianTrajectory)
+
+            play_joint_trajectory_full_name = '/' + self.robot_name + '/base/play_joint_trajectory'
+            rospy.wait_for_service(play_joint_trajectory_full_name)
+            self.play_joint_trajectory = rospy.ServiceProxy(play_joint_trajectory_full_name, PlayJointTrajectory)
+
+            send_gripper_command_full_name = '/' + self.robot_name + '/base/send_gripper_command'
+            rospy.wait_for_service(send_gripper_command_full_name)
+            self.send_gripper_command = rospy.ServiceProxy(send_gripper_command_full_name, SendGripperCommand)
+
+            activate_publishing_of_action_notification_full_name = '/' + self.robot_name + '/base/activate_publishing_of_action_topic'
+            rospy.wait_for_service(activate_publishing_of_action_notification_full_name)
+            self.activate_publishing_of_action_notification = rospy.ServiceProxy(activate_publishing_of_action_notification_full_name, OnNotificationActionTopic)
+        except:
+            self.is_init_success = False
+        else:
+            self.is_init_success = True
+
+    def cb_action_topic(self, notif):
+        self.last_action_notif_type = notif.action_event
+
+    def wait_for_action_end_or_abort(self):
+        while not rospy.is_shutdown():
+            if (self.last_action_notif_type == ActionEvent.ACTION_END):
+                rospy.loginfo("Received ACTION_END notification")
+                return True
+            elif (self.last_action_notif_type == ActionEvent.ACTION_ABORT):
+                rospy.loginfo("Received ACTION_ABORT notification")
+                return False
+            else:
+                time.sleep(0.01)
+
+    def example_subscribe_to_a_robot_notification(self):
+        # Activate the publishing of the ActionNotification
+        req = OnNotificationActionTopicRequest()
+        rospy.loginfo("Activating the action notifications...")
+        try:
+            self.activate_publishing_of_action_notification(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call OnNotificationActionTopic")
+            return False
+        else:
+            rospy.loginfo("Successfully activated the Action Notifications!")
+
+        rospy.sleep(1.0)
+        return True
+
+    def example_clear_faults(self):
+        try:
+            self.clear_faults()
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call ClearFaults")
+            return False
+        else:
+            rospy.loginfo("Cleared the faults successfully")
+            rospy.sleep(2.5)
+            return True
+
+    def example_home_the_robot(self):
+        # The Home Action is used to home the robot. It cannot be deleted and is always ID #2:
+        self.last_action_notif_type = None
+        req = ReadActionRequest()
+        req.input.identifier = self.HOME_ACTION_IDENTIFIER
+        try:
+            res = self.read_action(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call ReadAction")
+            return False
+        # Execute the HOME action if we could read it
+        else:
+            # What we just read is the input of the ExecuteAction service
+            req = ExecuteActionRequest()
+            req.input = res.output
+            rospy.loginfo("Sending the robot home...")
+            try:
+                self.execute_action(req)
+            except rospy.ServiceException:
+                rospy.logerr("Failed to call ExecuteAction")
+                return False
+            else:
+                return self.wait_for_action_end_or_abort()
+
+    def example_set_cartesian_reference_frame(self):
+        self.last_action_notif_type = None
+        # Prepare the request with the frame we want to set
+        req = SetCartesianReferenceFrameRequest()
+        req.input.reference_frame = CartesianReferenceFrame.CARTESIAN_REFERENCE_FRAME_MIXED
+
+        # Call the service
+        try:
+            self.set_cartesian_reference_frame()
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call SetCartesianReferenceFrame")
+            return False
+        else:
+            rospy.loginfo("Set the cartesian reference frame successfully")
+
+        # Wait a bit
+        rospy.sleep(0.25)
+        return True
+
+    def example_send_cartesian_pose(self):
+        self.last_action_notif_type = None
+        # Get the actual cartesian pose to increment it
+        # You can create a subscriber to listen to the base_feedback
+        # Here we only need the latest message in the topic though
+        feedback = rospy.wait_for_message("/" + self.robot_name + "/base_feedback", BaseCyclic_Feedback)
+
+        req = PlayCartesianTrajectoryRequest()
+        req.input.target_pose.x = feedback.base.commanded_tool_pose_x
+        req.input.target_pose.y = feedback.base.commanded_tool_pose_y
+        req.input.target_pose.z = feedback.base.commanded_tool_pose_z + 0.10
+        req.input.target_pose.theta_x = feedback.base.commanded_tool_pose_theta_x
+        req.input.target_pose.theta_y = feedback.base.commanded_tool_pose_theta_y
+        req.input.target_pose.theta_z = feedback.base.commanded_tool_pose_theta_z
+
+        pose_speed = CartesianSpeed()
+        pose_speed.translation = 0.1
+        pose_speed.orientation = 15
+
+        # The constraint is a one_of in Protobuf. The one_of concept does not exist in ROS
+        # To specify a one_of, create it and put it in the appropriate list of the oneof_type member of the ROS object : 
+        req.input.constraint.oneof_type.speed.append(pose_speed)
+
+        # Call the service
+        rospy.loginfo("Sending the robot to the cartesian pose...")
+        try:
+            self.play_cartesian_trajectory(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call PlayCartesianTrajectory")
+            return False
+        else:
+            return self.wait_for_action_end_or_abort()
+
+    def example_send_joint_angles(self):
+        self.last_action_notif_type = None
+        # Create the list of angles
+        req = PlayJointTrajectoryRequest()
+        # Here the arm is vertical (all zeros)
+        for i in range(self.degrees_of_freedom):
+            temp_angle = JointAngle() 
+            temp_angle.joint_identifier = i
+            temp_angle.value = 0.0
+            req.input.joint_angles.joint_angles.append(temp_angle)
+        
+        # Send the angles
+        rospy.loginfo("Sending the robot vertical...")
+        try:
+            self.play_joint_trajectory(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call PlayJointTrajectory")
+            return False
+        else:
+            return self.wait_for_action_end_or_abort()
+
+    def example_send_gripper_command(self, value):
+        # Initialize the request
+        # Close the gripper
+        req = SendGripperCommandRequest()
+        finger = Finger()
+        finger.finger_identifier = 0
+        finger.value = value
+        req.input.gripper.finger.append(finger)
+        req.input.mode = GripperMode.GRIPPER_POSITION
+
+        rospy.loginfo("Sending the gripper command...")
+
+        # Call the service 
+        try:
+            self.send_gripper_command(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call SendGripperCommand")
+            return False
+        else:
+            time.sleep(0.5)
+            return True
+
+    def main(self):
+        # For testing purposes
+        success = self.is_init_success
+        try:
+            rospy.delete_param("/kortex_examples_test_results/full_arm_movement_python")
+        except:
+            pass
+
+        if success:
+            #*******************************************************************************
+            # Make sure to clear the robot's faults else it won't move if it's already in fault
+            success &= self.example_clear_faults()
+            #*******************************************************************************
+            
+            #*******************************************************************************
+            # Activate the action notifications
+            success &= self.example_subscribe_to_a_robot_notification()
+            #*******************************************************************************
+
+            #*******************************************************************************
+            # Move the robot to the Home position with an Action
+            success &= self.example_home_the_robot()
+            #*******************************************************************************
+
+            #*******************************************************************************
+            # Example of gripper command
+            # Let's fully open the gripper
+            if self.is_gripper_present:
+                success &= self.example_send_gripper_command(0.0)
+            else:
+                rospy.logwarn("No gripper is present on the arm.")  
+            #*******************************************************************************
+
+            #*******************************************************************************
+            # Set the reference frame to "Mixed"
+            success &= self.example_set_cartesian_reference_frame()
+
+            # Example of cartesian pose
+            # Let's make it move in Z
+            success &= self.example_send_cartesian_pose()
+            #*******************************************************************************
+
+            #*******************************************************************************
+            # Example of angular position
+            # Let's send the arm to vertical position
+            success &= self.example_send_joint_angles()
+            #*******************************************************************************
+
+            #*******************************************************************************
+            # Example of gripper command
+            # Let's close the gripper at 50%
+            if self.is_gripper_present:
+                success &= self.example_send_gripper_command(0.5)
+            else:
+                rospy.logwarn("No gripper is present on the arm.")    
+            #*******************************************************************************
+        
+        # For testing purposes
+        rospy.set_param("/kortex_examples_test_results/full_arm_movement_python", success)
+
+        if not success:
+            rospy.logerr("The example encountered an error.")
+
+
+if __name__ == "__main__":
+    ex = ExampleFullArmMovement()
+    ex.main()
diff --git a/kortex_examples/src/move_it/example_move_it_trajectories.py b/kortex_examples/src/move_it/example_move_it_trajectories.py
new file mode 100755
index 0000000..82db88f
--- /dev/null
+++ b/kortex_examples/src/move_it/example_move_it_trajectories.py
@@ -0,0 +1,240 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2013, SRI International
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of SRI International nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Acorn Pooley, Mike Lautman
+
+# Inspired from http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html
+# Modified by Alexandre Vannobel to test the FollowJointTrajectory Action Server for the Kinova Gen3 robot
+
+# To run this node in a given namespace with rosrun (for example 'my_gen3'), start a Kortex driver and then run : 
+# rosrun kortex_examples example_moveit_trajectories.py __ns:=my_gen3
+
+import sys
+import time
+import rospy
+import moveit_commander
+import moveit_msgs.msg
+import geometry_msgs.msg
+from math import pi
+from std_srvs.srv import Empty
+
+class ExampleMoveItTrajectories(object):
+  """ExampleMoveItTrajectories"""
+  def __init__(self):
+
+    # Initialize the node
+    super(ExampleMoveItTrajectories, self).__init__()
+    moveit_commander.roscpp_initialize(sys.argv)
+    rospy.init_node('example_move_it_trajectories')
+
+    try:
+      self.is_gripper_present = rospy.get_param(rospy.get_namespace() + "is_gripper_present", False)
+      if self.is_gripper_present:
+        gripper_joint_names = rospy.get_param(rospy.get_namespace() + "gripper_joint_names", [])
+        self.gripper_joint_name = gripper_joint_names[0]
+      else:
+        gripper_joint_name = ""
+      self.degrees_of_freedom = rospy.get_param(rospy.get_namespace() + "degrees_of_freedom", 7)
+
+      # Create the MoveItInterface necessary objects
+      arm_group_name = "arm"
+      self.robot = moveit_commander.RobotCommander("robot_description")
+      self.scene = moveit_commander.PlanningSceneInterface(ns=rospy.get_namespace())
+      self.arm_group = moveit_commander.MoveGroupCommander(arm_group_name, ns=rospy.get_namespace())
+      self.display_trajectory_publisher = rospy.Publisher(rospy.get_namespace() + 'move_group/display_planned_path',
+                                                    moveit_msgs.msg.DisplayTrajectory,
+                                                    queue_size=20)
+
+      if self.is_gripper_present:
+        gripper_group_name = "gripper"
+        self.gripper_group = moveit_commander.MoveGroupCommander(gripper_group_name, ns=rospy.get_namespace())
+
+      rospy.loginfo("Initializing node in namespace " + rospy.get_namespace())
+    except Exception as e:
+      print (e)
+      self.is_init_success = False
+    else:
+      self.is_init_success = True
+
+
+  def reach_named_position(self, target):
+    arm_group = self.arm_group
+    
+    # Going to one of those targets
+    rospy.loginfo("Going to named target " + target)
+    # Set the target
+    arm_group.set_named_target(target)
+    # Plan the trajectory
+    planned_path1 = arm_group.plan()
+    # Execute the trajectory and block while it's not finished
+    return arm_group.execute(planned_path1, wait=True)
+
+  def reach_joint_angles(self, tolerance):
+    arm_group = self.arm_group
+    success = True
+
+    # Get the current joint positions
+    joint_positions = arm_group.get_current_joint_values()
+    rospy.loginfo("Printing current joint positions before movement :")
+    for p in joint_positions: rospy.loginfo(p)
+
+    # Set the goal joint tolerance
+    self.arm_group.set_goal_joint_tolerance(tolerance)
+
+    # Set the joint target configuration
+    if self.degrees_of_freedom == 7:
+      joint_positions[0] = pi/2
+      joint_positions[1] = 0
+      joint_positions[2] = pi/4
+      joint_positions[3] = -pi/4
+      joint_positions[4] = 0
+      joint_positions[5] = pi/2
+      joint_positions[6] = 0.2
+    elif self.degrees_of_freedom == 6:
+      joint_positions[0] = 0
+      joint_positions[1] = 0
+      joint_positions[2] = pi/2
+      joint_positions[3] = pi/4
+      joint_positions[4] = 0
+      joint_positions[5] = pi/2
+    arm_group.set_joint_value_target(joint_positions)
+    
+    # Plan and execute in one command
+    success &= arm_group.go(wait=True)
+
+    # Show joint positions after movement
+    new_joint_positions = arm_group.get_current_joint_values()
+    rospy.loginfo("Printing current joint positions after movement :")
+    for p in new_joint_positions: rospy.loginfo(p)
+    return success
+
+  def get_cartesian_pose(self):
+    arm_group = self.arm_group
+
+    # Get the current pose and display it
+    pose = arm_group.get_current_pose()
+    rospy.loginfo("Actual cartesian pose is : ")
+    rospy.loginfo(pose.pose)
+
+    return pose.pose
+
+  def reach_cartesian_pose(self, pose, tolerance, constraints):
+    arm_group = self.arm_group
+    
+    # Set the tolerance
+    arm_group.set_goal_position_tolerance(tolerance)
+
+    # Set the trajectory constraint if one is specified
+    if constraints is not None:
+      arm_group.set_path_constraints(constraints)
+
+    # Get the current Cartesian Position
+    arm_group.set_pose_target(pose)
+
+    # Plan and execute
+    rospy.loginfo("Planning and going to the Cartesian Pose")
+    return arm_group.go(wait=True)
+
+  def reach_gripper_position(self, relative_position):
+    gripper_group = self.gripper_group
+    
+    # We only have to move this joint because all others are mimic!
+    gripper_joint = self.robot.get_joint(self.gripper_joint_name)
+    gripper_max_absolute_pos = gripper_joint.max_bound()
+    gripper_min_absolute_pos = gripper_joint.min_bound()
+    try:
+      val = gripper_joint.move(relative_position * (gripper_max_absolute_pos - gripper_min_absolute_pos) + gripper_min_absolute_pos, True)
+      return val
+    except:
+      return False 
+
+def main():
+  example = ExampleMoveItTrajectories()
+
+  # For testing purposes
+  success = example.is_init_success
+  try:
+      rospy.delete_param("/kortex_examples_test_results/moveit_general_python")
+  except:
+      pass
+
+  if success:
+    rospy.loginfo("Reaching Named Target Vertical...")
+    
+    success &= example.reach_named_position("vertical")
+
+    rospy.loginfo("Reaching Joint Angles...")
+    
+    success &= example.reach_joint_angles(tolerance=0.01) #rad
+
+    rospy.loginfo("Reaching Named Target Home...")
+    
+    success &= example.reach_named_position("home")
+
+    rospy.loginfo("Reaching Cartesian Pose...")
+    
+    actual_pose = example.get_cartesian_pose()
+    actual_pose.position.z -= 0.2
+    success &= example.reach_cartesian_pose(pose=actual_pose, tolerance=0.01, constraints=None)
+    
+    if example.degrees_of_freedom == 7:
+      rospy.loginfo("Reach Cartesian Pose with constraints...")
+      # Get actual pose
+      actual_pose = example.get_cartesian_pose()
+      actual_pose.position.y -= 0.3
+      
+      # Orientation constraint (we want the end effector to stay the same orientation)
+      constraints = moveit_msgs.msg.Constraints()
+      orientation_constraint = moveit_msgs.msg.OrientationConstraint()
+      orientation_constraint.orientation = actual_pose.orientation
+      constraints.orientation_constraints.append(orientation_constraint)
+
+      # Send the goal
+      success &= example.reach_cartesian_pose(pose=actual_pose, tolerance=0.01, constraints=constraints)
+
+    if example.is_gripper_present:
+      rospy.loginfo("Opening the gripper...")
+      success &= example.reach_gripper_position(0)
+
+      rospy.loginfo("Closing the gripper 50%...")
+      success &= example.reach_gripper_position(0.5)
+
+    # For testing purposes
+    rospy.set_param("/kortex_examples_test_results/moveit_general_python", success)
+
+    if not success:
+        rospy.logerr("The example encountered an error.")
+
+if __name__ == '__main__':
+  main()
diff --git a/kortex_examples/src/move_it/simulation_pid_tuning.py b/kortex_examples/src/move_it/simulation_pid_tuning.py
new file mode 100755
index 0000000..78e5c42
--- /dev/null
+++ b/kortex_examples/src/move_it/simulation_pid_tuning.py
@@ -0,0 +1,120 @@
+#!/usr/bin/env python
+
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2013, SRI International
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of SRI International nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# Author: Acorn Pooley, Mike Lautman
+
+# Inspired from http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html
+# Modified by Alexandre Vannobel to tune the simulated controller's PID for Gazebo and the Gen3 robot
+
+# Usage : 
+# rosrun kortex_examples simulation_pid_tuning.py _inertia:=low _actuator:=3 _sleep_time:=2
+# inertia : low or high
+# actuator : 1 to max number (7 for Gen3)
+# sleep_time : time to sleep between trajectories (in seconds)
+
+import sys
+import time
+import rospy
+import moveit_commander
+import moveit_msgs.msg
+import geometry_msgs.msg
+from math import pi
+from std_srvs.srv import Empty
+
+high_inertia = [[[0, 1.57, 0, 0, 0, 0, 0],[0, 1.57, 0, 0, 0, 0, 0],[0, 1.57, 1.57, 0, 0, 0, 0],[0, 0, 0, 1.57, 0, 0, 0],[0, 0.78, 0, 0.78, 0, 0, 0],[0, 0.78, 0, 0.78, 0, 0.25, 0],[0, 0.78, 0, 0.78, 0, 0, 0]], \
+                [[0.25, 1.57, 0, 0, 0, 0, 0],[0, 1.25, 0, 0, 0, 0, 0],[0, 1.57, 1.25, 0, 0, 0, 0],[0, 0, 0, 1.25, 0, 0, 0],[0, 0.78, 0, 0.78, 0.25, 0, 0],[0, 0.78, 0, 0.78, 0, 0, 0],[0, 0.78, 0, 0.78, 0, 0, 0.25]]]
+
+low_inertia = [[[0, 0, 0, 0, 0, 0, 0],[0, 1.57, 1.57, 1.57, 0, 1.57, 0],[0, 0, 0, 0, 0, 0, 0],[0, 0, 0, 1.57, 0, 1.57, 0],[0, 0, 0, 0, 0, 0, 0],[0, 0.78, 0, 0.78, 0, 1.57, 0],[0, 0, 0, 0, 0, 0, 0]], \
+              [[0.25, 0, 0, 0, 0, 0, 0], [0, 1.25, 1.57, 1.57, 0, 1.57, 0], [0, 0, 0.25, 0, 0, 0, 0], [0, 0, 0, 1.25, 0, 1.57, 0], [0, 0, 0, 0, 0.25, 0, 0],[0, 0.78, 0, 0.78, 0, 1.25, 0],[0, 0, 0, 0, 0, 0, 0.25]]]
+
+class MoveItPIDTuning(object):
+    """MoveItPIDTuning"""
+    def __init__(self):
+
+        # Initialize the node
+        super(MoveItPIDTuning, self).__init__()
+        moveit_commander.roscpp_initialize(sys.argv)
+        rospy.init_node('MoveItPIDTuning_node')
+
+        self.actuator = rospy.get_param("~actuator")
+        if self.actuator < 1 or self.actuator > 7:
+            rospy.logerr("Actuator must be between 1 and 7 inclusively for gen3")
+            exit(0)
+        self.inertia = rospy.get_param("~inertia")
+        rospy.loginfo("---{}---".format(self.inertia))
+        if self.inertia != "low" and self.inertia != "high":
+            rospy.logerr("Inertia must be low or high")
+            exit(0)
+        self.sleep_time = rospy.get_param("~sleep_time")
+
+        # Create the MoveItInterface necessary objects
+        arm_group_name = "arm"
+        self.robot = moveit_commander.RobotCommander()
+        self.scene = moveit_commander.PlanningSceneInterface()
+        self.arm_group = moveit_commander.MoveGroupCommander(arm_group_name)
+
+    def reach_joint_angles(self, using_one):
+        arm_group = self.arm_group
+
+        # Set the joint target configuration
+        joint_target = []
+        if self.inertia == "high":
+            if using_one is True:
+                joint_target = high_inertia[0][self.actuator-1]
+            else:
+                joint_target = high_inertia[1][self.actuator-1]
+        if self.inertia == "low":
+            if using_one is True:
+                joint_target = low_inertia[0][self.actuator-1]
+            else:
+                joint_target = low_inertia[1][self.actuator-1]
+        
+        arm_group.set_joint_value_target(joint_target)
+        
+        # Plan and execute in one command
+        arm_group.go(wait=True)
+
+def main():
+    tuner = MoveItPIDTuning()
+    rospy.loginfo("Going to first position, then will wait 10 secs before starting")
+    tuner.reach_joint_angles(True)
+    rospy.sleep(10)
+    while(True):
+        tuner.reach_joint_angles(True)
+        rospy.sleep(tuner.sleep_time)
+        tuner.reach_joint_angles(False)
+        rospy.sleep(tuner.sleep_time)
+
+if __name__ == '__main__':
+    main()
diff --git a/kortex_examples/src/tests/kortex_examples_tests.cc b/kortex_examples/src/tests/kortex_examples_tests.cc
new file mode 100644
index 0000000..e5cc868
--- /dev/null
+++ b/kortex_examples/src/tests/kortex_examples_tests.cc
@@ -0,0 +1,99 @@
+#include <ros/ros.h>
+#include <gtest/gtest.h>
+#include <thread>
+
+class KortexDriverTest : public ::testing::Test {
+ protected:
+  
+  void SetUp() override 
+  {
+      // Make sure we erase all test results
+      for (auto ex : examples)
+      {
+          ros::param::del(example_prefix + ex.first);
+      }
+      
+      // Look for the /<robot_name>/has_vision_module parameter to know if the vision examples should fail
+      ros::param::get("~robot_name", robot_name);
+      ros::param::get("/" + robot_name + "/has_vision_module", has_vision_module);
+
+      // Add the vision configuration examples to the list of tests to run if needed
+      if (has_vision_module)
+      {
+        examples.push_back(std::make_pair("vision_configuration_cpp", true));
+        examples.push_back(std::make_pair("vision_configuration_python", true));        
+      } 
+  }
+
+  void TearDown() override 
+  {
+  }
+
+  ros::NodeHandle n;
+  std::string robot_name;
+  bool has_vision_module;
+  const int timeout_seconds = 90;
+  const std::string example_prefix = "/kortex_examples_test_results/";
+  // The first element is the name of the example
+  // The second element is a boolean value to indicate what value we expect when running this test
+  std::vector<std::pair<std::string, bool>> examples = 
+  {
+      {"actuator_configuration_python", true},
+      {"cartesian_poses_with_notifications_cpp", true},
+      {"cartesian_poses_with_notifications_python", true},
+      {"full_arm_movement_cpp", true},
+      {"full_arm_movement_python", true},
+      {"actuator_configuration_cpp", true},
+      {"moveit_general_python", true}
+  };
+
+  bool waitForExample(std::string example_name)
+  {
+      bool success = false;
+      for (int i = 0; i < timeout_seconds && !success; i++)
+      {
+          // If the parameter is not yet on the server, wait for it to come up
+          if (!ros::param::has(example_prefix + example_name))
+          {
+              std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+          }
+          // If the parameter is set on the server, break
+          if (ros::param::get(example_prefix + example_name, success))
+          {
+              break;
+          }
+      }
+      return success;
+  }
+
+};
+
+// Check if all examples ran correctly
+TEST_F(KortexDriverTest, checkAllExamplesSuccess)
+{
+    bool success = true;
+    std::ostringstream failed_tests_message;
+    failed_tests_message << "The following examples failed :" << std::endl;
+    for (auto ex : examples)
+    {
+        bool example_success = waitForExample(ex.first);
+        if (!example_success)
+        {
+            failed_tests_message << "\t- " << ex.first << std::endl;
+        }
+        success &= (example_success == ex.second);
+    }
+    ASSERT_TRUE(success) << failed_tests_message.str();
+}
+
+int main(int argc, char** argv){
+  ros::init(argc, argv, "KortexArmDriverInitTestsNode");
+  testing::InitGoogleTest(&argc, argv);
+
+  std::thread t([]{while(ros::ok()) ros::spin();});
+
+  auto res = RUN_ALL_TESTS();
+
+  ros::shutdown();
+  return res;
+}
\ No newline at end of file
diff --git a/kortex_examples/src/vision_config/example_vision_configuration.cpp b/kortex_examples/src/vision_config/example_vision_configuration.cpp
new file mode 100644
index 0000000..45ae83e
--- /dev/null
+++ b/kortex_examples/src/vision_config/example_vision_configuration.cpp
@@ -0,0 +1,363 @@
+/*
+ * KINOVA (R) KORTEX (TM)
+ *
+ * Copyright (c) 2019 Kinova inc. All rights reserved.
+ *
+ * This software may be modified and distributed
+ * under the terms of the BSD 3-Clause license.
+ *
+ * Refer to the LICENSE file for details.
+ *
+ */
+
+#include "ros/ros.h"
+#include <iostream>
+#include <kortex_driver/VisionNotification.h>
+#include <kortex_driver/OnNotificationVisionTopic.h>
+#include <kortex_driver/GetIntrinsicParameters.h>
+#include <kortex_driver/Sensor.h>
+#include <kortex_driver/Resolution.h>
+#include <kortex_driver/FrameRate.h>
+#include <kortex_driver/BitRate.h>
+#include <kortex_driver/GetExtrinsicParameters.h>
+#include <kortex_driver/GetSensorSettings.h>
+#include <kortex_driver/SetSensorSettings.h>
+#include <kortex_driver/GetOptionValue.h>
+#include <kortex_driver/SetOptionValue.h>
+#include <kortex_driver/Option.h>
+
+std::string sensor_type_enum_to_string(uint32_t enum_value)
+{
+  std::string s = "";
+  switch (enum_value)
+  {
+    case kortex_driver::Sensor::SENSOR_COLOR:
+      s = "Color";
+      break;
+
+    case kortex_driver::Sensor::SENSOR_DEPTH:
+      s = "Depth";
+      break;
+
+    default:
+    case kortex_driver::Sensor::SENSOR_UNSPECIFIED:
+      s = "Unspecified";
+      break;
+  }
+  return s;
+}
+
+std::string resolution_enum_to_string(uint32_t enum_value)
+{
+  std::string s = "";
+  switch (enum_value)
+  {
+    case kortex_driver::Resolution::RESOLUTION_320x240:
+      s = "320 x 240";
+      break;
+    case kortex_driver::Resolution::RESOLUTION_424x240:
+      s = "424 x 240";
+      break;
+    case kortex_driver::Resolution::RESOLUTION_480x270:
+      s = "480 x 270";
+      break;
+    case kortex_driver::Resolution::RESOLUTION_640x480:
+      s = "640 x 480";
+      break;
+    case kortex_driver::Resolution::RESOLUTION_1280x720:
+      s = "1280 x 720";
+      break;
+    case kortex_driver::Resolution::RESOLUTION_1920x1080:
+      s = "1920 x 1080";
+      break;
+    default:
+    case kortex_driver::Resolution::RESOLUTION_UNSPECIFIED:
+      s = "Unspecified";
+      break;
+  }
+  return s;
+}
+
+std::string framerate_enum_to_string(uint32_t enum_value)
+{
+  std::string s = "";
+  switch (enum_value)
+  {
+    case kortex_driver::FrameRate::FRAMERATE_6_FPS:
+      s = "6 FPS";
+      break;
+    case kortex_driver::FrameRate::FRAMERATE_15_FPS:
+      s = "15 FPS";
+      break;
+    case kortex_driver::FrameRate::FRAMERATE_30_FPS:
+      s = "30 FPS";
+      break;
+    default:
+    case kortex_driver::FrameRate::FRAMERATE_UNSPECIFIED:
+      s = "Unspecified";
+      break;
+  }
+  return s;
+}
+
+std::string bitrate_enum_to_string(uint32_t enum_value)
+{
+  std::string s = "";
+  switch (enum_value)
+  {
+    case kortex_driver::BitRate::BITRATE_10_MBPS:
+      s = "10 MBPS";
+      break;
+    case kortex_driver::BitRate::BITRATE_15_MBPS:
+      s = "15 MBPS";
+      break;
+    case kortex_driver::BitRate::BITRATE_20_MBPS:
+      s = "20 MBPS";
+      break;
+    case kortex_driver::BitRate::BITRATE_25_MBPS:
+      s = "25 MBPS";
+      break;
+    default:
+    case kortex_driver::BitRate::BITRATE_UNSPECIFIED:
+      s = "Unspecified";
+      break;
+  }
+  return s;
+}
+
+bool example_get_intrinsic_parameters(ros::NodeHandle n, const std::string& robot_name)
+{
+  ros::ServiceClient service_client_get_intrinsic_parameters = n.serviceClient<kortex_driver::GetIntrinsicParameters>("/" + robot_name + "/vision_config/get_intrinsic_parameters");
+  kortex_driver::GetIntrinsicParameters service_get_intrinsic_parameters;
+
+  // Get the parameters from the color sensor
+  kortex_driver::GetIntrinsicParametersRequest req;
+  req.input.sensor = kortex_driver::Sensor::SENSOR_COLOR; // Change to SENSOR_DEPTH for the depth sensor
+  service_get_intrinsic_parameters.request = req;
+
+  if (!service_client_get_intrinsic_parameters.call(service_get_intrinsic_parameters))
+  {
+    std::string error_string = "Failed to call GetIntrinsicParameters";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+  auto output = service_get_intrinsic_parameters.response.output;
+  // The message description can be seen at msg/generated/vision_config/IntrinsicParameters.msg
+  std::ostringstream oss;
+  oss << std::endl << "---------------------------------" << std::endl
+  << "Intrinsic parameters are : " << std::endl
+  << "Focal length in x is : " << output.focal_length_x << std::endl
+  << "Focal length in y is : " << output.focal_length_y << std::endl
+  << "Principal point in x is : " << output.principal_point_x << std::endl
+  << "Principal point in y is : " << output.principal_point_y << std::endl
+  << "Distortion coefficients are : [" << 
+  "k1 = " << output.distortion_coeffs.k1 << "; " <<
+  "k2 = " << output.distortion_coeffs.k2 << "; " <<
+  "k3 = " << output.distortion_coeffs.k3 << "; " <<
+  "p1 = " << output.distortion_coeffs.p1 << "; " <<
+  "p2 = " << output.distortion_coeffs.p2 << "]" << std::endl;
+  
+  // The Sensor enum can be seen at msg/generated/vision_config/Sensor.msg
+  oss << "Sensor type is : " << sensor_type_enum_to_string(output.sensor) << std::endl;
+
+  // The Resolution enum can be seen at msg/generated/vision_config/Resolution.msg
+  oss << "Resolution is : " << resolution_enum_to_string(output.resolution) << std::endl 
+  << "---------------------------------";
+
+  ROS_INFO("%s", oss.str().c_str());
+
+  return true;
+}
+
+bool example_get_extrinsic_parameters(ros::NodeHandle n, const std::string& robot_name)
+{
+  ros::ServiceClient service_client_get_extrinsic_parameters = n.serviceClient<kortex_driver::GetExtrinsicParameters>("/" + robot_name + "/vision_config/get_extrinsic_parameters");
+  kortex_driver::GetExtrinsicParameters service_get_extrinsic_parameters;
+
+  kortex_driver::GetExtrinsicParametersRequest req;
+
+  if (!service_client_get_extrinsic_parameters.call(service_get_extrinsic_parameters))
+  {
+    std::string error_string = "Failed to call GetExtrinsicParameters";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+  auto output = service_get_extrinsic_parameters.response.output;
+  // The message description can be seen at msg/generated/vision_config/ExtrinsicParameters.msg
+  std::ostringstream oss;
+  oss << std::endl << "---------------------------------" << std::endl
+  << "Extrinsic parameters are : " << std::endl
+  << "Rotation parameters matrix is : " << std::endl
+  << "|  " << output.rotation.row1.column1 << "  ;  " << output.rotation.row1.column2 << "  ;  " << output.rotation.row1.column3 << "  |" << std::endl
+  << "|  " << output.rotation.row2.column1 << "  ;  " << output.rotation.row2.column2 << "  ;  " << output.rotation.row2.column3 << "  |" << std::endl
+  << "|  " << output.rotation.row3.column1 << "  ;  " << output.rotation.row3.column2 << "  ;  " << output.rotation.row3.column3 << "  |" << std::endl;
+
+  oss << "Translation parameters are : " <<
+  "[ x = " << output.translation.t_x <<
+  " ; y = " << output.translation.t_y << 
+  " ; z = " << output.translation.t_z << " ]"
+  << std::endl << "---------------------------------" << std::endl;
+
+  ROS_INFO("%s", oss.str().c_str());
+
+  return true;
+}
+
+bool example_get_sensor_settings(ros::NodeHandle n, const std::string& robot_name)
+{
+  ros::ServiceClient service_client_get_sensor_settings = n.serviceClient<kortex_driver::GetSensorSettings>("/" + robot_name + "/vision_config/get_sensor_settings");
+  kortex_driver::GetSensorSettings service_get_sensor_settings;
+
+  kortex_driver::GetSensorSettingsRequest req;
+
+  // Get settings for the color sensor
+  req.input.sensor = kortex_driver::Sensor::SENSOR_COLOR;
+  service_get_sensor_settings.request = req;
+
+  if (!service_client_get_sensor_settings.call(service_get_sensor_settings))
+  {
+    std::string error_string = "Failed to call GetSensorSettings";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  auto output = service_get_sensor_settings.response.output;
+
+  std::ostringstream oss;
+  oss << std::endl << 
+  "---------------------------------" << std::endl <<
+  "Get sensor settings : " << std::endl <<
+  "Bit rate : " << bitrate_enum_to_string(output.bit_rate) << std::endl <<
+  "Frame rate : " << framerate_enum_to_string(output.frame_rate) << std::endl << 
+  "Resolution : " << resolution_enum_to_string(output.resolution) << std::endl << 
+  "---------------------------------";
+
+  ROS_INFO("%s", oss.str().c_str());
+
+  return true;
+}
+
+bool example_change_the_resolution(ros::NodeHandle n, const std::string& robot_name)
+{
+  ros::ServiceClient service_client_set_sensor_settings = n.serviceClient<kortex_driver::SetSensorSettings>("/" + robot_name + "/vision_config/set_sensor_settings");
+  kortex_driver::SetSensorSettings service_set_sensor_settings;
+
+  kortex_driver::SetSensorSettingsRequest req;
+
+  ROS_INFO("Changing the resolution...");
+
+  // Set the resolution to be 640 x 480 on the color sensor
+  // You have to specify all parameters else the call will return an INVALID_PARAM error
+  req.input.sensor = kortex_driver::Sensor::SENSOR_COLOR;
+  req.input.resolution = kortex_driver::Resolution::RESOLUTION_1280x720;
+  req.input.bit_rate = kortex_driver::BitRate::BITRATE_10_MBPS;
+  req.input.frame_rate = kortex_driver::FrameRate::FRAMERATE_30_FPS;
+
+  service_set_sensor_settings.request = req;
+
+  if (!service_client_set_sensor_settings.call(service_set_sensor_settings))
+  {
+    std::string error_string = "Failed to call SetSensorSettings";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  ROS_INFO("Resolution changed successfully.");
+
+  return true;
+}
+
+bool example_get_sensor_option_value(ros::NodeHandle n, const std::string& robot_name)
+{
+  ros::ServiceClient service_client_get_sensor_option_value = n.serviceClient<kortex_driver::GetOptionValue>("/" + robot_name + "/vision_config/get_option_value");
+  kortex_driver::GetOptionValue service_get_sensor_option_value;
+
+  kortex_driver::GetOptionValueRequest req;
+
+  // The only supported options for now are:
+  // For Color sensor : 
+  // OPTION_BRIGHTNESS, OPTION_CONTRAST, OPTION_SATURATION
+  // For Depth sensor : 
+  // OPTION_EXPOSURE, OPTION_GAIN, OPTION_ENABLE_AUTO_EXPOSURE, OPTION_VISUAL_PRESET, OPTION_FRAMES_QUEUE_SIZE, 
+  // OPTION_ERROR_POLLING_ENABLE, OPTION_OUTPUT_TRIGGER_ENABLED, OPTION_DEPTH_UNITS, 
+  // OPTION_STEREO_BASELINE (read-only) 
+
+  // Trying to call an unsupported option in this service (or in the SetOptionValue service) will generate an error 
+  // Get the actual value the color sensor's contrast 
+  req.input.sensor = kortex_driver::Sensor::SENSOR_COLOR;
+  req.input.option = kortex_driver::Option::OPTION_CONTRAST;
+
+  service_get_sensor_option_value.request = req;
+
+  if (!service_client_get_sensor_option_value.call(service_get_sensor_option_value))
+  {
+    std::string error_string = "Failed to call GetOptionValue";
+    ROS_ERROR("%s", error_string.c_str());
+    return false;
+  }
+
+  auto output = service_get_sensor_option_value.response.output;
+  std::ostringstream oss;
+  oss << std::endl << "---------------------------------" << std::endl
+  << "Get Option value : " << std::endl
+  << "Option value is : " << std::endl
+  << "For sensor : " << output.sensor << std::endl
+  << "For option : " << output.option << std::endl
+  << "The value is : " << output.value << std::endl
+  << "---------------------------------" << std::endl;
+
+  ROS_INFO("%s", oss.str().c_str());
+
+  return true;
+}
+
+int main(int argc, char **argv)
+{
+  // Init the node and get the namespace parameter
+  ros::init(argc, argv, "vision_configuration_example_cpp");
+
+  // For testing purpose
+  ros::param::del("/kortex_examples_test_results/vision_configuration_cpp");
+
+  bool success = true;
+
+  ros::NodeHandle n;
+  std::string robot_name = "my_gen3";
+
+  // Parameter robot_name
+  if (!ros::param::get("~robot_name", robot_name))
+  {
+    std::string error_string = "Parameter robot_name was not specified, defaulting to " + robot_name + " as namespace";
+    ROS_WARN("%s", error_string.c_str());
+  }
+  else 
+  {
+    std::string error_string = "Using robot_name " + robot_name + " as namespace";
+    ROS_INFO("%s", error_string.c_str());
+  }
+
+  //-------------------------------------------------------------
+  // Get the intrinsic parameters for a given sensor
+  success &= example_get_intrinsic_parameters(n, robot_name);
+
+  //-------------------------------------------------------------
+  // Get the extrinsic parameters for a given sensor
+  success &= example_get_extrinsic_parameters(n, robot_name);
+
+  //-------------------------------------------------------------
+  // Get the sensor settings for a given sensor
+  success &= example_get_sensor_settings(n, robot_name);
+
+  //-------------------------------------------------------------
+  // Set the extrinsic parameters for a given sensor
+  success &= example_change_the_resolution(n, robot_name);
+
+  //-------------------------------------------------------------
+  // Get an option value
+  success &= example_get_sensor_option_value(n, robot_name);
+
+  // Report success for testing purposes
+  ros::param::set("/kortex_examples_test_results/vision_configuration_cpp", success);
+  
+  return success ? 0 : 1;
+}
\ No newline at end of file
diff --git a/kortex_examples/src/vision_config/example_vision_configuration.py b/kortex_examples/src/vision_config/example_vision_configuration.py
new file mode 100755
index 0000000..5f8b50d
--- /dev/null
+++ b/kortex_examples/src/vision_config/example_vision_configuration.py
@@ -0,0 +1,287 @@
+#!/usr/bin/env python
+###
+# KINOVA (R) KORTEX (TM)
+#
+# Copyright (c) 2019 Kinova inc. All rights reserved.
+#
+# This software may be modified and distributed 
+# under the terms of the BSD 3-Clause license.
+#
+# Refer to the LICENSE file for details.
+#
+###
+
+import sys
+import rospy
+from kortex_driver.srv import *
+from kortex_driver.msg import *
+
+class ExampleVisionConfiguration:
+    def __init__(self):
+        try:
+            rospy.init_node('example_vision_configuration_python')
+
+            # Get node params
+            self.robot_name = rospy.get_param('~robot_name', "my_gen3")
+            rospy.loginfo("Using robot_name " + self.robot_name)
+
+            # Init the services
+            get_intrinsic_parameters_full_name = '/' + self.robot_name + '/vision_config/get_intrinsic_parameters'
+            rospy.wait_for_service(get_intrinsic_parameters_full_name, 0.5)
+            self.get_intrinsic_parameters = rospy.ServiceProxy(get_intrinsic_parameters_full_name, GetIntrinsicParameters)
+
+            get_extrinsic_parameters_full_name = '/' + self.robot_name + '/vision_config/get_extrinsic_parameters'
+            rospy.wait_for_service(get_extrinsic_parameters_full_name, 0.5)
+            self.get_extrinsic_parameters = rospy.ServiceProxy(get_extrinsic_parameters_full_name, GetExtrinsicParameters)
+
+            get_sensor_settings_full_name = '/' + self.robot_name + '/vision_config/get_sensor_settings'
+            rospy.wait_for_service(get_sensor_settings_full_name, 0.5)
+            self.get_sensor_settings = rospy.ServiceProxy(get_sensor_settings_full_name, GetSensorSettings)
+
+            set_sensor_settings_full_name = '/' + self.robot_name + '/vision_config/set_sensor_settings'
+            rospy.wait_for_service(set_sensor_settings_full_name, 0.5)
+            self.set_sensor_settings = rospy.ServiceProxy(set_sensor_settings_full_name, SetSensorSettings)
+
+            get_option_value_full_name = '/' + self.robot_name + '/vision_config/get_option_value'
+            rospy.wait_for_service(get_option_value_full_name, 0.5)
+            self.get_option_value = rospy.ServiceProxy(get_option_value_full_name, GetOptionValue)
+        except:
+            self.is_init_success = False
+        else:
+            self.is_init_success = True
+
+    def sensor_type_enum_to_string(self, enum_value):
+        s = ""
+        if enum_value == Sensor.SENSOR_COLOR:
+            s = "Color"
+        elif enum_value == Sensor.SENSOR_DEPTH:
+            s = "Depth"
+        else:
+            s = "Unspecified"
+        return s
+
+    def resolution_enum_to_string(self, enum_value):
+        s = ""
+        if enum_value == Resolution.RESOLUTION_320x240:
+            s = "320 x 240"
+        elif enum_value == Resolution.RESOLUTION_424x240:
+            s = "424 x 240"
+        elif enum_value == Resolution.RESOLUTION_480x270:
+            s = "480 x 270"
+        elif enum_value == Resolution.RESOLUTION_640x480:
+            s = "640 x 480"
+        elif enum_value == Resolution.RESOLUTION_1280x720:
+            s = "1280 x 720"
+        elif enum_value == Resolution.RESOLUTION_1920x1080:
+            s = "1920 x 1080"
+        else:
+            s = "Unspecified"
+        return s
+
+    def framerate_enum_to_string(self, enum_value):
+        s = ""
+        if enum_value == FrameRate.FRAMERATE_6_FPS:
+            s = "6 FPS"
+        elif enum_value == FrameRate.FRAMERATE_15_FPS:
+            s = "15 FPS"
+        elif enum_value == FrameRate.FRAMERATE_30_FPS:
+            s = "30 FPS"
+        else:
+            s = "Unspecified"
+        return s
+
+    def bitrate_enum_to_string(self, enum_value):
+        s = ""
+        if enum_value == BitRate.BITRATE_10_MBPS:
+            s = "10 MBPS"  
+        elif enum_value == BitRate.BITRATE_15_MBPS:
+            s = "15 MBPS"
+        elif enum_value == BitRate.BITRATE_20_MBPS:
+            s = "20 MBPS"
+        elif enum_value == BitRate.BITRATE_25_MBPS:
+            s = "25 MBPS"
+        else:
+            s = "Unspecified"
+        return s
+
+    def example_get_intrinsic_parameters(self):
+        # Call the service to get the params
+        req = GetIntrinsicParametersRequest()
+        req.input.sensor = Sensor.SENSOR_COLOR # Change to SENSOR_DEPTH for the depth sensor
+        try:
+            res = self.get_intrinsic_parameters(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call GetIntrinsicParameters")
+            return False
+        else:
+            # Print them
+            # The message description can be seen at msg/generated/vision_config/IntrinsicParameters.msg
+            intrinsic_parameters = res.output
+            out = ""
+            out += "\n----------------------------------\n"
+            out += "Intrinsic parameters are :\n"
+            out += "Focal length in x is : " + str(intrinsic_parameters.focal_length_x) + "\n"
+            out += "Focal length in y is : " + str(intrinsic_parameters.focal_length_y) + "\n"
+            out += "Principal point in x is : " + str(intrinsic_parameters.principal_point_x) + "\n"
+            out += "Principal point in y is : " + str(intrinsic_parameters.principal_point_y) + "\n"
+            out += "Distortion coefficients are : ["
+            out += "k1 = " + str(intrinsic_parameters.distortion_coeffs.k1) + "; "
+            out += "k2 = " + str(intrinsic_parameters.distortion_coeffs.k2) + "; "
+            out += "k3 = " + str(intrinsic_parameters.distortion_coeffs.k3) + "; "
+            out += "p1 = " + str(intrinsic_parameters.distortion_coeffs.p1) + "; "
+            out += "p2 = " + str(intrinsic_parameters.distortion_coeffs.p2) + "]" + "\n"
+
+            # The Sensor enum can be seen at msg/generated/vision_config/Sensor.msg
+            out += "Sensor type is : " + self.sensor_type_enum_to_string(intrinsic_parameters.sensor) + "\n"
+
+            # The Resolution enum can be seen at msg/generated/vision_config/Resolution.msg
+            out += "Resolution is : " + self.resolution_enum_to_string(intrinsic_parameters.resolution) + "\n" 
+            out += "----------------------------------"
+
+            rospy.loginfo(out)
+
+            return True
+
+    def example_get_extrinsic_parameters(self):
+        # Call the service 
+        try:
+            res = self.get_extrinsic_parameters()
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call GetExtrinsicParameters")
+            return False
+        else:
+            # Print the result
+            # The message description can be seen at msg/generated/vision_config/ExtrinsicParameters.msg
+            extrinsic_parameters = res.output
+            out = "\n----------------------------------\n"
+            out += "Extrinsic parameters are :\n"
+            out += "Rotation parameters matrix is : " + "\n"
+            out += "|  " + str(extrinsic_parameters.rotation.row1.column1) + "  ;  " + str(extrinsic_parameters.rotation.row1.column2) + "  ;  " + str(extrinsic_parameters.rotation.row1.column3) + "  |" + "\n"
+            out += "|  " + str(extrinsic_parameters.rotation.row2.column1) + "  ;  " + str(extrinsic_parameters.rotation.row2.column2) + "  ;  " + str(extrinsic_parameters.rotation.row2.column3) + "  |" + "\n"
+            out += "|  " + str(extrinsic_parameters.rotation.row3.column1) + "  ;  " + str(extrinsic_parameters.rotation.row3.column2) + "  ;  " + str(extrinsic_parameters.rotation.row3.column3) + "  |" + "\n"
+
+            out += "Translation parameters are : "
+            out += "[ x = " + str(extrinsic_parameters.translation.t_x)
+            out += " ; y = " + str(extrinsic_parameters.translation.t_y)
+            out += " ; z = " + str(extrinsic_parameters.translation.t_z) + " ]"
+            out += "\n" + "---------------------------------" + "\n"
+
+            rospy.loginfo(out)
+            return True
+
+    def example_get_sensor_settings(self):
+        # Call the service
+        req = GetSensorSettingsRequest()
+        req.input.sensor = Sensor.SENSOR_COLOR
+        try:
+            res = self.get_sensor_settings(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call GetSensorSettings")
+            return False
+        else:
+            # Print the result
+            sensor_settings = res.output
+            out = "\n----------------------------------\n"
+            out += "Get sensor settings : " "\n"
+            out += "Bit rate : " + self.bitrate_enum_to_string(sensor_settings.bit_rate) + "\n"
+            out += "Frame rate : " + self.framerate_enum_to_string(sensor_settings.frame_rate) + "\n" 
+            out += "Resolution : " + self.resolution_enum_to_string(sensor_settings.resolution) + "\n" 
+            out += "---------------------------------"
+
+            rospy.loginfo(out)
+
+            return True
+
+    def example_change_the_resolution(self):
+        rospy.loginfo("Changing the resolution...")
+        req = SetSensorSettingsRequest()
+        # Set the resolution to be 640 x 480 on the color sensor
+        # You have to specify all parameters else the call will return an INVALID_PARAM error
+        req.input.sensor = Sensor.SENSOR_COLOR
+        req.input.resolution = Resolution.RESOLUTION_1280x720
+        req.input.bit_rate = BitRate.BITRATE_10_MBPS
+        req.input.frame_rate = FrameRate.FRAMERATE_30_FPS
+        try:
+            self.set_sensor_settings(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call SetSensorSettings and change the resolution")
+            return False
+        else:
+            rospy.loginfo("Resolution changed successfully")
+            return True
+
+    def example_get_sensor_option_value(self):
+        req = GetOptionValueRequest()
+
+        # The only supported options for now are:
+        # For Color sensor : 
+        # OPTION_BRIGHTNESS, OPTION_CONTRAST, OPTION_SATURATION
+        # For Depth sensor : 
+        # OPTION_EXPOSURE, OPTION_GAIN, OPTION_ENABLE_AUTO_EXPOSURE, OPTION_VISUAL_PRESET, OPTION_FRAMES_QUEUE_SIZE, 
+        # OPTION_ERROR_POLLING_ENABLE, OPTION_OUTPUT_TRIGGER_ENABLED, OPTION_DEPTH_UNITS, 
+        # OPTION_STEREO_BASELINE (read-only) 
+        # Trying to call an unsupported option in this service (or in the SetOptionValue service) will generate an error 
+        
+        # Get the actual value the color sensor's contrast 
+        req.input.sensor = Sensor.SENSOR_COLOR
+        req.input.option = Option.OPTION_CONTRAST
+
+        try:
+            res = self.get_option_value(req)
+        except rospy.ServiceException:
+            rospy.logerr("Failed to call GetOptionValue")
+            return False
+        else:
+            option_value = res.output
+            out = "\n---------------------------------\n"
+            out += "Get Option value :\n" 
+            out += "Option value is : \n"
+            out += "For sensor : " + self.sensor_type_enum_to_string(option_value.sensor) + "\n"
+            # You can see the Option enum at msg/generated/vision_config/Option.msg
+            out += "For option : " + str(option_value.option) + "\n"
+            out += "The value is : " + str(option_value.value) + "\n"
+            out += "---------------------------------\n"
+
+            rospy.loginfo(out)
+
+            return True
+            
+    def main(self):
+
+         # For testing purposes
+        success = self.is_init_success
+        try:
+            rospy.delete_param("/kortex_examples_test_results/vision_configuration_python")
+        except:
+            pass
+
+        if success:
+            #-------------------------------------------------------------
+            # Get the intrinsic parameters for a given sensor
+            success &= self.example_get_intrinsic_parameters()
+
+            #-------------------------------------------------------------
+            # Get the extrinsic parameters for a given sensor
+            success &= self.example_get_extrinsic_parameters()
+
+            #-------------------------------------------------------------
+            # Get the sensor settings for a given sensor
+            success &= self.example_get_sensor_settings()
+
+            #-------------------------------------------------------------
+            # Set the extrinsic parameters for a given sensor
+            success &= self.example_change_the_resolution()
+
+            #-------------------------------------------------------------
+            # Get an option value
+            success &= self.example_get_sensor_option_value()
+
+        # For testing purposes
+        rospy.set_param("/kortex_examples_test_results/vision_configuration_python", success)
+
+        if not success:
+            rospy.logerr("The example encountered an error.")
+
+if __name__ == "__main__":
+    ex = ExampleVisionConfiguration()
+    ex.main()
diff --git a/kortex_gazebo/CMakeLists.txt b/kortex_gazebo/CMakeLists.txt
new file mode 100644
index 0000000..0de0aba
--- /dev/null
+++ b/kortex_gazebo/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(kortex_gazebo)
+
+# This is added to remove policy CMP0054 warning (see https://stackoverflow.com/questions/45900159/how-to-use-variables-and-avoid-cmp0054-policy-violations)
+cmake_policy(SET CMP0054 NEW)
+
+find_package(catkin REQUIRED)
+
+find_package(gazebo)
+
+catkin_package()
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir)
+
+# Gazebo is compiled with Protobuf 2.6.1 and Kortex with Protobuf 3.5.1
+# The 2.6.1 includes are prepended to the include_directories so the Gazebo plugins we compile here build
+include_directories(BEFORE ./include/)
+include_directories(${GAZEBO_INCLUDE_DIRS})
+link_directories(${GAZEBO_LIBRARY_DIRS})
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
+
+# To add your Gazebo plugin to this package, put your source file under src and uncomment/modify those lines
+# add_library(my_gazebo_plugin SHARED src/my_gazebo_plugin.cpp)
+# target_link_libraries(my_gazebo_plugin ${GAZEBO_LIBRARIES})
diff --git a/kortex_gazebo/launch/spawn_kortex_robot.launch b/kortex_gazebo/launch/spawn_kortex_robot.launch
new file mode 100644
index 0000000..aa911dd
--- /dev/null
+++ b/kortex_gazebo/launch/spawn_kortex_robot.launch
@@ -0,0 +1,170 @@
+<launch>
+
+    <!-- Arguments -->
+    <!-- Start the GUIs -->
+    <arg name="start_gazebo" default="true"/>
+    <arg name="gazebo_gui"   default ="true"/>
+    <arg name="start_rviz" default="true"/>
+    
+    <!-- Initial position in Gazebo -->
+    <arg name="x0" default="0"/>
+    <arg name="y0" default="0"/>
+    <arg name="z0" default="0"/>
+
+    <!-- Arm type -->
+    <arg name="arm" default="gen3"/>
+    <arg name="dof" default="7" if="$(eval arg('arm') == 'gen3')"/> <!-- Number of degrees of freedom of the arm -->
+    <arg name="dof" default="6" if="$(eval arg('arm') == 'gen3_lite')"/> <!-- Number of degrees of freedom of the arm -->
+    <arg name="vision" default="true"/> <!-- True if the arm has a Vision module -->
+    
+    <!-- Default gripper for Gen3 is none, default gripper for Gen3 lite is gen3_lite_2f -->
+    <arg name="gripper" default="" if="$(eval arg('arm') == 'gen3')"/>
+    <arg name="gripper" default="gen3_lite_2f" if="$(eval arg('arm') == 'gen3_lite')"/>
+    
+    <arg name="robot_name" default="my_$(arg arm)"/>
+    <arg name="prefix" default=""/>
+    <arg name="cyclic_data_publish_rate" default="40"/> <!--Hz-->
+
+    <!-- Gazebo parameters -->
+    <arg name="use_sim_time" default="true"/>
+    <arg name="debug" default="false" />
+    <arg name="paused" default="true"/>
+    
+    <!-- Start Gazebo -->
+    <include file="$(find kortex_gazebo)/launch/start_gazebo.launch" if="$(arg start_gazebo)">
+            <arg name="gui" value="$(arg gazebo_gui)"/>
+            <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+            <arg name="debug" value="$(arg debug)"/>
+            <arg name="paused" value="$(arg paused)"/>
+    </include>
+
+    <!-- Delay before homing the arm -->
+    <arg name="start_delay_seconds" default="10"/>
+
+    <group ns="$(arg robot_name)">
+
+        <!-- Load the description for the robot -->
+        <!-- Without gripper -->
+        <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/$(arg arm).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=true prefix:=$(arg prefix)"
+            if="$(eval not arg('gripper'))"/>
+        <!-- With gripper -->
+        <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/$(arg arm)_$(arg gripper).xacro dof:=$(arg dof) vision:=$(arg vision) sim:=true prefix:=$(arg prefix)"
+            unless="$(eval not arg('gripper'))"/>
+
+        <!-- Spawn the robot in Gazebo -->
+        <!-- <rosparam command="load" file="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/config/gazebo_initial_joint_positions.yaml"/> -->
+        <!-- <param name="initial_positions" value=""/> TODO -->
+        <!-- Without gripper -->
+        <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
+            args="-urdf -param robot_description -model $(arg robot_name) -x $(arg x0) -y $(arg y0) -z $(arg z0)
+                -robot_namespace $(arg robot_name)
+                -J $(arg prefix)joint_1 1.57
+                -J $(arg prefix)joint_2 0.35
+                -J $(arg prefix)joint_3 3.14
+                -J $(arg prefix)joint_4 -2.00
+                -J $(arg prefix)joint_5 0
+                -J $(arg prefix)joint_6 -1.00
+                -J $(arg prefix)joint_7 1.57"  
+            if="$(eval not arg('gripper'))"/> <!--TODO-->
+        <!-- With gripper -->
+        <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
+        args="-urdf -param robot_description -model $(arg robot_name) -x $(arg x0) -y $(arg y0) -z $(arg z0)
+            -robot_namespace $(arg robot_name)
+                -J $(arg prefix)joint_1 1.57
+                -J $(arg prefix)joint_2 0.35
+                -J $(arg prefix)joint_3 3.14
+                -J $(arg prefix)joint_4 -2.00
+                -J $(arg prefix)joint_5 0
+                -J $(arg prefix)joint_6 -1.00
+                -J $(arg prefix)joint_7 1.57"
+        unless="$(eval not arg('gripper'))"/> <!--TODO-->
+
+        <!-- Load controller configuration file from kortex_control package -->
+        <rosparam file="$(find kortex_control)/arms/$(arg arm)/$(arg dof)dof/config/joint_position_controllers.yaml" command="load" subst_value="true"/>
+        <rosparam file="$(find kortex_control)/grippers/$(arg gripper)/config/gripper_action_controller_parameters.yaml" command="load" subst_value="true"
+            unless="$(eval not arg('gripper'))"/>
+
+        <!-- Start the trajectory controllers -->
+
+        <!-- Without gripper -->
+        <node name="$(arg prefix)$(arg arm)_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+            output="screen" args="$(arg prefix)$(arg arm)_joint_trajectory_controller $(arg prefix)joint_state_controller"
+            if="$(eval not arg('gripper'))"/>
+
+        <!-- With gripper -->
+        <node name="$(arg prefix)$(arg arm)_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+            output="screen" args="$(arg prefix)$(arg arm)_joint_trajectory_controller $(arg prefix)joint_state_controller $(arg prefix)$(arg gripper)_gripper_controller"
+            unless="$(eval not arg('gripper'))"/>
+
+        <!-- Individual position controllers are stopped at first -->
+
+        <!-- For 6 DOF arms -->
+        <node name="$(arg prefix)$(arg arm)_position_controllers_spawner" pkg="controller_manager" type="spawner" respawn="false"
+            output="screen" if="$(eval arg('dof') == 6)" args=" --stopped
+            $(arg prefix)joint_1_position_controller
+            $(arg prefix)joint_2_position_controller
+            $(arg prefix)joint_3_position_controller
+            $(arg prefix)joint_4_position_controller
+            $(arg prefix)joint_5_position_controller
+            $(arg prefix)joint_6_position_controller"/>
+        <!-- For 7 DOF arms -->
+        <node name="$(arg prefix)$(arg arm)_position_controllers_spawner" pkg="controller_manager" type="spawner" respawn="false"
+            output="screen" if="$(eval arg('dof') == 7)" args=" --stopped
+            $(arg prefix)joint_1_position_controller
+            $(arg prefix)joint_2_position_controller
+            $(arg prefix)joint_3_position_controller
+            $(arg prefix)joint_4_position_controller
+            $(arg prefix)joint_5_position_controller
+            $(arg prefix)joint_6_position_controller
+            $(arg prefix)joint_7_position_controller"/>
+
+        <!-- Start simulated Kortex Driver -->
+        <node name="$(arg robot_name)_driver" pkg="kortex_driver" type="kortex_arm_driver" output="screen"> <!--launch-prefix="gdb -ex run args"-->
+            <param name="sim" value="true"/>
+            <param name="cyclic_data_publish_rate" value="$(arg cyclic_data_publish_rate)"/>
+            <param name="arm" value="$(arg arm)"/>
+            <param name="gripper" value="$(arg gripper)"/>
+            <param name="dof" value="$(arg dof)"/>
+            <param name="robot_name" value="$(arg robot_name)"/>
+            <param name="prefix" value="$(arg prefix)"/>
+            <rosparam command="load" file="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/config/joint_limits.yaml" subst_value="true"/>
+            <rosparam command="load" file="$(find kortex_description)/arms/$(arg arm)/$(arg dof)dof/config/twist_limits.yaml" subst_value="true"/>
+            <!-- If there is a gripper, load the active joint names for it -->
+            <rosparam command="load" file="$(find kortex_description)/grippers/$(arg gripper)/config/joint_limits.yaml" unless="$(eval not arg('gripper'))" subst_value="true"/>
+        </node>
+
+        <!-- Start robot state publisher -->
+        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
+        respawn="false" output="screen" />
+
+        <!-- Start MoveIt main executable -->
+        <!-- TODO Find cleaner way to do that and that will work with other arms -->
+        <!-- Without gripper -->
+        <include file="$(find kortex_description)/../kortex_move_it_config/$(arg arm)_move_it_config/launch/move_group.launch" if="$(eval not arg('gripper'))"> 
+            <arg name="dof" value="$(arg dof)"/>
+            <arg name="prefix" value="$(arg prefix)"/>
+        </include>
+        <!-- With gripper -->
+        <include file="$(find kortex_description)/../kortex_move_it_config/$(arg arm)_$(arg gripper)_move_it_config/launch/move_group.launch" unless="$(eval not arg('gripper'))">
+            <arg name="dof" value="$(arg dof)"/>
+            <arg name="prefix" value="$(arg prefix)"/>
+        </include>
+
+        <!-- Sleep, then unpause the physics in Gazebo and home the robot -->
+        <node name="home_the_arm" pkg="kortex_gazebo" type="home_robot.py" output="screen" respawn="false" launch-prefix="bash -c 'sleep $(arg start_delay_seconds); $0 $@'">
+            <param name="robot_name" value="$(arg robot_name)"/>
+        </node>
+
+        <!-- Test if homing the robot with MoveIt ended correctly -->
+        <test test-name="paramtest_gazebo_initialization" pkg="rostest" type="paramtest">
+            <param name="param_name_target" value="is_initialized" />
+            <param name="param_value_expected" value="true" />
+            <param name="wait_time" value="60" />
+        </test> 
+
+        <!-- Start RViz -->
+        <node name="rviz" pkg="rviz" type="rviz" if="$(arg start_rviz)"/> 
+    
+    </group>
+
+</launch>
\ No newline at end of file
diff --git a/kortex_gazebo/launch/start_gazebo.launch b/kortex_gazebo/launch/start_gazebo.launch
new file mode 100644
index 0000000..a69e0d2
--- /dev/null
+++ b/kortex_gazebo/launch/start_gazebo.launch
@@ -0,0 +1,17 @@
+    <launch>
+
+        <!-- Gazebo parameters -->
+        <arg name="use_sim_time" default="true"/>
+        <arg name="debug" default="false" />
+        <arg name="gui" default="true" />
+        <arg name="paused" default="true" />
+    
+        <!-- Launch Gazebo with an empty world -->
+        <include file="$(find gazebo_ros)/launch/empty_world.launch">
+            <arg name="gui" value="$(arg gui)" />
+            <arg name="use_sim_time" value="$(arg use_sim_time)"/>
+            <arg name="debug" value="$(arg debug)" />
+            <arg name="paused" value="$(arg paused)"/>
+        </include>
+
+    </launch>
\ No newline at end of file
diff --git a/kortex_gazebo/media/materials/scripts/kortex.material b/kortex_gazebo/media/materials/scripts/kortex.material
new file mode 100644
index 0000000..2a83a91
--- /dev/null
+++ b/kortex_gazebo/media/materials/scripts/kortex.material
@@ -0,0 +1,23 @@
+material Kortex/Gray
+{
+  technique
+  {
+    pass ambient
+    {
+      ambient 0.803 0.824 0.820
+      diffuse 0.803 0.824 0.820
+    }
+  }
+}
+
+material Kortex/Blue
+{
+  technique
+  {
+    pass ambient
+    {
+      ambient 0 0.055 0.525
+      diffuse 0 0.055 0.525
+    }
+  }
+}
\ No newline at end of file
diff --git a/kortex_gazebo/package.xml b/kortex_gazebo/package.xml
new file mode 100644
index 0000000..850ac4d
--- /dev/null
+++ b/kortex_gazebo/package.xml
@@ -0,0 +1,30 @@
+<package>
+  <name>kortex_gazebo</name>
+  <version>2.2.2</version>
+  <description>
+    <p>Gazebo simulation package for Kortex robots</p>
+    <p>This package contains launch files to spawn the Kortex robot in Gazebo and visualize it in RViz, as well as configuration files.</p>
+  </description>
+  <author email="avannobel@kinova.ca">Alexandre Vannobel</author>
+  <maintainer email="avannobel@kinova.ca" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>kortex_driver</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>gazebo</run_depend>
+  <run_depend>xacro</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>gazebo_ros_control</run_depend>
+  <run_depend>moveit_commander</run_depend>
+  <run_depend>moveit_ros_control_interface</run_depend>
+  <run_depend>moveit_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+  <export>
+    <gazebo_ros gazebo_media_path="${prefix}"/>
+    <architecture_independent />
+  </export>
+</package>
diff --git a/kortex_gazebo/readme.md b/kortex_gazebo/readme.md
new file mode 100644
index 0000000..ca3c339
--- /dev/null
+++ b/kortex_gazebo/readme.md
@@ -0,0 +1,98 @@
+<!-- 
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2018 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed 
+* under the terms of the BSD 3-Clause license. 
+*
+* Refer to the LICENSE file for details.
+*
+* -->
+
+# Kortex Gazebo
+
+## Overview
+This package contains files to simulate the Kinova Gen3 and Gen3 lite robots in Gazebo.
+
+### License
+
+The source code is released under a [BSD 3-Clause license](../LICENSE).
+
+**Author: Kinova inc.<br />
+Affiliation: [Kinova inc.](https://www.kinovarobotics.com/)<br />
+Maintainer: Kinova inc. support@kinovarobotics.com**
+
+This package has been tested under ROS Kinetic, Gazebo 7 and Ubuntu 16.04 and under ROS Melodic, Gazebo 9 and Ubuntu 18.04.
+
+## A word on stability of the models
+ 
+The arms's controllers are simulated with the `gazebo_ros_control` package, which provides PID effort controllers for every joint. It is not an exact simulation of the real arms's behaviour. The simulated arms are stable in most of their workspace, although we have seen the Gen3 be a bit less stable in a very low inertia position (vertical). The gains are set in .yaml files in the `kortex_control` package, so they can be modified by end users.
+
+Other disclaimers :
+ - The simulation has not been tested with simulated payload.
+ - No characterization was done to compare and quantify the performance of the simulated controllers and the real arm's controllers. The simulation only offers a **visually comparable experience** to the real arms. 
+ - Very rarely, the base (fixed to the world frame) seems to lose its fixation and the arm goes unstable. We are currently looking for the root cause of this behavior, but we found that clicking **Edit ---> Reset Model Poses** (Shift + Ctrl + R) in Gazebo is a workaround.
+
+## Usage
+
+The [spawn_kortex_robot.launch file](launch/spawn_kortex_robot.launch) launches the arm simulation in [Gazebo](http://gazebosim.org), with [ros_control](http://wiki.ros.org/ros_control) controllers and [MoveIt!](https://moveit.ros.org/).
+The launch can be parametrized with arguments : 
+
+**Arguments**:
+- **start_gazebo** : If this argument is false, Gazebo will not be launched within this launched file. It is useful if you already launched Gazebo yourself and just want to spawn the robot. The default value is **true** (Gazebo will be started).
+- **gazebo_gui** : If this argument is false, only the Gazebo Server will be launched. The default value is **true**.
+- **start_rviz** : If this argument is true, RViz will be launched. The default value is **true**.
+- **x0** : The default X-axis position of the robot in Gazebo. The default value is **0.0**.
+- **y0** : The default Y-axis position of the robot in Gazebo. The default value is **0.0**.
+- **z0** : The default Z-axis position of the robot in Gazebo. The default value is **0.0**.
+- **arm** : Name of your robot arm model. See the `kortex_description/arms` folder to see the available robot models. The default value is **gen3**.
+- **gripper** : Name of your robot arm's tool / gripper. See the `kortex_description/grippers` folder to see the available end effector models (or to add your own). The default value is **""**. For Gen3, you can also put **robotiq_2f_85**. For Gen3 lite, you need to put **gen3_lite_2f**.
+- **robot_name** : This is the namespace of the arm that is going to be spawned. It defaults to **my_$(arg arm)** (so my_gen3 for arm="gen3").
+- **use_trajectory_controller** : If this argument is false, one `JointPositionController` per joint will be launched and the arm will offer a basic ROS Control interface to control every joint individually with topics. If this argument is true, a MoveIt! node will be started for the arm and the arm will offer a `FollowJointTrajectory` interface to control the arm (via a `JointTrajectoryController`). The default value is **true**.
+- **use_sim_time** : If this value is true, Gazebo will use simulated time instead of system clock. The default value is **true**.
+- **debug** : If this value is true, Gazebo will be launched in debug mode. This option is useful for debugging Gazebo-related issues that won't show in the terminal. The default value is **false**.
+- **paused** : If this value is true, Gazebo will be started paused. The default value is **$(arg use_trajectory_controller)** because, when MoveIt! is enabled, Gazebo needs to be started paused to let the controllers initialize.
+
+To launch it with default arguments, run the following command in a terminal : 
+
+`roslaunch kortex_gazebo spawn_kortex_robot.launch`
+
+To launch it with optional arguments, specify the argument name, then ":=", then the value you want. For example, : 
+
+`roslaunch kortex_gazebo spawn_kortex_robot.launch start_rviz:=false x0:=1.0 y0:=2.55 use_trajectory_controller:=false`
+
+You can also have a look at the [roslaunch documentation](http://wiki.ros.org/roslaunch/Commandline%20Tools) for more details.
+
+## Gazebo
+
+Gazebo loads an empty world an first, then the `spawn_model` node from the [gazebo_ros package](http://wiki.ros.org/gazebo_ros) is used to load the `robot_description` (taken from the Parameter Server) and spawn the robot in the simulator. 
+
+## Controllers
+
+The simulated arm is controlled with a `effort_controllers/JointTrajectoryController` from [ros_controllers](http://wiki.ros.org/ros_controllers).
+This controller offers a [FollowJointTrajectory](http://wiki.ros.org/joint_trajectory_controller) interface to control the simulated arm, which is configured with [MoveIt!](http://docs.ros.org/kinetic/api/moveit_tutorials/html/index.html) so the trajectories outputed by the `move_group` node are sent to the robot in Gazebo and executed.
+The RViz Motion Planning plugin offers simple motion planning support for the simulated robot. See the [kortex_move_it_config documentation](../kortex_move_it_config/readme.md) for more details.
+
+There are also individual JointPositionController's for every joint, stopped by default. These are used by the kortex_arm_driver node to do velocity control. 
+
+See the [kortex_driver package documentation](../kortex_driver/readme.md) for more details on how to use the simulated arm. 
+
+## Initialization script
+
+The package also uses a [Python script](./scripts/home_robot.py) to home the robot after the robot has been spawned. 
+Gazebo is **launched with paused physics**. Otherwise, the arm would fall to the ground because the controllers are not fully loaded when the robot is spawned in the simulator. 
+When everything is well loaded, the script unpauses Gazebo's physics and executes the robot's Home action.
+
+## Plugins
+
+To properly simulate the grippers in Gazebo, we use two Gazebo Plugins.
+
+### Mimic joint plugin
+
+Gazebo doesn't offer support for the URDF **mimic** tag. 
+By loading one instance of [this plugin](../third_party/roboticsgroup_gazebo_plugins/README.md) per mimic joint, we are able to simulate those joints properly. The plugin parameters are specified with the [transmission elements for the Robotiq gripper](../kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro) and the [transmission elements for the Gen3 lite gripper](../kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro).
+
+### Gazebo grasp plugin
+
+Gazebo doesn't support grasping very well. By loading [this plugin](../third_party/gazebo-pkgs/README.md), we make sure objects grasped by the gripper will not fall. The plugin parameters are specified in with the [transmission elements for the Robotiq gripper](../kortex_description/grippers/robotiq_2f_85/urdf/robotiq_2f_85_transmission_macro.xacro) and the [transmission elements for the Gen3 lite gripper](../kortex_description/grippers/gen3_lite_2f/urdf/gen3_lite_2f_transmission_macro.xacro).
diff --git a/kortex_gazebo/scripts/home_robot.py b/kortex_gazebo/scripts/home_robot.py
new file mode 100755
index 0000000..26ef88f
--- /dev/null
+++ b/kortex_gazebo/scripts/home_robot.py
@@ -0,0 +1,111 @@
+#!/usr/bin/env python
+
+import sys
+import time
+import rospy
+from std_srvs.srv import Empty
+from kortex_driver.msg import ActionNotification, ActionEvent
+from kortex_driver.srv import ReadAction, ReadActionRequest, ExecuteAction, ExecuteActionRequest
+
+class ExampleInitializeGazeboRobot(object):
+  """Unpause Gazebo and home robot"""
+
+  def __init__(self):
+    # Initialize the node
+    self.HOME_ACTION_IDENTIFIER = 2
+    self.last_action_notif_type = None
+
+    try:
+      self.robot_name = rospy.get_param('~robot_name')
+      self.action_topic_sub = rospy.Subscriber("/" + self.robot_name + "/action_topic", ActionNotification, self.cb_action_topic)
+
+      # Wait for the driver to be initialised
+      while not rospy.has_param("/" + self.robot_name + "/is_initialized"):
+        time.sleep(0.1)
+      
+      # Init the services
+      read_action_full_name = '/' + self.robot_name + '/base/read_action'
+      rospy.wait_for_service(read_action_full_name)
+      self.read_action = rospy.ServiceProxy(read_action_full_name, ReadAction)
+
+      execute_action_full_name = '/' + self.robot_name + '/base/execute_action'
+      rospy.wait_for_service(execute_action_full_name)
+      self.execute_action = rospy.ServiceProxy(execute_action_full_name, ExecuteAction)
+    except rospy.ROSException as e:
+      self.is_init_success = False
+    else:
+      self.is_init_success = True
+
+  def cb_action_topic(self, notif):
+    self.last_action_notif_type = notif.action_event
+
+  def wait_for_action_end_or_abort(self):
+    while not rospy.is_shutdown():
+      if (self.last_action_notif_type == ActionEvent.ACTION_END):
+        rospy.loginfo("Received ACTION_END notification")
+        return True
+      elif (self.last_action_notif_type == ActionEvent.ACTION_ABORT):
+        rospy.loginfo("Received ACTION_ABORT notification")
+        return False
+      else:
+        time.sleep(0.01)
+
+  def home_the_robot(self):
+    # The Home Action is used to home the robot. It cannot be deleted and is always ID #2:
+    self.last_action_notif_type = None
+    req = ReadActionRequest()
+    req.input.identifier = self.HOME_ACTION_IDENTIFIER
+
+    try:
+      res = self.read_action(req)
+    except rospy.ServiceException:
+      rospy.logerr("Failed to call ReadAction")
+      return False
+    # Execute the HOME action if we could read it
+    else:
+      # What we just read is the input of the ExecuteAction service
+      req = ExecuteActionRequest()
+      req.input = res.output
+      rospy.loginfo("Sending the robot home...")
+      try:
+        self.execute_action(req)
+      except rospy.ServiceException:
+        rospy.logerr("Failed to call ExecuteAction")
+        return False
+      else:
+        return self.wait_for_action_end_or_abort()
+
+def main():
+  try:
+    # For testing purposes
+    try:
+        rospy.delete_param("is_initialized")
+    except:
+        pass
+
+    # Unpause the physics
+    rospy.loginfo("Unpausing Gazebo...")
+    rospy.wait_for_service('/gazebo/unpause_physics')
+    unpause_gazebo = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
+    resp = unpause_gazebo()
+    rospy.loginfo("Unpaused Gazebo.")
+
+    example = ExampleInitializeGazeboRobot()
+    success = example.is_init_success
+    if success:
+      success &= example.home_the_robot()
+
+  except Exception as e:
+    print (e)
+    success = False
+  
+  # For testing purposes
+  rospy.set_param("is_initialized", success)
+  if not success:
+    rospy.logerr("The Gazebo initialization encountered an error.")
+  else:
+    rospy.loginfo("The Gazebo initialization executed without fail.")
+
+if __name__ == '__main__':
+  rospy.init_node('init_robot')
+  main()
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/.setup_assistant b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/.setup_assistant
new file mode 100644
index 0000000..8619322
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: kortex_description
+    relative_path: robots/gen3_lite_gen3_lite_2f.xacro
+    xacro_args: ""
+  SRDF:
+    relative_path: config/gen3_lite_gen3_lite_2f.srdf
+  CONFIG:
+    author_name: Alexandre Vannobel
+    author_email: avannobel@kinova.ca
+    generated_timestamp: 1564078352
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/CMakeLists.txt
new file mode 100644
index 0000000..3bef278
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gen3_lite_gen3_lite_2f_move_it_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/chomp_planning.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/chomp_planning.yaml
new file mode 100644
index 0000000..75258e5
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_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/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/fake_controllers.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/fake_controllers.yaml
new file mode 100644
index 0000000..60730a0
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/fake_controllers.yaml
@@ -0,0 +1,12 @@
+controller_list:
+  - name: $(arg prefix)fake_arm_controller
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+  - name: $(arg prefix)fake_gripper_controller
+    joints:
+      - $(arg prefix)right_finger_bottom_joint
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/gen3_lite_gen3_lite_2f.srdf.xacro b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/gen3_lite_gen3_lite_2f.srdf.xacro
new file mode 100644
index 0000000..bd5ef23
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/gen3_lite_gen3_lite_2f.srdf.xacro
@@ -0,0 +1,108 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="gen3_lite_gen3_lite_2f" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="prefix" default="" />
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <joint name="$(arg prefix)joint_1" />
+        <joint name="$(arg prefix)joint_2" />
+        <joint name="$(arg prefix)joint_3" />
+        <joint name="$(arg prefix)joint_4" />
+        <joint name="$(arg prefix)joint_5" />
+        <joint name="$(arg prefix)joint_6" />
+        <joint name="$(arg prefix)end_effector" />
+        <joint name="$(arg prefix)tool_frame_joint" />
+    </group>
+    <group name="gripper">
+        <link name="$(arg prefix)gripper_base_link" />
+        <link name="$(arg prefix)left_finger_prox_link" />
+        <link name="$(arg prefix)left_finger_dist_link" />
+        <link name="$(arg prefix)right_finger_prox_link" />
+        <link name="$(arg prefix)right_finger_dist_link" />
+    </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="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="-0.28" />
+        <joint name="$(arg prefix)joint_3" value="1.309" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="-1.047" />
+        <joint name="$(arg prefix)joint_6" value="0" />
+    </group_state>
+    <group_state name="retract" group="arm">
+        <joint name="$(arg prefix)joint_1" value="-0.0522" />
+        <joint name="$(arg prefix)joint_2" value="0.3664" />
+        <joint name="$(arg prefix)joint_3" value="2.6199" />
+        <joint name="$(arg prefix)joint_4" value="-1.536" />
+        <joint name="$(arg prefix)joint_5" value="-0.6981" />
+        <joint name="$(arg prefix)joint_6" value="-1.5184" />
+    </group_state>
+    <group_state name="vertical" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0" />
+        <joint name="$(arg prefix)joint_3" value="0" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="0" />
+    </group_state>
+    <group_state name="opened" group="gripper">
+        <joint name="$(arg prefix)left_finger_bottom_joint" value="0" />
+        <joint name="$(arg prefix)left_finger_tip_joint" value="0" />
+        <joint name="$(arg prefix)right_finger_bottom_joint" value="0.96" />
+        <joint name="$(arg prefix)right_finger_tip_joint" value="0" />
+    </group_state>
+    <group_state name="closed" group="gripper">
+        <joint name="$(arg prefix)left_finger_bottom_joint" value="0" />
+        <joint name="$(arg prefix)left_finger_tip_joint" value="0" />
+        <joint name="$(arg prefix)right_finger_bottom_joint" value="-0.09" />
+        <joint name="$(arg prefix)right_finger_tip_joint" value="0" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="end_effector" parent_link="$(arg prefix)tool_frame" group="arm" />
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="$(arg prefix)right_finger_tip_joint" />
+    <passive_joint name="$(arg prefix)left_finger_tip_joint" />
+    <passive_joint name="$(arg prefix)left_finger_bottom_joint" />
+    <!--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="$(arg prefix)arm_link" link2="$(arg prefix)base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)arm_link" link2="$(arg prefix)forearm_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)arm_link" link2="$(arg prefix)lower_wrist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)arm_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)gripper_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_finger_dist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_finger_prox_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)lower_wrist_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_finger_dist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_finger_prox_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)shoulder_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)upper_wrist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)gripper_base_link" link2="$(arg prefix)left_finger_dist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)gripper_base_link" link2="$(arg prefix)left_finger_prox_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)gripper_base_link" link2="$(arg prefix)lower_wrist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)gripper_base_link" link2="$(arg prefix)right_finger_dist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)gripper_base_link" link2="$(arg prefix)right_finger_prox_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)gripper_base_link" link2="$(arg prefix)upper_wrist_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_finger_dist_link" link2="$(arg prefix)left_finger_prox_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_finger_dist_link" link2="$(arg prefix)lower_wrist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_finger_dist_link" link2="$(arg prefix)right_finger_dist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_finger_dist_link" link2="$(arg prefix)right_finger_prox_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_finger_dist_link" link2="$(arg prefix)upper_wrist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_finger_prox_link" link2="$(arg prefix)lower_wrist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_finger_prox_link" link2="$(arg prefix)right_finger_dist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_finger_prox_link" link2="$(arg prefix)right_finger_prox_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_finger_prox_link" link2="$(arg prefix)upper_wrist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)lower_wrist_link" link2="$(arg prefix)right_finger_dist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)lower_wrist_link" link2="$(arg prefix)right_finger_prox_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)lower_wrist_link" link2="$(arg prefix)upper_wrist_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_finger_dist_link" link2="$(arg prefix)right_finger_prox_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_finger_dist_link" link2="$(arg prefix)upper_wrist_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_finger_prox_link" link2="$(arg prefix)upper_wrist_link" reason="Never" />
+</robot>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/joint_limits.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/joint_limits.yaml
new file mode 100644
index 0000000..66e05b1
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/joint_limits.yaml
@@ -0,0 +1,39 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 0.99
+    has_acceleration_limits: true
+    max_acceleration: 0.35
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 0.99
+    has_acceleration_limits: true
+    max_acceleration: 0.17
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 0.99
+    has_acceleration_limits: true
+    max_acceleration: 0.14
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 0.99
+    has_acceleration_limits: true
+    max_acceleration: 0.35
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 0.99
+    has_acceleration_limits: true
+    max_acceleration: 3.5
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 1.55
+    has_acceleration_limits: true
+    max_acceleration: 3.5
+  right_finger_bottom_joint:
+    has_velocity_limits: true
+    max_velocity: 1000
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/kinematics.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/kinematics.yaml
new file mode 100644
index 0000000..3b90b6d
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/kinematics.yaml
@@ -0,0 +1,5 @@
+arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/ompl_planning.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/ompl_planning.yaml
new file mode 100644
index 0000000..2ee2dbe
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/ompl_planning.yaml
@@ -0,0 +1,176 @@
+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
+arm:
+  default_planner_config: RRTConnect
+  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
+  projection_evaluator: joints($(arg prefix)joint_1,$(arg prefix)joint_2)
+  longest_valid_segment_fraction: 0.005
+gripper:
+  default_planner_config: RRTConnect
+  planner_configs:
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/ros_controllers.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/ros_controllers.yaml
new file mode 100644
index 0000000..2934c6d
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/ros_controllers.yaml
@@ -0,0 +1,22 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+  - name: "$(arg prefix)gen3_lite_joint_trajectory_controller"
+    action_ns: follow_joint_trajectory
+    default: True
+    type: FollowJointTrajectory
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+
+  - name: "$(arg prefix)gen3_lite_2f_gripper_controller"
+    action_ns: gripper_cmd
+    default: True
+    type: GripperCommand
+    joints:
+      - $(arg prefix)right_finger_bottom_joint
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/sensors_3d.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/sensors_3d.yaml
new file mode 100644
index 0000000..d2955dc
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/sensors_3d.yaml
@@ -0,0 +1,3 @@
+# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
+sensors:
+  - {}
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/chomp_planning_pipeline.launch.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..d3682c0
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/chomp_planning_pipeline.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+
+   <!-- CHOMP Plugin for MoveIt! -->
+   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+
+   <arg name="start_state_max_bounds_error" value="0.1" />
+
+   <param name="planning_plugin" value="$(arg planning_plugin)" />
+   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+   <param name="collision_detector" value="Hybrid" />
+
+   <rosparam command="load" file="$(find gen3_lite_gen3_lite_2f_move_it_config)/config/chomp_planning.yaml" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/default_warehouse_db.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/default_warehouse_db.launch
new file mode 100644
index 0000000..f2e0e57
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_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="$(find gen3_lite_gen3_lite_2f_move_it_config)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_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="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/demo.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/demo.launch
new file mode 100644
index 0000000..0a411e3
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/demo.launch
@@ -0,0 +1,57 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find gen3_lite_gen3_lite_2f_move_it_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!--
+  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" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(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="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/fake_moveit_controller_manager.launch.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..3b0aed0
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,11 @@
+<launch>
+
+  <arg name="prefix" default=""/>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find gen3_lite_gen3_lite_2f_move_it_config)/config/fake_controllers.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/gen3_lite_gen3_lite_2f_moveit_controller_manager.launch.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/gen3_lite_gen3_lite_2f_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..afb7340
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/gen3_lite_gen3_lite_2f_moveit_controller_manager.launch.xml
@@ -0,0 +1,11 @@
+<launch>
+
+  <arg name="prefix" default=""/>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find gen3_lite_gen3_lite_2f_move_it_config)/config/ros_controllers.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/gen3_lite_gen3_lite_2f_moveit_sensor_manager.launch.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/gen3_lite_gen3_lite_2f_moveit_sensor_manager.launch.xml
new file mode 100644
index 0000000..5d02698
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/gen3_lite_gen3_lite_2f_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/joystick_control.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/joystick_control.launch
new file mode 100644
index 0000000..9411f6e
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(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/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/move_group.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/move_group.launch
new file mode 100644
index 0000000..f26a35d
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/move_group.launch
@@ -0,0 +1,89 @@
+<launch>
+
+  <!-- The number of degrees of freedom of the arm and the hard_limits speed and acceleration configuration -->
+  <!-- Both unused for now on Gen3 lite -->
+  <arg name="dof" default="6"/>
+  <arg name="use_hard_limits" default="false"/>
+
+  <!-- The joint and link names prefix used in kortex_description -->
+  <arg name="prefix" default=""/>
+
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/planning_context.launch">
+    <arg name="prefix" value="$(arg prefix)"/>
+  </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 -x $(find gen3_lite_gen3_lite_2f_move_it_config)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="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
+                " />
+  -->
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="ompl" />
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="gen3_lite_gen3_lite_2f" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <!-- <include ns="move_group" file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="gen3_lite_gen3_lite_2f" />
+  </include> -->
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(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="$(arg allow_trajectory_execution)"/>
+    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+    <param name="capabilities" value="$(arg capabilities)"/>
+    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>
+
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(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/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/moveit.rviz b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/moveit.rviz
new file mode 100644
index 0000000..0877e1e
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_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/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/moveit_rviz.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/moveit_rviz.launch
new file mode 100644
index 0000000..5cc4eff
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+<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 $(find gen3_lite_gen3_lite_2f_move_it_config)/launch/moveit.rviz" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find gen3_lite_gen3_lite_2f_move_it_config)/config/kinematics.yaml"/>
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/ompl_planning_pipeline.launch.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 0000000..b8cd5b6
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,27 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+  <arg name="prefix" default=""/>
+
+  <!-- The request adapters (plugins) used when planning with OMPL.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="industrial_trajectory_filters/UniformSampleFilter
+               default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(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)" />
+
+  <!-- PreComputedJointTrajectory Action Server needs 1msec timesteps between waypoints  -->
+  <param name="sample_duration" value="0.001"/>
+
+  <rosparam command="load" file="$(find gen3_lite_gen3_lite_2f_move_it_config)/config/ompl_planning.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/planning_context.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/planning_context.launch
new file mode 100644
index 0000000..4ebcf35
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/planning_context.launch
@@ -0,0 +1,31 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- The joint and link names prefix used in kortex_description -->
+  <arg name="prefix" default=""/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro  '$(find kortex_description)/robots/gen3_lite_gen3_lite_2f.xacro'"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <!-- With prefix -->
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder $(find gen3_lite_gen3_lite_2f_move_it_config)/config/gen3_lite_gen3_lite_2f.srdf.xacro prefix:=$(arg prefix)"
+    unless="$(eval not arg('prefix'))"/>
+  <!-- No prefix -->
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder $(find gen3_lite_gen3_lite_2f_move_it_config)/config/gen3_lite_gen3_lite_2f.srdf.xacro"
+    if="$(eval not arg('prefix'))"/>
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find gen3_lite_gen3_lite_2f_move_it_config)/config/joint_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 gen3_lite_gen3_lite_2f_move_it_config)/config/kinematics.yaml"/>
+  </group>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/planning_pipeline.launch.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/planning_pipeline.launch.xml
new file mode 100644
index 0000000..6f17242
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/planning_pipeline.launch.xml
@@ -0,0 +1,13 @@
+<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="prefix" default=""/>
+
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml">
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/ros_controllers.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/ros_controllers.launch
new file mode 100644
index 0000000..a75f705
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/ros_controllers.launch
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find gen3_lite_gen3_lite_2f_move_it_config)/config/ros_controllers.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" ns="gen3_lite_gen3_lite_2f" args=""/>
+
+  <!-- Convert joint states to TF transforms for rviz, etc -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
+    respawn="false" output="screen">
+    <remap from="/joint_states" to="gen3_lite_gen3_lite_2f/joint_states" />
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/run_benchmark_ompl.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/run_benchmark_ompl.launch
new file mode 100644
index 0000000..0d4f158
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_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="$(find gen3_lite_gen3_lite_2f_move_it_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find gen3_lite_gen3_lite_2f_move_it_config)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/sensor_manager.launch.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/sensor_manager.launch.xml
new file mode 100644
index 0000000..c7348ac
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/sensor_manager.launch.xml
@@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find gen3_lite_gen3_lite_2f_move_it_config)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="gen3_lite_gen3_lite_2f" />
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/setup_assistant.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/setup_assistant.launch
new file mode 100644
index 0000000..f20f3eb
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
+	args="--config_pkg=gen3_lite_gen3_lite_2f_move_it_config"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/trajectory_execution.launch.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/trajectory_execution.launch.xml
new file mode 100644
index 0000000..7a09c04
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/trajectory_execution.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->
+  <arg name="prefix" default=""/>
+  <!-- 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="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="2.0"/> <!-- default is 0.5 but this needs to be higher before preprocessing in the arm takes time -->
+  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
+
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="gen3_lite_gen3_lite_2f" />
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml">
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/warehouse.launch b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/warehouse.launch
new file mode 100644
index 0000000..50e16ef
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(find gen3_lite_gen3_lite_2f_move_it_config)/launch/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/warehouse_settings.launch.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/warehouse_settings.launch.xml
new file mode 100644
index 0000000..e473b08
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/launch/warehouse_settings.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(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/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/package.xml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/package.xml
new file mode 100644
index 0000000..8e729e4
--- /dev/null
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/package.xml
@@ -0,0 +1,34 @@
+<package>
+
+  <name>gen3_lite_gen3_lite_2f_move_it_config</name>
+  <version>2.2.2</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the gen3_lite_gen3_lite_2f with the MoveIt! Motion Planning Framework
+  </description>
+  <author email="avannobel@kinova.ca">Alexandre Vannobel</author>
+  <maintainer email="avannobel@kinova.ca">Alexandre Vannobel</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_ompl</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>xacro</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> -->
+  <build_depend>kortex_description</build_depend>
+  <run_depend>kortex_description</run_depend>
+
+
+</package>
diff --git a/kortex_move_it_config/gen3_move_it_config/.setup_assistant b/kortex_move_it_config/gen3_move_it_config/.setup_assistant
new file mode 100644
index 0000000..94c2fcb
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: kortex_description
+    relative_path: robots/gen3.xacro
+    xacro_args: arm:=gen3
+  SRDF:
+    relative_path: config/gen3.srdf
+  CONFIG:
+    author_name: Alexandre Vannobel
+    author_email: avannobel@kinova.ca
+    generated_timestamp: 1551811297
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_move_it_config/CMakeLists.txt
new file mode 100644
index 0000000..6fb6fa4
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gen3_move_it_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml
new file mode 100644
index 0000000..7a51e2c
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml
@@ -0,0 +1,34 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/fake_controllers.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/fake_controllers.yaml
new file mode 100644
index 0000000..84de5e8
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/6dof/fake_controllers.yaml
@@ -0,0 +1,9 @@
+controller_list:
+  - name: $(arg prefix)fake_arm_controller
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/gen3.srdf.xacro b/kortex_move_it_config/gen3_move_it_config/config/6dof/gen3.srdf.xacro
new file mode 100644
index 0000000..1257563
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/6dof/gen3.srdf.xacro
@@ -0,0 +1,63 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="gen3" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="prefix" default="" />
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <joint name="$(arg prefix)joint_1" />
+        <joint name="$(arg prefix)joint_2" />
+        <joint name="$(arg prefix)joint_3" />
+        <joint name="$(arg prefix)joint_4" />
+        <joint name="$(arg prefix)joint_5" />
+        <joint name="$(arg prefix)joint_6" />
+        <joint name="$(arg prefix)end_effector" />
+        <joint name="$(arg prefix)tool_frame_joint" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="home" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0.26" />
+        <joint name="$(arg prefix)joint_3" value="-2.27" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="0.96" />
+        <joint name="$(arg prefix)joint_6" value="1.57" />
+    </group_state>
+    <group_state name="retract" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="-0.35" />
+        <joint name="$(arg prefix)joint_3" value="-2.54" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="-0.87" />
+        <joint name="$(arg prefix)joint_6" value="1.57" />
+    </group_state>
+    <group_state name="vertical" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0" />
+        <joint name="$(arg prefix)joint_3" value="0" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="0" />
+    </group_state>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)bicep_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bicep_link" link2="$(arg prefix)forearm_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bicep_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bicep_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)shoulder_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)shoulder_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)spherical_wrist_1_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+</robot>
diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml
new file mode 100644
index 0000000..f43b69a
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml
@@ -0,0 +1,34 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/ros_controllers.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/ros_controllers.yaml
new file mode 100644
index 0000000..221f960
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/6dof/ros_controllers.yaml
@@ -0,0 +1,15 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+  - name: "$(arg prefix)gen3_joint_trajectory_controller"
+    action_ns: follow_joint_trajectory
+    default: True
+    type: FollowJointTrajectory
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml
new file mode 100644
index 0000000..056e61f
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml
@@ -0,0 +1,39 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_7:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/fake_controllers.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/fake_controllers.yaml
new file mode 100644
index 0000000..9bf3b0d
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/7dof/fake_controllers.yaml
@@ -0,0 +1,10 @@
+controller_list:
+  - name: $(arg prefix)fake_arm_controller
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+      - $(arg prefix)joint_7
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/gen3.srdf.xacro b/kortex_move_it_config/gen3_move_it_config/config/7dof/gen3.srdf.xacro
new file mode 100644
index 0000000..beb8c85
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/7dof/gen3.srdf.xacro
@@ -0,0 +1,75 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="gen3" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="prefix" default="" />
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <joint name="$(arg prefix)joint_1" />
+        <joint name="$(arg prefix)joint_2" />
+        <joint name="$(arg prefix)joint_3" />
+        <joint name="$(arg prefix)joint_4" />
+        <joint name="$(arg prefix)joint_5" />
+        <joint name="$(arg prefix)joint_6" />
+        <joint name="$(arg prefix)joint_7" />
+        <joint name="$(arg prefix)end_effector" />
+        <joint name="$(arg prefix)tool_frame_joint" />
+    </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="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0.26" />
+        <joint name="$(arg prefix)joint_3" value="3.14" />
+        <joint name="$(arg prefix)joint_4" value="-2.27" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="0.96" />
+        <joint name="$(arg prefix)joint_7" value="1.57" />
+    </group_state>
+    <group_state name="retract" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="-0.35" />
+        <joint name="$(arg prefix)joint_3" value="3.14" />
+        <joint name="$(arg prefix)joint_4" value="-2.54" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="-0.87" />
+        <joint name="$(arg prefix)joint_7" value="1.57" />
+    </group_state>
+    <group_state name="vertical" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0" />
+        <joint name="$(arg prefix)joint_3" value="0" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="0" />
+        <joint name="$(arg prefix)joint_7" value="0" />
+    </group_state>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)half_arm_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)half_arm_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)shoulder_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)half_arm_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)shoulder_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)shoulder_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)shoulder_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)shoulder_link" link2="$(arg prefix)base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)spherical_wrist_1_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+</robot>
diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml
new file mode 100644
index 0000000..fdd996b
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml
@@ -0,0 +1,39 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_7:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/ros_controllers.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/ros_controllers.yaml
new file mode 100644
index 0000000..cfaa620
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/7dof/ros_controllers.yaml
@@ -0,0 +1,16 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+  - name: "$(arg prefix)gen3_joint_trajectory_controller"
+    action_ns: follow_joint_trajectory
+    default: True
+    type: FollowJointTrajectory
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+      - $(arg prefix)joint_7
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/config/chomp_planning.yaml b/kortex_move_it_config/gen3_move_it_config/config/chomp_planning.yaml
new file mode 100644
index 0000000..75258e5
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_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/kortex_move_it_config/gen3_move_it_config/config/kinematics.yaml b/kortex_move_it_config/gen3_move_it_config/config/kinematics.yaml
new file mode 100644
index 0000000..3b90b6d
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/kinematics.yaml
@@ -0,0 +1,5 @@
+arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/config/ompl_planning.yaml b/kortex_move_it_config/gen3_move_it_config/config/ompl_planning.yaml
new file mode 100644
index 0000000..1667cab
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/ompl_planning.yaml
@@ -0,0 +1,150 @@
+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
+arm:
+  default_planner_config: RRTConnect
+  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
+  projection_evaluator: joints($(arg prefix)joint_1,$(arg prefix)joint_2)
+  longest_valid_segment_fraction: 0.005
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/config/sensors_3d.yaml b/kortex_move_it_config/gen3_move_it_config/config/sensors_3d.yaml
new file mode 100644
index 0000000..d2955dc
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/config/sensors_3d.yaml
@@ -0,0 +1,3 @@
+# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
+sensors:
+  - {}
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/chomp_planning_pipeline.launch.xml b/kortex_move_it_config/gen3_move_it_config/launch/chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..c418533
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/chomp_planning_pipeline.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+
+   <!-- CHOMP Plugin for MoveIt! -->
+   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+
+   <arg name="start_state_max_bounds_error" value="0.1" />
+
+   <param name="planning_plugin" value="$(arg planning_plugin)" />
+   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+   <param name="collision_detector" value="Hybrid" />
+
+   <rosparam command="load" file="$(find gen3_move_it_config)/config/chomp_planning.yaml" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/default_warehouse_db.launch b/kortex_move_it_config/gen3_move_it_config/launch/default_warehouse_db.launch
new file mode 100644
index 0000000..0c1b817
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_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="$(find gen3_move_it_config)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find gen3_move_it_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="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/demo.launch b/kortex_move_it_config/gen3_move_it_config/launch/demo.launch
new file mode 100644
index 0000000..a219d6f
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/demo.launch
@@ -0,0 +1,57 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find gen3_move_it_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!--
+  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" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find gen3_move_it_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(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="$(find gen3_move_it_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find gen3_move_it_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find gen3_move_it_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/fake_moveit_controller_manager.launch.xml b/kortex_move_it_config/gen3_move_it_config/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..482742e
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,12 @@
+<launch>
+
+  <arg name="dof" default="7"/>
+  <arg name="prefix" default=""/>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find gen3_move_it_config)/config/$(arg dof)dof/fake_controllers.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/gen3_moveit_controller_manager.launch.xml b/kortex_move_it_config/gen3_move_it_config/launch/gen3_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..5b91ac1
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/gen3_moveit_controller_manager.launch.xml
@@ -0,0 +1,12 @@
+<launch>
+
+  <arg name="dof" default="7"/>
+  <arg name="prefix" default=""/>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find gen3_move_it_config)/config/$(arg dof)dof/ros_controllers.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/gen3_moveit_sensor_manager.launch.xml b/kortex_move_it_config/gen3_move_it_config/launch/gen3_moveit_sensor_manager.launch.xml
new file mode 100644
index 0000000..5d02698
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/gen3_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/joystick_control.launch b/kortex_move_it_config/gen3_move_it_config/launch/joystick_control.launch
new file mode 100644
index 0000000..9411f6e
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(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/kortex_move_it_config/gen3_move_it_config/launch/move_group.launch b/kortex_move_it_config/gen3_move_it_config/launch/move_group.launch
new file mode 100644
index 0000000..56ffd49
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/move_group.launch
@@ -0,0 +1,91 @@
+<launch>
+
+  <!-- The number of degrees of freedom of the Gen3 arm -->
+  <arg name="dof" default="7"/>
+  <arg name="use_hard_limits" default="false"/>
+  
+  <!-- The joint and link names prefix used in kortex_description -->
+  <arg name="prefix" default=""/>
+
+  <include file="$(find gen3_move_it_config)/launch/planning_context.launch">
+    <arg name="dof" value="$(arg dof)"/>
+    <arg name="use_hard_limits" value="$(arg use_hard_limits)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+  </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 -x $(find gen3_move_it_config)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="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
+                " />
+  -->
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find gen3_move_it_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="ompl" />
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find gen3_move_it_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="dof" value="$(arg dof)"/>
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="gen3" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <!-- <include ns="move_group" file="$(find gen3_move_it_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="gen3" />
+  </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="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)"/>
+
+
+    <!-- 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/kortex_move_it_config/gen3_move_it_config/launch/moveit.rviz b/kortex_move_it_config/gen3_move_it_config/launch/moveit.rviz
new file mode 100644
index 0000000..0877e1e
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_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/kortex_move_it_config/gen3_move_it_config/launch/moveit_rviz.launch b/kortex_move_it_config/gen3_move_it_config/launch/moveit_rviz.launch
new file mode 100644
index 0000000..7f1a2a1
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+<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 $(find gen3_move_it_config)/launch/moveit.rviz" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find gen3_move_it_config)/config/kinematics.yaml"/>
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/ompl_planning_pipeline.launch.xml b/kortex_move_it_config/gen3_move_it_config/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 0000000..bfe3d6c
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,27 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+  <arg name="prefix" default=""/>
+
+  <!-- The request adapters (plugins) used when planning with OMPL.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="industrial_trajectory_filters/UniformSampleFilter
+               default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(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)" />
+
+  <!-- PreComputedJointTrajectory Action Server needs 1msec timesteps between waypoints  -->
+  <param name="sample_duration" value="0.001"/>
+
+  <rosparam command="load" file="$(find gen3_move_it_config)/config/ompl_planning.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/planning_context.launch b/kortex_move_it_config/gen3_move_it_config/launch/planning_context.launch
new file mode 100644
index 0000000..e33d8e8
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/planning_context.launch
@@ -0,0 +1,39 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- The number of degrees of freedom of the Gen3 arm -->
+  <arg name="dof" default="7"/>
+
+  <!-- The joint and link names prefix used in kortex_description -->
+  <arg name="prefix" default=""/>
+
+  <!-- Use the slower (2.0 default) joint speed and acceleration limits, or the hard limits (fastest) -->
+  <arg name="use_hard_limits" default="false"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro arm:=gen3 '$(find kortex_description)/robots/gen3.xacro'"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <!-- With prefix -->
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder $(find gen3_move_it_config)/config/$(arg dof)dof/gen3.srdf.xacro prefix:=$(arg prefix)"
+    unless="$(eval not arg('prefix'))"/>
+  <!-- No prefix -->
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder $(find gen3_move_it_config)/config/$(arg dof)dof/gen3.srdf.xacro"
+    if="$(eval not arg('prefix'))"/>
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find gen3_move_it_config)/config/$(arg dof)dof/default_joint_limits.yaml" unless="$(arg use_hard_limits)" subst_value="true"/>
+    <rosparam command="load" file="$(find gen3_move_it_config)/config/$(arg dof)dof/hard_joint_limits.yaml" if="$(arg use_hard_limits)" 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 gen3_move_it_config)/config/kinematics.yaml"/>
+  </group>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/planning_pipeline.launch.xml b/kortex_move_it_config/gen3_move_it_config/launch/planning_pipeline.launch.xml
new file mode 100644
index 0000000..607842b
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/planning_pipeline.launch.xml
@@ -0,0 +1,13 @@
+<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="prefix" default=""/>
+
+  <include file="$(find gen3_move_it_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml">
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/run_benchmark_ompl.launch b/kortex_move_it_config/gen3_move_it_config/launch/run_benchmark_ompl.launch
new file mode 100644
index 0000000..16cb218
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find gen3_move_it_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find gen3_move_it_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(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 gen3_move_it_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find gen3_move_it_config)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/sensor_manager.launch.xml b/kortex_move_it_config/gen3_move_it_config/launch/sensor_manager.launch.xml
new file mode 100644
index 0000000..c1f110c
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/sensor_manager.launch.xml
@@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find gen3_move_it_config)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <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="gen3" />
+  <include file="$(find gen3_move_it_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/setup_assistant.launch b/kortex_move_it_config/gen3_move_it_config/launch/setup_assistant.launch
new file mode 100644
index 0000000..42f9a76
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+<!-- 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=gen3_move_it_config"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/trajectory_execution.launch.xml b/kortex_move_it_config/gen3_move_it_config/launch/trajectory_execution.launch.xml
new file mode 100644
index 0000000..ebb523b
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/trajectory_execution.launch.xml
@@ -0,0 +1,25 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->
+  <arg name="dof" default="7"/>
+  <arg name="prefix" default=""/>
+
+  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(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="2.0"/> <!-- 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="2.0"/> <!-- default is 0.5 but this needs to be higher before preprocessing in the arm takes time -->
+  <!-- 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 -->
+
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="gen3" />
+  <include file="$(find gen3_move_it_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml">
+    <arg name="dof" value="$(arg dof)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/warehouse.launch b/kortex_move_it_config/gen3_move_it_config/launch/warehouse.launch
new file mode 100644
index 0000000..67c5103
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(find gen3_move_it_config)/launch/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_move_it_config/launch/warehouse_settings.launch.xml b/kortex_move_it_config/gen3_move_it_config/launch/warehouse_settings.launch.xml
new file mode 100644
index 0000000..e473b08
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/launch/warehouse_settings.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(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/kortex_move_it_config/gen3_move_it_config/package.xml b/kortex_move_it_config/gen3_move_it_config/package.xml
new file mode 100644
index 0000000..f8040e4
--- /dev/null
+++ b/kortex_move_it_config/gen3_move_it_config/package.xml
@@ -0,0 +1,35 @@
+<package>
+
+  <name>gen3_move_it_config</name>
+  <version>2.2.2</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the gen3 with the MoveIt! Motion Planning Framework
+  </description>
+  <author email="avannobel@kinova.ca">Alexandre Vannobel</author>
+  <maintainer email="support@kinova.ca" />
+
+  <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_ompl</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>xacro</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> -->
+  <build_depend>kortex_description</build_depend>
+  <run_depend>kortex_description</run_depend>
+  <run_depend>industrial_trajectory_filters</run_depend>
+
+
+</package>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/.setup_assistant b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/.setup_assistant
new file mode 100644
index 0000000..05b9cb9
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: kortex_description
+    relative_path: robots/gen3_robotiq_2f_85.xacro
+    xacro_args: arm:=gen3 gripper:=robotiq_2f_85
+  SRDF:
+    relative_path: config/gen3_robotiq_2f_85.srdf
+  CONFIG:
+    author_name: Alexandre Vannobel
+    author_email: avannobel@kinova.ca
+    generated_timestamp: 1551813671
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/CMakeLists.txt
new file mode 100644
index 0000000..82f2429
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gen3_robotiq_2f_140_move_it_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml
new file mode 100644
index 0000000..83fdb6b
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml
@@ -0,0 +1,64 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)left_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)left_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_outer_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/fake_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/fake_controllers.yaml
new file mode 100644
index 0000000..b9ec393
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/fake_controllers.yaml
@@ -0,0 +1,11 @@
+  - name: $(arg prefix)fake_arm_controller
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+  - name: $(arg prefix)fake_gripper_controller
+    joints:
+      - $(arg prefix)finger_joint
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/gen3_robotiq_2f_140.srdf.xacro b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/gen3_robotiq_2f_140.srdf.xacro
new file mode 100644
index 0000000..8521c61
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/gen3_robotiq_2f_140.srdf.xacro
@@ -0,0 +1,198 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="gen3_robotiq_2f_140" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="prefix" default="" />
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <joint name="$(arg prefix)joint_1" />
+        <joint name="$(arg prefix)joint_2" />
+        <joint name="$(arg prefix)joint_3" />
+        <joint name="$(arg prefix)joint_4" />
+        <joint name="$(arg prefix)joint_5" />
+        <joint name="$(arg prefix)joint_6" />
+        <joint name="$(arg prefix)end_effector" />
+        <joint name="$(arg prefix)tool_frame_joint" />
+    </group>
+    <group name="gripper">
+        <joint name="$(arg prefix)gripper_base_joint" />
+        <joint name="$(arg prefix)finger_joint" />
+        <joint name="$(arg prefix)left_outer_finger_joint" />
+        <joint name="$(arg prefix)left_inner_finger_joint" />
+        <joint name="$(arg prefix)left_inner_finger_pad_joint" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" />
+        <joint name="$(arg prefix)right_outer_finger_joint" />
+        <joint name="$(arg prefix)right_inner_finger_joint" />
+        <joint name="$(arg prefix)right_inner_finger_pad_joint" />
+    </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="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0.26" />
+        <joint name="$(arg prefix)joint_3" value="-2.27" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="0.96" />
+        <joint name="$(arg prefix)joint_6" value="1.57" />
+    </group_state>
+    <group_state name="retract" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="-0.35" />
+        <joint name="$(arg prefix)joint_3" value="-2.54" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="-0.87" />
+        <joint name="$(arg prefix)joint_6" value="1.57" />
+    </group_state>
+    <group_state name="vertical" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0" />
+        <joint name="$(arg prefix)joint_3" value="0" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="0" />
+    </group_state>
+    <group_state name="opened" group="gripper">
+        <joint name="$(arg prefix)left_inner_finger_joint" value="0" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" value="0" />
+        <joint name="$(arg prefix)finger_joint" value="0" />
+        <joint name="$(arg prefix)right_inner_finger_joint" value="0" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" value="0" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" value="0" />
+    </group_state>
+    <group_state name="closed" group="gripper">
+        <joint name="$(arg prefix)left_inner_finger_joint" value="0.695" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" value="0.695" />
+        <joint name="$(arg prefix)finger_joint" value="0.695" />
+        <joint name="$(arg prefix)right_inner_finger_joint" value="-0.695" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" value="0.695" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" value="0.695" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="gripper" parent_link="$(arg prefix)base_link" group="gripper" />
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="$(arg prefix)left_inner_finger_joint" />
+    <passive_joint name="$(arg prefix)left_inner_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_inner_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_outer_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_inner_finger_joint" />
+    <!--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="$(arg prefix)base_link" link2="$(arg prefix)bicep_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bicep_link" link2="$(arg prefix)forearm_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bicep_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bicep_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)shoulder_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_inner_finger_pad" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_inner_knuckle" reason="Default" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_outer_finger" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)left_outer_knuckle" reason="Default" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)left_outer_knuckle" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_inner_knuckle" reason="Default" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_outer_finger" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Default" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)right_outer_knuckle" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)robotiq_arg2f_base_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)robotiq_arg2f_base_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)shoulder_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)spherical_wrist_1_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+</robot>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml
new file mode 100644
index 0000000..18bcded
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml
@@ -0,0 +1,64 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)left_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)left_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_outer_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/ros_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/ros_controllers.yaml
new file mode 100644
index 0000000..f5d5e61
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/ros_controllers.yaml
@@ -0,0 +1,22 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+  - name: "$(arg prefix)gen3_joint_trajectory_controller"
+    action_ns: follow_joint_trajectory
+    default: True
+    type: FollowJointTrajectory
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+
+  - name: "$(arg prefix)robotiq_2f_140_gripper_controller"
+    action_ns: gripper_cmd
+    default: True
+    type: GripperCommand
+    joints:
+      - $(arg prefix)finger_joint
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml
new file mode 100644
index 0000000..b172331
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml
@@ -0,0 +1,69 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_7:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)left_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)left_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_outer_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/fake_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/fake_controllers.yaml
new file mode 100644
index 0000000..57fb469
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/fake_controllers.yaml
@@ -0,0 +1,13 @@
+controller_list:
+  - name: $(arg prefix)fake_arm_controller
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+      - $(arg prefix)joint_7
+  - name: $(arg prefix)fake_gripper_controller
+    joints:
+      - $(arg prefix)finger_joint
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/gen3_robotiq_2f_140.srdf.xacro b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/gen3_robotiq_2f_140.srdf.xacro
new file mode 100644
index 0000000..cd5bb0e
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/gen3_robotiq_2f_140.srdf.xacro
@@ -0,0 +1,218 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="gen3_robotiq_2f_140" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="prefix" default="" />
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <joint name="$(arg prefix)joint_1" />
+        <joint name="$(arg prefix)joint_2" />
+        <joint name="$(arg prefix)joint_3" />
+        <joint name="$(arg prefix)joint_4" />
+        <joint name="$(arg prefix)joint_5" />
+        <joint name="$(arg prefix)joint_6" />
+        <joint name="$(arg prefix)joint_7" />
+        <joint name="$(arg prefix)end_effector" />
+        <joint name="$(arg prefix)tool_frame_joint" />
+    </group>
+    <group name="gripper">
+        <joint name="$(arg prefix)gripper_base_joint" />
+        <joint name="$(arg prefix)finger_joint" />
+        <joint name="$(arg prefix)left_outer_finger_joint" />
+        <joint name="$(arg prefix)left_inner_finger_joint" />
+        <joint name="$(arg prefix)left_inner_finger_pad_joint" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" />
+        <joint name="$(arg prefix)right_outer_finger_joint" />
+        <joint name="$(arg prefix)right_inner_finger_joint" />
+        <joint name="$(arg prefix)right_inner_finger_pad_joint" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="home" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0.26" />
+        <joint name="$(arg prefix)joint_3" value="3.14" />
+        <joint name="$(arg prefix)joint_4" value="-2.27" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="0.96" />
+        <joint name="$(arg prefix)joint_7" value="1.57" />
+    </group_state>
+    <group_state name="retract" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="-0.35" />
+        <joint name="$(arg prefix)joint_3" value="3.14" />
+        <joint name="$(arg prefix)joint_4" value="-2.54" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="-0.87" />
+        <joint name="$(arg prefix)joint_7" value="1.57" />
+    </group_state>
+    <group_state name="vertical" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0" />
+        <joint name="$(arg prefix)joint_3" value="0" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="0" />
+        <joint name="$(arg prefix)joint_7" value="0" />
+    </group_state>
+    <group_state name="opened" group="gripper">
+        <joint name="$(arg prefix)left_inner_finger_joint" value="0" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" value="0" />
+        <joint name="$(arg prefix)finger_joint" value="0" />
+        <joint name="$(arg prefix)right_inner_finger_joint" value="0" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" value="0" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" value="0" />
+    </group_state>
+    <group_state name="closed" group="gripper">
+        <joint name="$(arg prefix)left_inner_finger_joint" value="0.695" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" value="0.695" />
+        <joint name="$(arg prefix)finger_joint" value="0.695" />
+        <joint name="$(arg prefix)right_inner_finger_joint" value="-0.695" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" value="0.695" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" value="0.695" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="gripper" parent_link="$(arg prefix)base_link" group="gripper" />
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="$(arg prefix)left_inner_finger_joint" />
+    <passive_joint name="$(arg prefix)left_inner_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_inner_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_outer_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_inner_finger_joint" />
+    <!--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="$(arg prefix)base_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)half_arm_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)half_arm_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)half_arm_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)half_arm_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)shoulder_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)half_arm_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)left_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)left_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)shoulder_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_inner_finger_pad" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_inner_knuckle" reason="Default" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_outer_finger" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)left_outer_knuckle" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_inner_knuckle" reason="Default" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_outer_finger" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)right_outer_knuckle" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)robotiq_arg2f_base_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)robotiq_arg2f_base_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)shoulder_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)spherical_wrist_1_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+</robot>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml
new file mode 100644
index 0000000..7c29158
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml
@@ -0,0 +1,69 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_7:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)left_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)left_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_outer_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/ros_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/ros_controllers.yaml
new file mode 100644
index 0000000..f1b8067
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/ros_controllers.yaml
@@ -0,0 +1,23 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+  - name: "$(arg prefix)gen3_joint_trajectory_controller"
+    action_ns: follow_joint_trajectory
+    default: True
+    type: FollowJointTrajectory
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+      - $(arg prefix)joint_7
+
+  - name: "$(arg prefix)robotiq_2f_140_gripper_controller"
+    action_ns: gripper_cmd
+    default: True
+    type: GripperCommand
+    joints:
+      - $(arg prefix)finger_joint
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/chomp_planning.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/chomp_planning.yaml
new file mode 100644
index 0000000..75258e5
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_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/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml
new file mode 100644
index 0000000..46a2386
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/kinematics.yaml
@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/ompl_planning.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/ompl_planning.yaml
new file mode 100644
index 0000000..2ee2dbe
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/ompl_planning.yaml
@@ -0,0 +1,176 @@
+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
+arm:
+  default_planner_config: RRTConnect
+  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
+  projection_evaluator: joints($(arg prefix)joint_1,$(arg prefix)joint_2)
+  longest_valid_segment_fraction: 0.005
+gripper:
+  default_planner_config: RRTConnect
+  planner_configs:
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/sensors_3d.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/sensors_3d.yaml
new file mode 100644
index 0000000..d2955dc
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/sensors_3d.yaml
@@ -0,0 +1,3 @@
+# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
+sensors:
+  - {}
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/chomp_planning_pipeline.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..0d872ab
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/chomp_planning_pipeline.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+
+   <!-- CHOMP Plugin for MoveIt! -->
+   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+
+   <arg name="start_state_max_bounds_error" value="0.1" />
+
+   <param name="planning_plugin" value="$(arg planning_plugin)" />
+   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+   <param name="collision_detector" value="Hybrid" />
+
+   <rosparam command="load" file="$(find gen3_robotiq_2f_140_move_it_config)/config/chomp_planning.yaml" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/default_warehouse_db.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/default_warehouse_db.launch
new file mode 100644
index 0000000..182c096
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_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="$(find gen3_robotiq_2f_140_move_it_config)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find gen3_robotiq_2f_140_move_it_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="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/demo.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/demo.launch
new file mode 100644
index 0000000..340aed4
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/demo.launch
@@ -0,0 +1,57 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find gen3_robotiq_2f_140_move_it_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!--
+  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" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find gen3_robotiq_2f_140_move_it_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(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="$(find gen3_robotiq_2f_140_move_it_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find gen3_robotiq_2f_140_move_it_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find gen3_robotiq_2f_140_move_it_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/fake_moveit_controller_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..6ff1ed9
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,13 @@
+<launch>
+
+    <!-- The number of degrees of freedom of the Gen3 arm -->
+  <arg name="dof" default="7"/>
+  <arg name="prefix" default=""/>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find gen3_robotiq_2f_140_move_it_config)/config/$(arg dof)dof/fake_controllers.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_controller_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..6007253
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_controller_manager.launch.xml
@@ -0,0 +1,12 @@
+<launch>
+
+  <arg name="dof" default="7"/>
+  <arg name="prefix" default=""/>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find gen3_robotiq_2f_140_move_it_config)/config/$(arg dof)dof/ros_controllers.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_sensor_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_sensor_manager.launch.xml
new file mode 100644
index 0000000..5d02698
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/gen3_robotiq_2f_140_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/joystick_control.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/joystick_control.launch
new file mode 100644
index 0000000..9411f6e
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(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/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/move_group.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/move_group.launch
new file mode 100644
index 0000000..765335b
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/move_group.launch
@@ -0,0 +1,91 @@
+<launch>
+
+  <!-- The number of degrees of freedom of the Gen3 arm -->
+  <arg name="dof" default="7"/>
+  <arg name="use_hard_limits" default="false"/>
+
+  <!-- The joint and link names prefix used in kortex_description -->
+  <arg name="prefix" default=""/>
+
+  <include file="$(find gen3_robotiq_2f_140_move_it_config)/launch/planning_context.launch">
+    <arg name="dof" value="$(arg dof)"/>
+    <arg name="use_hard_limits" value="$(arg use_hard_limits)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+  </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 -x $(find gen3_robotiq_2f_140_move_it_config)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="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
+                " />
+  -->
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find gen3_robotiq_2f_140_move_it_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="ompl" />
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find gen3_robotiq_2f_140_move_it_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="dof" value="$(arg dof)"/>
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="gen3_robotiq_2f_140" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <!-- <include ns="move_group" file="$(find gen3_robotiq_2f_140_move_it_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="gen3_robotiq_2f_140" />
+  </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="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)"/>
+
+
+    <!-- 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/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit.rviz b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit.rviz
new file mode 100644
index 0000000..0877e1e
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_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/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit_rviz.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit_rviz.launch
new file mode 100644
index 0000000..794f7e5
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+<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 $(find gen3_robotiq_2f_140_move_it_config)/launch/moveit.rviz" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find gen3_robotiq_2f_140_move_it_config)/config/kinematics.yaml"/>
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/ompl_planning_pipeline.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 0000000..99ec2a5
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,27 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+  <arg name="prefix" default=""/>
+
+  <!-- The request adapters (plugins) used when planning with OMPL.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="industrial_trajectory_filters/UniformSampleFilter
+               default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(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)" />
+
+  <!-- PreComputedJointTrajectory Action Server needs 1msec timesteps between waypoints  -->
+  <param name="sample_duration" value="0.001"/>
+
+  <rosparam command="load" file="$(find gen3_robotiq_2f_140_move_it_config)/config/ompl_planning.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_context.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_context.launch
new file mode 100644
index 0000000..803e5ae
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_context.launch
@@ -0,0 +1,39 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- The number of degrees of freedom of the Gen3 arm -->
+  <arg name="dof" default="7"/>
+
+  <!-- The joint and link names prefix used in kortex_description -->
+  <arg name="prefix" default=""/>
+
+  <!-- Use the slower (2.0 default) joint speed and acceleration limits, or the hard limits (fastest) -->
+  <arg name="use_hard_limits" default="false"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro arm:=gen3 gripper:=robotiq_2f_140 '$(find kortex_description)/robots/gen3_robotiq_2f_140.xacro'"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <!-- With prefix -->
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder $(find gen3_robotiq_2f_140_move_it_config)/config/$(arg dof)dof/gen3_robotiq_2f_140.srdf.xacro prefix:=$(arg prefix)"
+    unless="$(eval not arg('prefix'))"/>
+  <!-- No prefix -->
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder $(find gen3_robotiq_2f_140_move_it_config)/config/$(arg dof)dof/gen3_robotiq_2f_140.srdf.xacro"
+    if="$(eval not arg('prefix'))"/>
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find gen3_robotiq_2f_140_move_it_config)/config/$(arg dof)dof/default_joint_limits.yaml" unless="$(arg use_hard_limits)" subst_value="true"/>
+    <rosparam command="load" file="$(find gen3_robotiq_2f_140_move_it_config)/config/$(arg dof)dof/hard_joint_limits.yaml" if="$(arg use_hard_limits)" 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 gen3_robotiq_2f_140_move_it_config)/config/kinematics.yaml"/>
+  </group>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_pipeline.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_pipeline.launch.xml
new file mode 100644
index 0000000..4e99c9c
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/planning_pipeline.launch.xml
@@ -0,0 +1,13 @@
+<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="prefix" default=""/>
+
+  <include file="$(find gen3_robotiq_2f_140_move_it_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml">
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/run_benchmark_ompl.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/run_benchmark_ompl.launch
new file mode 100644
index 0000000..cf41639
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find gen3_robotiq_2f_140_move_it_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find gen3_robotiq_2f_140_move_it_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(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 gen3_robotiq_2f_140_move_it_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find gen3_robotiq_2f_140_move_it_config)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/sensor_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/sensor_manager.launch.xml
new file mode 100644
index 0000000..a19ae58
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/sensor_manager.launch.xml
@@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find gen3_robotiq_2f_140_move_it_config)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <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="gen3_robotiq_2f_140" />
+  <include file="$(find gen3_robotiq_2f_140_move_it_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/setup_assistant.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/setup_assistant.launch
new file mode 100644
index 0000000..b74e781
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+<!-- 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=gen3_robotiq_2f_140_move_it_config"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/trajectory_execution.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/trajectory_execution.launch.xml
new file mode 100644
index 0000000..3eb4a38
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/trajectory_execution.launch.xml
@@ -0,0 +1,25 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->
+  <arg name="dof" default="7"/>
+  <arg name="prefix" default=""/>
+
+  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(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="2.0"/> <!-- 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="2.0"/> <!-- default is 0.5 but this needs to be higher before preprocessing in the arm takes time -->
+  <!-- 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 -->
+
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="gen3_robotiq_2f_140" />
+  <include file="$(find gen3_robotiq_2f_140_move_it_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml">
+    <arg name="dof" value="$(arg dof)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse.launch b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse.launch
new file mode 100644
index 0000000..9bb4298
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(find gen3_robotiq_2f_140_move_it_config)/launch/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse_settings.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse_settings.launch.xml
new file mode 100644
index 0000000..e473b08
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/launch/warehouse_settings.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(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/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/package.xml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/package.xml
new file mode 100644
index 0000000..5028098
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/package.xml
@@ -0,0 +1,35 @@
+<package>
+
+  <name>gen3_robotiq_2f_140_move_it_config</name>
+  <version>2.2.2</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the gen3_robotiq_2f_140 with the MoveIt! Motion Planning Framework
+  </description>
+  <author email="avannobel@kinova.ca">Alexandre Vannobel</author>
+  <maintainer email="support@kinova.ca" />
+
+  <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_ompl</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>xacro</run_depend>
+  <run_depend>industrial_trajectory_filters</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> -->
+  <build_depend>kortex_description</build_depend>
+  <run_depend>kortex_description</run_depend>
+
+
+</package>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/.setup_assistant b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/.setup_assistant
new file mode 100644
index 0000000..05b9cb9
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: kortex_description
+    relative_path: robots/gen3_robotiq_2f_85.xacro
+    xacro_args: arm:=gen3 gripper:=robotiq_2f_85
+  SRDF:
+    relative_path: config/gen3_robotiq_2f_85.srdf
+  CONFIG:
+    author_name: Alexandre Vannobel
+    author_email: avannobel@kinova.ca
+    generated_timestamp: 1551813671
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/CMakeLists.txt b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/CMakeLists.txt
new file mode 100644
index 0000000..78da7d1
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gen3_robotiq_2f_85_move_it_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml
new file mode 100644
index 0000000..83fdb6b
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml
@@ -0,0 +1,64 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)left_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)left_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_outer_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/fake_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/fake_controllers.yaml
new file mode 100644
index 0000000..b9ec393
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/fake_controllers.yaml
@@ -0,0 +1,11 @@
+  - name: $(arg prefix)fake_arm_controller
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+  - name: $(arg prefix)fake_gripper_controller
+    joints:
+      - $(arg prefix)finger_joint
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/gen3_robotiq_2f_85.srdf.xacro b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/gen3_robotiq_2f_85.srdf.xacro
new file mode 100644
index 0000000..0ff251e
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/gen3_robotiq_2f_85.srdf.xacro
@@ -0,0 +1,199 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="gen3_robotiq_2f_85" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="prefix" default="" />
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <joint name="$(arg prefix)joint_1" />
+        <joint name="$(arg prefix)joint_2" />
+        <joint name="$(arg prefix)joint_3" />
+        <joint name="$(arg prefix)joint_4" />
+        <joint name="$(arg prefix)joint_5" />
+        <joint name="$(arg prefix)joint_6" />
+        <joint name="$(arg prefix)end_effector" />
+        <joint name="$(arg prefix)tool_frame_joint" />
+    </group>
+    <group name="gripper">
+        <joint name="$(arg prefix)gripper_base_joint" />
+        <joint name="$(arg prefix)finger_joint" />
+        <joint name="$(arg prefix)left_outer_finger_joint" />
+        <joint name="$(arg prefix)left_inner_finger_joint" />
+        <joint name="$(arg prefix)left_inner_finger_pad_joint" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" />
+        <joint name="$(arg prefix)right_outer_finger_joint" />
+        <joint name="$(arg prefix)right_inner_finger_joint" />
+        <joint name="$(arg prefix)right_inner_finger_pad_joint" />
+    </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="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0.26" />
+        <joint name="$(arg prefix)joint_3" value="-2.27" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="0.96" />
+        <joint name="$(arg prefix)joint_6" value="1.57" />
+    </group_state>
+    <group_state name="retract" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="-0.35" />
+        <joint name="$(arg prefix)joint_3" value="-2.54" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="-0.87" />
+        <joint name="$(arg prefix)joint_6" value="1.57" />
+    </group_state>
+    <group_state name="vertical" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0" />
+        <joint name="$(arg prefix)joint_3" value="0" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="0" />
+    </group_state>
+    <group_state name="opened" group="gripper">
+        <joint name="$(arg prefix)left_inner_finger_joint" value="0" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" value="0" />
+        <joint name="$(arg prefix)finger_joint" value="0" />
+        <joint name="$(arg prefix)right_inner_finger_joint" value="0" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" value="0" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" value="0" />
+    </group_state>
+    <group_state name="closed" group="gripper">
+        <joint name="$(arg prefix)left_inner_finger_joint" value="0.8" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" value="0.8" />
+        <joint name="$(arg prefix)finger_joint" value="0.8" />
+        <joint name="$(arg prefix)right_inner_finger_joint" value="-0.8" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" value="0.8" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" value="0.8" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="gripper" parent_link="$(arg prefix)base_link" group="gripper" />
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="$(arg prefix)left_inner_finger_joint" />
+    <passive_joint name="$(arg prefix)left_inner_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_inner_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_outer_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_inner_finger_joint" />
+    <!--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="$(arg prefix)base_link" link2="$(arg prefix)bicep_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bicep_link" link2="$(arg prefix)forearm_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bicep_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bicep_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)shoulder_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_inner_finger_pad" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_inner_knuckle" reason="Default" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_outer_finger" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)left_outer_knuckle" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_inner_knuckle" reason="Default" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_outer_finger" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)right_outer_knuckle" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)robotiq_arg2f_base_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)robotiq_arg2f_base_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)shoulder_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)spherical_wrist_1_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+</robot>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml
new file mode 100644
index 0000000..18bcded
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml
@@ -0,0 +1,64 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)left_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)left_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_outer_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/ros_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/ros_controllers.yaml
new file mode 100644
index 0000000..f13b3e5
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/ros_controllers.yaml
@@ -0,0 +1,22 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+  - name: "$(arg prefix)gen3_joint_trajectory_controller"
+    action_ns: follow_joint_trajectory
+    default: True
+    type: FollowJointTrajectory
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+
+  - name: "$(arg prefix)robotiq_2f_85_gripper_controller"
+    action_ns: gripper_cmd
+    default: True
+    type: GripperCommand
+    joints:
+      - $(arg prefix)finger_joint
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml
new file mode 100644
index 0000000..b172331
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml
@@ -0,0 +1,69 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)joint_7:
+    has_velocity_limits: true
+    max_velocity: 0.86
+    has_acceleration_limits: true
+    max_acceleration: 0.3
+  $(arg prefix)left_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)left_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_outer_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/fake_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/fake_controllers.yaml
new file mode 100644
index 0000000..57fb469
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/fake_controllers.yaml
@@ -0,0 +1,13 @@
+controller_list:
+  - name: $(arg prefix)fake_arm_controller
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+      - $(arg prefix)joint_7
+  - name: $(arg prefix)fake_gripper_controller
+    joints:
+      - $(arg prefix)finger_joint
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/gen3_robotiq_2f_85.srdf.xacro b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/gen3_robotiq_2f_85.srdf.xacro
new file mode 100644
index 0000000..0463d2d
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/gen3_robotiq_2f_85.srdf.xacro
@@ -0,0 +1,218 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="gen3_robotiq_2f_85" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="prefix" default="" />
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <joint name="$(arg prefix)joint_1" />
+        <joint name="$(arg prefix)joint_2" />
+        <joint name="$(arg prefix)joint_3" />
+        <joint name="$(arg prefix)joint_4" />
+        <joint name="$(arg prefix)joint_5" />
+        <joint name="$(arg prefix)joint_6" />
+        <joint name="$(arg prefix)joint_7" />
+        <joint name="$(arg prefix)end_effector" />
+        <joint name="$(arg prefix)tool_frame_joint" />
+    </group>
+    <group name="gripper">
+        <joint name="$(arg prefix)gripper_base_joint" />
+        <joint name="$(arg prefix)finger_joint" />
+        <joint name="$(arg prefix)left_outer_finger_joint" />
+        <joint name="$(arg prefix)left_inner_finger_joint" />
+        <joint name="$(arg prefix)left_inner_finger_pad_joint" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" />
+        <joint name="$(arg prefix)right_outer_finger_joint" />
+        <joint name="$(arg prefix)right_inner_finger_joint" />
+        <joint name="$(arg prefix)right_inner_finger_pad_joint" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="home" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0.26" />
+        <joint name="$(arg prefix)joint_3" value="3.14" />
+        <joint name="$(arg prefix)joint_4" value="-2.27" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="0.96" />
+        <joint name="$(arg prefix)joint_7" value="1.57" />
+    </group_state>
+    <group_state name="retract" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="-0.35" />
+        <joint name="$(arg prefix)joint_3" value="3.14" />
+        <joint name="$(arg prefix)joint_4" value="-2.54" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="-0.87" />
+        <joint name="$(arg prefix)joint_7" value="1.57" />
+    </group_state>
+    <group_state name="vertical" group="arm">
+        <joint name="$(arg prefix)joint_1" value="0" />
+        <joint name="$(arg prefix)joint_2" value="0" />
+        <joint name="$(arg prefix)joint_3" value="0" />
+        <joint name="$(arg prefix)joint_4" value="0" />
+        <joint name="$(arg prefix)joint_5" value="0" />
+        <joint name="$(arg prefix)joint_6" value="0" />
+        <joint name="$(arg prefix)joint_7" value="0" />
+    </group_state>
+    <group_state name="opened" group="gripper">
+        <joint name="$(arg prefix)left_inner_finger_joint" value="0" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" value="0" />
+        <joint name="$(arg prefix)finger_joint" value="0" />
+        <joint name="$(arg prefix)right_inner_finger_joint" value="0" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" value="0" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" value="0" />
+    </group_state>
+    <group_state name="closed" group="gripper">
+        <joint name="$(arg prefix)left_inner_finger_joint" value="0.8" />
+        <joint name="$(arg prefix)right_inner_knuckle_joint" value="0.8" />
+        <joint name="$(arg prefix)finger_joint" value="0.8" />
+        <joint name="$(arg prefix)right_inner_finger_joint" value="-0.8" />
+        <joint name="$(arg prefix)left_inner_knuckle_joint" value="0.8" />
+        <joint name="$(arg prefix)right_outer_knuckle_joint" value="0.8" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="gripper" parent_link="$(arg prefix)base_link" group="gripper" />
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="$(arg prefix)left_inner_finger_joint" />
+    <passive_joint name="$(arg prefix)left_inner_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_inner_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_outer_knuckle_joint" />
+    <passive_joint name="$(arg prefix)right_inner_finger_joint" />
+    <!--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="$(arg prefix)base_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)half_arm_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)half_arm_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)base_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)forearm_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)bracelet_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)half_arm_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)half_arm_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)shoulder_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)forearm_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)half_arm_2_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)half_arm_1_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)left_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)left_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)shoulder_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)half_arm_2_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_inner_finger_pad" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_inner_knuckle" reason="Default" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_outer_finger" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_finger_pad" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)left_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)left_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_inner_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)left_outer_knuckle" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_finger_pad" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)left_outer_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_inner_finger_pad" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_inner_knuckle" reason="Default" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_outer_finger" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_inner_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_finger_pad" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)right_outer_finger" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)right_outer_knuckle" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_inner_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)right_outer_knuckle" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_finger" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)robotiq_arg2f_base_link" reason="Adjacent" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)right_outer_knuckle" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)robotiq_arg2f_base_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)robotiq_arg2f_base_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)shoulder_link" link2="$(arg prefix)spherical_wrist_1_link" reason="Never" />
+    <disable_collisions link1="$(arg prefix)spherical_wrist_1_link" link2="$(arg prefix)spherical_wrist_2_link" reason="Adjacent" />
+</robot>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml
new file mode 100644
index 0000000..7c29158
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml
@@ -0,0 +1,69 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  $(arg prefix)joint_1:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_2:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_3:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_4:
+    has_velocity_limits: true
+    max_velocity: 1.37
+    has_acceleration_limits: true
+    max_acceleration: 1.56
+  $(arg prefix)joint_5:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_6:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)joint_7:
+    has_velocity_limits: true
+    max_velocity: 1.15
+    has_acceleration_limits: true
+    max_acceleration: 3.0
+  $(arg prefix)left_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_inner_finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)left_inner_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  $(arg prefix)right_outer_knuckle_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/ros_controllers.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/ros_controllers.yaml
new file mode 100644
index 0000000..f401d72
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/ros_controllers.yaml
@@ -0,0 +1,23 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+  - name: "$(arg prefix)gen3_joint_trajectory_controller"
+    action_ns: follow_joint_trajectory
+    default: True
+    type: FollowJointTrajectory
+    joints:
+      - $(arg prefix)joint_1
+      - $(arg prefix)joint_2
+      - $(arg prefix)joint_3
+      - $(arg prefix)joint_4
+      - $(arg prefix)joint_5
+      - $(arg prefix)joint_6
+      - $(arg prefix)joint_7
+
+  - name: "$(arg prefix)robotiq_2f_85_gripper_controller"
+    action_ns: gripper_cmd
+    default: True
+    type: GripperCommand
+    joints:
+      - $(arg prefix)finger_joint
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/chomp_planning.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/chomp_planning.yaml
new file mode 100644
index 0000000..75258e5
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_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/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/kinematics.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/kinematics.yaml
new file mode 100644
index 0000000..46a2386
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/kinematics.yaml
@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/ompl_planning.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/ompl_planning.yaml
new file mode 100644
index 0000000..2ee2dbe
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/ompl_planning.yaml
@@ -0,0 +1,176 @@
+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
+arm:
+  default_planner_config: RRTConnect
+  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
+  projection_evaluator: joints($(arg prefix)joint_1,$(arg prefix)joint_2)
+  longest_valid_segment_fraction: 0.005
+gripper:
+  default_planner_config: RRTConnect
+  planner_configs:
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/sensors_3d.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/sensors_3d.yaml
new file mode 100644
index 0000000..d2955dc
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/sensors_3d.yaml
@@ -0,0 +1,3 @@
+# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
+sensors:
+  - {}
\ No newline at end of file
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/chomp_planning_pipeline.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..1fd48ef
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/chomp_planning_pipeline.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+
+   <!-- CHOMP Plugin for MoveIt! -->
+   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+
+   <arg name="start_state_max_bounds_error" value="0.1" />
+
+   <param name="planning_plugin" value="$(arg planning_plugin)" />
+   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+   <param name="collision_detector" value="Hybrid" />
+
+   <rosparam command="load" file="$(find gen3_robotiq_2f_85_move_it_config)/config/chomp_planning.yaml" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/default_warehouse_db.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/default_warehouse_db.launch
new file mode 100644
index 0000000..35770c5
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_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="$(find gen3_robotiq_2f_85_move_it_config)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find gen3_robotiq_2f_85_move_it_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="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/demo.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/demo.launch
new file mode 100644
index 0000000..6f4dcea
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/demo.launch
@@ -0,0 +1,57 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find gen3_robotiq_2f_85_move_it_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!--
+  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" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find gen3_robotiq_2f_85_move_it_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(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="$(find gen3_robotiq_2f_85_move_it_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find gen3_robotiq_2f_85_move_it_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find gen3_robotiq_2f_85_move_it_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/fake_moveit_controller_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..d9a0984
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,13 @@
+<launch>
+
+    <!-- The number of degrees of freedom of the Gen3 arm -->
+  <arg name="dof" default="7"/>
+  <arg name="prefix" default=""/>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find gen3_robotiq_2f_85_move_it_config)/config/$(arg dof)dof/fake_controllers.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/gen3_robotiq_2f_85_moveit_controller_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/gen3_robotiq_2f_85_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..1d65402
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/gen3_robotiq_2f_85_moveit_controller_manager.launch.xml
@@ -0,0 +1,12 @@
+<launch>
+
+  <arg name="dof" default="7"/>
+  <arg name="prefix" default=""/>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find gen3_robotiq_2f_85_move_it_config)/config/$(arg dof)dof/ros_controllers.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/gen3_robotiq_2f_85_moveit_sensor_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/gen3_robotiq_2f_85_moveit_sensor_manager.launch.xml
new file mode 100644
index 0000000..5d02698
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/gen3_robotiq_2f_85_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/joystick_control.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/joystick_control.launch
new file mode 100644
index 0000000..9411f6e
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(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/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/move_group.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/move_group.launch
new file mode 100644
index 0000000..806b0a2
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/move_group.launch
@@ -0,0 +1,91 @@
+<launch>
+
+  <!-- The number of degrees of freedom of the Gen3 arm -->
+  <arg name="dof" default="7"/>
+  <arg name="use_hard_limits" default="false"/>
+
+  <!-- The joint and link names prefix used in kortex_description -->
+  <arg name="prefix" default=""/>
+
+  <include file="$(find gen3_robotiq_2f_85_move_it_config)/launch/planning_context.launch">
+    <arg name="dof" value="$(arg dof)"/>
+    <arg name="use_hard_limits" value="$(arg use_hard_limits)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+  </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 -x $(find gen3_robotiq_2f_85_move_it_config)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="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
+                " />
+  -->
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find gen3_robotiq_2f_85_move_it_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="ompl" />
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find gen3_robotiq_2f_85_move_it_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="dof" value="$(arg dof)"/>
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="gen3_robotiq_2f_85" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <!-- <include ns="move_group" file="$(find gen3_robotiq_2f_85_move_it_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="gen3_robotiq_2f_85" />
+  </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="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)"/>
+
+
+    <!-- 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/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/moveit.rviz b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/moveit.rviz
new file mode 100644
index 0000000..0877e1e
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_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/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/moveit_rviz.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/moveit_rviz.launch
new file mode 100644
index 0000000..d15601d
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+<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 $(find gen3_robotiq_2f_85_move_it_config)/launch/moveit.rviz" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find gen3_robotiq_2f_85_move_it_config)/config/kinematics.yaml"/>
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/ompl_planning_pipeline.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 0000000..5ef1a12
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,27 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+  <arg name="prefix" default=""/>
+
+  <!-- The request adapters (plugins) used when planning with OMPL.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="industrial_trajectory_filters/UniformSampleFilter
+               default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(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)" />
+
+  <!-- PreComputedJointTrajectory Action Server needs 1msec timesteps between waypoints  -->
+  <param name="sample_duration" value="0.001"/>
+
+  <rosparam command="load" file="$(find gen3_robotiq_2f_85_move_it_config)/config/ompl_planning.yaml" subst_value="true"/>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/planning_context.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/planning_context.launch
new file mode 100644
index 0000000..497da46
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/planning_context.launch
@@ -0,0 +1,39 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- The number of degrees of freedom of the Gen3 arm -->
+  <arg name="dof" default="7"/>
+
+  <!-- The joint and link names prefix used in kortex_description -->
+  <arg name="prefix" default=""/>
+  
+  <!-- Use the slower (2.0 default) joint speed and acceleration limits, or the hard limits (fastest) -->
+  <arg name="use_hard_limits" default="false"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro arm:=gen3 gripper:=robotiq_2f_85 '$(find kortex_description)/robots/gen3_robotiq_2f_85.xacro'"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <!-- With prefix -->
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder $(find gen3_robotiq_2f_85_move_it_config)/config/$(arg dof)dof/gen3_robotiq_2f_85.srdf.xacro  prefix:=$(arg prefix)"
+    unless="$(eval not arg('prefix'))"/>
+  <!-- No prefix -->
+  <param name="$(arg robot_description)_semantic" command="$(find xacro)/xacro --inorder $(find gen3_robotiq_2f_85_move_it_config)/config/$(arg dof)dof/gen3_robotiq_2f_85.srdf.xacro"
+    if="$(eval not arg('prefix'))"/>
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find gen3_robotiq_2f_85_move_it_config)/config/$(arg dof)dof/default_joint_limits.yaml" unless="$(arg use_hard_limits)" subst_value="true"/>
+    <rosparam command="load" file="$(find gen3_robotiq_2f_85_move_it_config)/config/$(arg dof)dof/hard_joint_limits.yaml" if="$(arg use_hard_limits)" 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 gen3_robotiq_2f_85_move_it_config)/config/kinematics.yaml"/>
+  </group>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/planning_pipeline.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/planning_pipeline.launch.xml
new file mode 100644
index 0000000..438586b
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/planning_pipeline.launch.xml
@@ -0,0 +1,13 @@
+<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="prefix" default=""/>
+
+  <include file="$(find gen3_robotiq_2f_85_move_it_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml">
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/run_benchmark_ompl.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/run_benchmark_ompl.launch
new file mode 100644
index 0000000..0ff9e83
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find gen3_robotiq_2f_85_move_it_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find gen3_robotiq_2f_85_move_it_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(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 gen3_robotiq_2f_85_move_it_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find gen3_robotiq_2f_85_move_it_config)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/sensor_manager.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/sensor_manager.launch.xml
new file mode 100644
index 0000000..2e6a49f
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/sensor_manager.launch.xml
@@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find gen3_robotiq_2f_85_move_it_config)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <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="gen3_robotiq_2f_85" />
+  <include file="$(find gen3_robotiq_2f_85_move_it_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/setup_assistant.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/setup_assistant.launch
new file mode 100644
index 0000000..ed669a6
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+<!-- 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=gen3_robotiq_2f_85_move_it_config"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/trajectory_execution.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/trajectory_execution.launch.xml
new file mode 100644
index 0000000..55e216c
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/trajectory_execution.launch.xml
@@ -0,0 +1,25 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->
+  <arg name="dof" default="7"/>
+  <arg name="prefix" default=""/>
+
+  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(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="2.0"/> <!-- 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="2.0"/> <!-- default is 0.5 but this needs to be higher before preprocessing in the arm takes time -->
+  <!-- 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 -->
+
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="gen3_robotiq_2f_85" />
+  <include file="$(find gen3_robotiq_2f_85_move_it_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml">
+    <arg name="dof" value="$(arg dof)"/>
+    <arg name="prefix" value="$(arg prefix)"/>
+  </include>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/warehouse.launch b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/warehouse.launch
new file mode 100644
index 0000000..f4d4f96
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(find gen3_robotiq_2f_85_move_it_config)/launch/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/warehouse_settings.launch.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/warehouse_settings.launch.xml
new file mode 100644
index 0000000..e473b08
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/launch/warehouse_settings.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(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/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml
new file mode 100644
index 0000000..1e21504
--- /dev/null
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/package.xml
@@ -0,0 +1,35 @@
+<package>
+
+  <name>gen3_robotiq_2f_85_move_it_config</name>
+  <version>2.2.2</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the gen3_robotiq_2f_85 with the MoveIt! Motion Planning Framework
+  </description>
+  <author email="avannobel@kinova.ca">Alexandre Vannobel</author>
+  <maintainer email="support@kinova.ca" />
+
+  <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_ompl</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>xacro</run_depend>
+  <run_depend>industrial_trajectory_filters</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> -->
+  <build_depend>kortex_description</build_depend>
+  <run_depend>kortex_description</run_depend>
+
+
+</package>
diff --git a/kortex_move_it_config/kortex_move_it_config/CMakeLists.txt b/kortex_move_it_config/kortex_move_it_config/CMakeLists.txt
new file mode 100644
index 0000000..5a74a9b
--- /dev/null
+++ b/kortex_move_it_config/kortex_move_it_config/CMakeLists.txt
@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(kortex_move_it_config)
+find_package(catkin REQUIRED)
+catkin_metapackage()
\ No newline at end of file
diff --git a/kortex_move_it_config/kortex_move_it_config/package.xml b/kortex_move_it_config/kortex_move_it_config/package.xml
new file mode 100644
index 0000000..a9cbce9
--- /dev/null
+++ b/kortex_move_it_config/kortex_move_it_config/package.xml
@@ -0,0 +1,37 @@
+<package>
+
+  <name>kortex_move_it_config</name>
+  <version>2.2.2</version>
+  <description>
+     The metapackage for the automatically generated MoveIt configuration packages
+  </description>
+  <author email="avannobel@kinova.ca">Alexandre Vannobel</author>
+  <maintainer email="avannobel@kinova.ca" />
+
+  <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_ompl</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>xacro</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>kortex_description</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+
+
+</package>
diff --git a/kortex_move_it_config/readme.md b/kortex_move_it_config/readme.md
new file mode 100644
index 0000000..832f49c
--- /dev/null
+++ b/kortex_move_it_config/readme.md
@@ -0,0 +1,31 @@
+<!-- 
+* KINOVA (R) KORTEX (TM)
+*
+* Copyright (c) 2018 Kinova inc. All rights reserved.
+*
+* This software may be modified and distributed 
+* under the terms of the BSD 3-Clause license. 
+*
+* Refer to the LICENSE file for details.
+*
+* -->
+
+# Kortex MoveIt! Config
+
+## Overview
+This folder contains all the auto-generated MoveIt! configuration ROS packages. These packages have been generated using the [MoveIt! Setup Assistant](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/setup_assistant/setup_assistant_tutorial.html).
+
+## Naming
+
+The packages that don't use a gripper are named `ARM_move_it_config`, where "ARM" is the name of the arm you are using. 
+See the `kortex_description/arms` folder for a list of supported Kinova Kortex robots.
+
+The packages that use a gripper are named `ARM_GRIPPER_move_it_config`, where "ARM" is the name of the arm you are using and "GRIPPER" is the name of the gripper you are using.  
+See the `kortex_description/grippers` folder for a list of supported Kinova Kortex grippers. 
+
+## Using MoveIt! with Kinova Kortex Robots
+
+Upon launching the main launch file of a `move_it_config` package, `move_group.launch` (normally launched from the real arm driver's launch file and the simulation launch file), the [C++](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html) and [Python](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/move_group_python_interface/move_group_python_interface_tutorial.html) interfaces for MoveIt will be enabled. 
+You will be able to use motion planning, configure the planning scene, send trajectories and send pose goals to the simulated robot from your own ROS nodes.
+
+You can take a look at our [MoveIt! Python example](../kortex_examples/python/move_it/example_move_it_trajectories.py) for a concrete example.  
diff --git a/notebooks/Example.ipynb b/notebooks/Example.ipynb
deleted file mode 100644
index c5103ff..0000000
--- a/notebooks/Example.ipynb
+++ /dev/null
@@ -1,190 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "using Pkg\n",
-    "Pkg.activate(joinpath(@__DIR__, \"..\"))\n",
-    "Pkg.instantiate()"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "using Revise\n",
-    "using TORA"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "using MeshCat\n",
-    "using MeshCatMechanisms\n",
-    "using RigidBodyDynamics"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "TORA.greet()"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "vis = Visualizer()\n",
-    "\n",
-    "setprop!(vis[\"/Cameras/default/rotated/<object>\"], \"fov\", 40)\n",
-    "\n",
-    "# IJuliaCell(vis)  # Show the viewer here (in the notebook)\n",
-    "open(vis)  # Show the viewer in a separate tab"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "robot = TORA.create_robot_kuka_iiwa_14(vis)\n",
-    "problem = TORA.Problem(robot, 301, 1/150)\n",
-    "\n",
-    "# Constrain initial and final joint velocities to zero\n",
-    "TORA.fix_joint_velocities!(problem, robot, 1, zeros(robot.n_v))\n",
-    "TORA.fix_joint_velocities!(problem, robot, problem.num_knots, zeros(robot.n_v))\n",
-    "\n",
-    "# # Constrain the position of the end-effector\n",
-    "# TORA.constrain_ee_position!(problem,   1, [ 1.0,  0.0,  0.5])\n",
-    "# TORA.constrain_ee_position!(problem, 101, [ 0.0,  1.0,  0.5])\n",
-    "# TORA.constrain_ee_position!(problem, 201, [-1.0,  0.0,  0.5])\n",
-    "# TORA.constrain_ee_position!(problem, 301, [ 0.0, -1.0,  0.5])\n",
-    "\n",
-    "let\n",
-    "    CubicTimeScaling(Tf::Number, t::Number) = 3(t / Tf)^2 - 2(t / Tf)^3\n",
-    "    QuinticTimeScaling(Tf::Number, t::Number) = 10(t / Tf)^3 - 15(t / Tf)^4 + 6(t / Tf)^5\n",
-    "\n",
-    "    for k = 1:2:problem.num_knots\n",
-    "        θ = CubicTimeScaling(problem.num_knots - 1, k - 1) * 2π\n",
-    "        pos = [0.5, 0.2 * cos(θ), 0.8 + 0.2 * sin(θ)]\n",
-    "        # pos = [0.5, 0.3 * sin(θ) + 0.1 * sin(8 * θ), 0.8 + 0.3 * cos(θ) + 0.1 * cos(8 * θ)]\n",
-    "        TORA.constrain_ee_position!(problem, k, pos)\n",
-    "    end\n",
-    "end\n",
-    "\n",
-    "TORA.show_problem_info(problem)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "initial_q = [0, 0, 0, -π/2, 0, 0, 0]\n",
-    "\n",
-    "zero!(robot.state)\n",
-    "set_configuration!(robot.state, initial_q)\n",
-    "set_configuration!(robot.mvis, configuration(robot.state))\n",
-    "\n",
-    "initial_qs = repeat(initial_q, 1, problem.num_knots)\n",
-    "initial_vs = zeros(robot.n_v, problem.num_knots)\n",
-    "initial_τs = zeros(robot.n_τ, problem.num_knots)\n",
-    "\n",
-    "initial_guess = [initial_qs; initial_vs; initial_τs]\n",
-    "\n",
-    "# Flatten matrix and truncate torques of last knot\n",
-    "initial_guess = vec(initial_guess)[1:end - robot.n_τ];"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "use_inv_dyn = true\n",
-    "minimise_τ = false\n",
-    "\n",
-    "# Choose which solver you want to use:\n",
-    "solve = TORA.solve_with_ipopt  # Uses Ipopt (https://github.com/coin-or/Ipopt)\n",
-    "# solve = TORA.solve_with_knitro  # Uses KNITRO (https://www.artelys.com/solvers/knitro/)\n",
-    "\n",
-    "# Calling this will start the optimization.\n",
-    "cpu_time, x, solver_log = solve(problem, robot,\n",
-    "                                initial_guess=initial_guess,\n",
-    "                                use_inv_dyn=use_inv_dyn,\n",
-    "                                minimise_τ=minimise_τ)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "TORA.plot_log(solver_log)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "let\n",
-    "    ee_positions = TORA.get_ee_path(problem, robot, x)\n",
-    "    TORA.show_ee_path(vis, ee_positions)\n",
-    "\n",
-    "    nₓ = robot.n_q + robot.n_v + robot.n_τ  # dimension of each mesh point\n",
-    "    ind_q = hcat([range(1 + (i * nₓ), length=robot.n_q) for i = (1:problem.num_knots) .- 1]...)\n",
-    "    q_mat = x[ind_q]\n",
-    "\n",
-    "    ts = range(0, length=problem.num_knots, step=problem.dt)\n",
-    "    qs = [q_mat[:, i] for i = 1:size(q_mat, 2)]\n",
-    "\n",
-    "    animation = Animation(robot.mvis, ts, qs)\n",
-    "    setanimation!(robot.mvis, animation)\n",
-    "end"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "TORA.plot_results(problem, robot, x)"
-   ]
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "Julia 1.5.2",
-   "language": "julia",
-   "name": "julia-1.5"
-  },
-  "language_info": {
-   "file_extension": ".jl",
-   "mimetype": "application/julia",
-   "name": "julia",
-   "version": "1.5.2"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 4
-}
diff --git a/notebooks/Tutorial.ipynb b/notebooks/Tutorial.ipynb
deleted file mode 100644
index 595e2de..0000000
--- a/notebooks/Tutorial.ipynb
+++ /dev/null
@@ -1,156 +0,0 @@
-{
- "cells": [
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "using Pkg\n",
-    "Pkg.activate(joinpath(@__DIR__, \"..\"))\n",
-    "Pkg.instantiate()"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "using TORA\n",
-    "using MeshCat\n",
-    "using MeshCatMechanisms\n",
-    "using RigidBodyDynamics"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "TORA.greet()"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "vis = Visualizer()\n",
-    "\n",
-    "# Change the camera's Field of View\n",
-    "setprop!(vis[\"/Cameras/default/rotated/<object>\"], \"fov\", 40)\n",
-    "\n",
-    "# IJuliaCell(vis)  # Show the viewer here (in the notebook)\n",
-    "open(vis)  # Show the viewer in a separate tab"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "robot = TORA.create_robot_kuka_iiwa_14(vis)\n",
-    "problem = TORA.Problem(robot, 301, 1/150)\n",
-    "\n",
-    "# Constrain initial and final joint velocities to zero\n",
-    "TORA.fix_joint_velocities!(problem, robot, 1, zeros(robot.n_v))\n",
-    "TORA.fix_joint_velocities!(problem, robot, problem.num_knots, zeros(robot.n_v))\n",
-    "\n",
-    "let CubicTimeScaling(Tf::Number, t::Number) = 3(t / Tf)^2 - 2(t / Tf)^3\n",
-    "    for k = 1:2:problem.num_knots  # For every other knot\n",
-    "        θ = CubicTimeScaling(problem.num_knots - 1, k - 1) * 2π\n",
-    "        pos = [0.5, 0.2 * cos(θ), 0.8 + 0.2 * sin(θ)]\n",
-    "        TORA.constrain_ee_position!(problem, k, pos)\n",
-    "    end\n",
-    "end"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "TORA.show_problem_info(problem)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "initial_q = [0, 0, 0, -π/2, 0, 0, 0]\n",
-    "\n",
-    "zero!(robot.state)\n",
-    "set_configuration!(robot.state, initial_q)\n",
-    "set_configuration!(robot.mvis, configuration(robot.state))\n",
-    "\n",
-    "initial_qs = repeat(initial_q, 1, problem.num_knots)\n",
-    "initial_vs = zeros(robot.n_v, problem.num_knots)\n",
-    "initial_τs = zeros(robot.n_τ, problem.num_knots)\n",
-    "\n",
-    "initial_guess = [initial_qs; initial_vs; initial_τs]\n",
-    "\n",
-    "# Flatten matrix and truncate torques of last knot\n",
-    "initial_guess = vec(initial_guess)[1:end - robot.n_τ];"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "# Calling this will start the optimization\n",
-    "cpu_time, x, solver_log = TORA.solve_with_ipopt(problem, robot, initial_guess=initial_guess)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "TORA.play_trajectory(vis, problem, robot, x)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "TORA.plot_results(problem, robot, x)"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "TORA.plot_log(solver_log)"
-   ]
-  }
- ],
- "metadata": {
-  "kernelspec": {
-   "display_name": "Julia 1.5.2",
-   "language": "julia",
-   "name": "julia-1.5"
-  },
-  "language_info": {
-   "file_extension": ".jl",
-   "mimetype": "application/julia",
-   "name": "julia",
-   "version": "1.5.2"
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 4
-}
diff --git a/readme.md b/readme.md
new file mode 100644
index 0000000..e31fabb
--- /dev/null
+++ b/readme.md
@@ -0,0 +1,86 @@
+# ros_kortex
+ROS Kortex is the official ROS package to interact with Kortex and its related products. It is built upon the Kortex API, documentation for which can be found in the [GitHub Kortex repository](https://github.com/Kinovarobotics/kortex).
+
+## Download links
+
+You can refer to the [Kortex repository "Download links" section](https://github.com/Kinovarobotics/kortex#download-links) to download the firmware package and the release notes.
+
+### Accessing the color and depth streams 
+
+To access the color and depth streams, you will need to clone and follow the instructions to install the [ros_kortex_vision repository ](https://github.com/Kinovarobotics/ros_kortex_vision).
+## Installation
+
+### Setup
+
+- [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics)
+
+This package has been tested under ROS Kinetic (Ubuntu 16.04) and ROS Melodic (Ubuntu 18.04).
+You can find the instructions to install ROS Kinetic [here](http://wiki.ros.org/kinetic/Installation/Ubuntu) and ROS Melodic [here](http://wiki.ros.org/melodic/Installation/Ubuntu).
+
+[Google Protocol Buffers](https://developers.google.com/protocol-buffers/) is used by Kinova to define the Kortex APIs and to automatically generate ROS messages, services and C++ classes from the Kortex API `.proto` files. The installation of Google Protocol Buffers is required by developers implementing new APIs with the robot. However, since we already provide all the necessary generated files on GitHub, this is not required for most end users of the robot.
+
+### Build
+
+These are the instructions to run in a terminal to create the workspace, clone the `ros_kortex` repository and install the necessary ROS dependencies:
+
+        sudo apt install python3 python3-pip
+        sudo python3 -m pip install conan
+        conan config set general.revisions_enabled=1
+        conan profile new default --detect > /dev/null
+        conan profile update settings.compiler.libcxx=libstdc++11 default
+        mkdir -p catkin_workspace/src
+        cd catkin_workspace/src
+        git clone https://github.com/Kinovarobotics/ros_kortex.git
+        cd ../
+        rosdep install --from-paths src --ignore-src -y
+
+Then, to build and source the workspace:
+        catkin_make
+        source devel/setup.bash
+
+You can also build against one of the ARMv8 builds of the Kortex API with Conan if you specify the `CONAN_TARGET_PLATFORM` CMake argument when using `catkin_make`. The following platforms are supported:
+
+- Artik 710: 
+
+        catkin_make --cmake-args -DCONAN_TARGET_PLATFORM=artik710
+        source devel/setup.bash
+
+- IMX6:
+
+        catkin_make --cmake-args -DCONAN_TARGET_PLATFORM=imx6
+        source devel/setup.bash
+
+- NVidia Jetson: 
+
+        catkin_make --cmake-args -DCONAN_TARGET_PLATFORM=jetson
+        source devel/setup.bash
+
+As you see, there are instructions to install the Conan package manager. You can learn more about why we use Conan or how to simply download the API and link against it [in this specific section of the kortex_driver readme](kortex_driver/readme.md#conan). You can also decide 
+
+## Contents
+
+The following is a description of the packages included in this repository.
+
+### kortex_control
+This package implements the simulation controllers that control the arm in Gazebo. For more details, please consult the [README](kortex_control/readme.md) from the package subdirectory.
+
+**Note** The `ros_control` controllers for the real arm are not yet implemented and will be in a future release of `ros_kortex`.
+
+### kortex_description
+This package contains the URDF (Unified Robot Description Format), STL and configuration files for the Kortex-compatible robots. For more details, please consult the [README](kortex_description/readme.md) from the package subdirectory.
+
+### kortex_driver
+This package implements a ROS node that allows communication between a node and a Kinova Gen3 or Gen3 lite robot. For more details, please consult the [README](kortex_driver/readme.md) from the package subdirectory.
+
+### kortex_examples
+This package holds all the examples needed to understand the basics of `ros_kortex`. Most of the examples are written in both C++ and Python. Only the MoveIt! example is available exclusively in Python for now.
+A more detailed [description](kortex_examples/readme.md) can be found in the package subdirectory.
+
+### kortex_gazebo
+This package contains files to simulate the Kinova Gen3 and Gen3 lite robots in Gazebo. For more details, please consult the [README](kortex_gazebo/readme.md) from the package subdirectory.
+
+### kortex_move_it_config
+This metapackage contains the auto-generated MoveIt! files to use the Kinova Gen3 and Gen3 lite arms with the MoveIt! motion planning framework. For more details, please consult the [README](kortex_move_it_config/readme.md) from the package subdirectory.
+
+### third_party
+This folder contains the third-party packages we use with the ROS Kortex packages. Currently, it consists of two packages used for the simulation of the Robotiq Gripper in Gazebo. We use [gazebo-pkgs](third_party/gazebo-pkgs/README.md) for grasping support in Gazebo and [roboticsgroup_gazebo_plugins](third_party/roboticsgroup_gazebo_plugins/README.md) to mimic joint support in Gazebo.
diff --git a/robots/iiwa14.urdf b/robots/iiwa14.urdf
deleted file mode 100644
index 558147c..0000000
--- a/robots/iiwa14.urdf
+++ /dev/null
@@ -1,464 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from iiwa14.urdf.xacro              | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="iiwa14">
-  <material name="Black">
-    <color rgba="0.0 0.0 0.0 1.0"/>
-  </material>
-  <material name="Blue">
-    <color rgba="0.0 0.0 0.8 1.0"/>
-  </material>
-  <material name="Green">
-    <color rgba="0.0 0.8 0.0 1.0"/>
-  </material>
-  <material name="Grey">
-    <color rgba="0.4 0.4 0.4 1.0"/>
-  </material>
-  <material name="Orange">
-    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
-  </material>
-  <material name="Brown">
-    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
-  </material>
-  <material name="Red">
-    <color rgba="0.8 0.0 0.0 1.0"/>
-  </material>
-  <material name="White">
-    <color rgba="1.0 1.0 1.0 1.0"/>
-  </material>
-  <!-- Fix to world just for testing -->
-  <link name="world"/>
-  <!--joint between {parent} and link_0-->
-  <joint name="world_iiwa_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="world"/>
-    <child link="iiwa_link_0"/>
-  </joint>
-  <link name="iiwa_link_0">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
-      <mass value="5"/>
-      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_0.stl"/>
-      </geometry>
-      <material name="Grey"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_0.stl"/>
-      </geometry>
-      <material name="Grey"/>
-    </collision>
-    <self_collision_checking>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <capsule length="0.25" radius="0.15"/>
-      </geometry>
-    </self_collision_checking>
-  </link>
-  <!-- joint between link_0 and link_1 -->
-  <joint name="iiwa_joint_1" type="revolute">
-    <parent link="iiwa_link_0"/>
-    <child link="iiwa_link_1"/>
-    <origin rpy="0 0 0" xyz="0 0 0.1575"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="iiwa_link_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
-      <mass value="4"/>
-      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_1.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_1.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </collision>
-  </link>
-  <!-- joint between link_1 and link_2 -->
-  <joint name="iiwa_joint_2" type="revolute">
-    <parent link="iiwa_link_1"/>
-    <child link="iiwa_link_2"/>
-    <origin rpy="1.57079632679   0 3.14159265359" xyz="0 0 0.2025"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="iiwa_link_2">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
-      <mass value="4"/>
-      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_2.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_2.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </collision>
-  </link>
-  <!-- joint between link_2 and link_3 -->
-  <joint name="iiwa_joint_3" type="revolute">
-    <parent link="iiwa_link_2"/>
-    <child link="iiwa_link_3"/>
-    <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="iiwa_link_3">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0.03 0.13"/>
-      <mass value="3"/>
-      <inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_3.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_3.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </collision>
-  </link>
-  <!-- joint between link_3 and link_4 -->
-  <joint name="iiwa_joint_4" type="revolute">
-    <parent link="iiwa_link_3"/>
-    <child link="iiwa_link_4"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="iiwa_link_4">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0.067 0.034"/>
-      <mass value="2.7"/>
-      <inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_4.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_4.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </collision>
-  </link>
-  <!-- joint between link_4 and link_5 -->
-  <joint name="iiwa_joint_5" type="revolute">
-    <parent link="iiwa_link_4"/>
-    <child link="iiwa_link_5"/>
-    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="iiwa_link_5">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
-      <mass value="1.7"/>
-      <inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_5.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_5.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </collision>
-  </link>
-  <!-- joint between link_5 and link_6 -->
-  <joint name="iiwa_joint_6" type="revolute">
-    <parent link="iiwa_link_5"/>
-    <child link="iiwa_link_6"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="iiwa_link_6">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
-      <mass value="1.8"/>
-      <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_6.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_6.stl"/>
-      </geometry>
-      <material name="Orange"/>
-    </collision>
-  </link>
-  <!-- joint between link_6 and link_7 -->
-  <joint name="iiwa_joint_7" type="revolute">
-    <parent link="iiwa_link_6"/>
-    <child link="iiwa_link_7"/>
-    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
-    <safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.01941960595" soft_upper_limit="3.01941960595"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="iiwa_link_7">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.02"/>
-      <mass value="0.3"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/visual/link_7.stl"/>
-      </geometry>
-      <material name="Grey"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iiwa_description/meshes/iiwa14/collision/link_7.stl"/>
-      </geometry>
-      <material name="Grey"/>
-    </collision>
-  </link>
-  <joint name="iiwa_joint_ee" type="fixed">
-    <parent link="iiwa_link_7"/>
-    <child link="iiwa_link_ee"/>
-    <origin rpy="0 0 0" xyz="0 0 0.045"/>
-  </joint>
-  <link name="iiwa_link_ee"></link>
-  <joint name="iiwa_joint_pen" type="fixed">
-    <parent link="iiwa_link_ee"/>
-    <child link="iiwa_link_pen"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-  </joint>
-  <link name="iiwa_link_pen">
-    <inertial>
-      <mass value="0.015"/>
-      <origin xyz="0 0 0"/>
-      <inertia ixx="0.00005403" ixy="0" ixz="0" iyy="0.00005403" iyz="0" izz="0.000108"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.06"/>
-      <geometry>
-        <cylinder length="0.12" radius="0.005"/>
-      </geometry>
-      <material name="White"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.06"/>
-      <geometry>
-        <cylinder length="0.12" radius="0.005"/>
-      </geometry>
-      <material name="White"/>
-    </collision>
-  </link>
-  <joint name="iiwa_joint_pen_tip" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.12"/>
-    <parent link="iiwa_link_pen"/>
-    <child link="iiwa_link_pen_tip"/>
-  </joint>
-  <link name="iiwa_link_pen_tip"></link>
-  <!-- Enable the Joint Feedback -->
-  <gazebo reference="iiwa_joint_7">
-    <provideFeedback>true</provideFeedback>
-  </gazebo>
-  <!-- The ft_sensor plugin -->
-  <gazebo>
-    <plugin filename="libgazebo_ros_ft_sensor.so" name="ft_sensor">
-      <updateRate>50.0</updateRate>
-      <topicName>/iiwa/state/CartesianWrench</topicName>
-      <jointName>iiwa_joint_7</jointName>
-    </plugin>
-  </gazebo>
-  <!-- Load Gazebo lib and set the robot namespace -->
-  <gazebo>
-    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
-      <robotNamespace>/iiwa</robotNamespace>
-    </plugin>
-  </gazebo>
-  <!-- Link0 -->
-  <gazebo reference="iiwa_link_0">
-    <material>Gazebo/Grey</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-  </gazebo>
-  <!-- Link1 -->
-  <gazebo reference="iiwa_link_1">
-    <material>Gazebo/Orange</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-  </gazebo>
-  <!-- Link2 -->
-  <gazebo reference="iiwa_link_2">
-    <material>Gazebo/Orange</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-  </gazebo>
-  <!-- Link3 -->
-  <gazebo reference="iiwa_link_3">
-    <material>Gazebo/Orange</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-  </gazebo>
-  <!-- Link4 -->
-  <gazebo reference="iiwa_link_4">
-    <material>Gazebo/Orange</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-  </gazebo>
-  <!-- Link5 -->
-  <gazebo reference="iiwa_link_5">
-    <material>Gazebo/Orange</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-  </gazebo>
-  <!-- Link6 -->
-  <gazebo reference="iiwa_link_6">
-    <material>Gazebo/Orange</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-  </gazebo>
-  <!-- Link7 -->
-  <gazebo reference="iiwa_link_7">
-    <material>Gazebo/Grey</material>
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-  </gazebo>
-  <transmission name="iiwa_tran_1">
-    <robotNamespace>/iiwa</robotNamespace>
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="iiwa_joint_1">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="iiwa_motor_1">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="iiwa_tran_2">
-    <robotNamespace>/iiwa</robotNamespace>
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="iiwa_joint_2">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="iiwa_motor_2">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="iiwa_tran_3">
-    <robotNamespace>/iiwa</robotNamespace>
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="iiwa_joint_3">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="iiwa_motor_3">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="iiwa_tran_4">
-    <robotNamespace>/iiwa</robotNamespace>
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="iiwa_joint_4">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="iiwa_motor_4">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="iiwa_tran_5">
-    <robotNamespace>/iiwa</robotNamespace>
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="iiwa_joint_5">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="iiwa_motor_5">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="iiwa_tran_6">
-    <robotNamespace>/iiwa</robotNamespace>
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="iiwa_joint_6">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="iiwa_motor_6">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="iiwa_tran_7">
-    <robotNamespace>/iiwa</robotNamespace>
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="iiwa_joint_7">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="iiwa_motor_7">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-</robot>
diff --git a/src/TORA.jl b/src/TORA.jl
deleted file mode 100644
index 5b08903..0000000
--- a/src/TORA.jl
+++ /dev/null
@@ -1,42 +0,0 @@
-module TORA
-
-# Workaround for: https://github.com/JuliaRobotics/RigidBodyDynamics.jl/issues/500
-using LinearAlgebra; BLAS.set_num_threads(1)
-
-using Colors
-using ForwardDiff
-using GeometryTypes
-using Ipopt
-using MeshCat
-using MeshCatMechanisms
-using NPZ
-using Plots
-using Requires
-using RigidBodyDynamics
-using SparseArrays
-using SparseDiffTools
-
-using Plots.PlotMeasures: px
-using Random: rand!
-
-import Base: length
-
-function __init__()
-    @require KNITRO = "67920dd8-b58e-52a8-8622-53c4cffbe346" include("./transcription/knitro.jl")
-end
-
-greet() = print("Hello World!")
-
-# `Struct`-defining files
-include("./jacobian_data.jl")
-include("./robot.jl")
-include("./problem.jl")
-include("./solver_log.jl")
-
-# Regular source code
-include("./constraints/dynamics.jl")
-include("./constraints/end_effector.jl")
-include("./transcription/ipopt.jl")
-include("./plots.jl")
-
-end # module
diff --git a/src/constraints/dynamics.jl b/src/constraints/dynamics.jl
deleted file mode 100644
index 8200e7e..0000000
--- a/src/constraints/dynamics.jl
+++ /dev/null
@@ -1,131 +0,0 @@
-function explicit_euler_step(qᵢ, vᵢ, v̇ᵢ, h)
-    qᵢ₊₁ = qᵢ + h * vᵢ
-    vᵢ₊₁ = vᵢ + h * v̇ᵢ
-
-    [qᵢ₊₁
-     vᵢ₊₁]
-end
-
-function semi_implicit_euler_step(qᵢ, vᵢ, v̇ᵢ, h)
-    vᵢ₊₁ = vᵢ + h * v̇ᵢ
-    qᵢ₊₁ = qᵢ + h * vᵢ₊₁
-
-    [qᵢ₊₁
-     vᵢ₊₁]
-end
-
-function forward_dynamics_defects!(defects, robot, x::AbstractArray{T}, h) where {T}
-    # Indices of the decision variables
-    ind_qᵢ   = (1:robot.n_q)
-    ind_vᵢ   = (1:robot.n_v) .+ (robot.n_q)
-    ind_τᵢ   = (1:robot.n_τ) .+ (robot.n_q + robot.n_v)
-    ind_qᵢ₊₁ = (1:robot.n_q) .+ (robot.n_q + robot.n_v + robot.n_τ)
-    ind_vᵢ₊₁ = (1:robot.n_v) .+ (robot.n_q + robot.n_v + robot.n_τ + robot.n_q)
-
-    # Retrieve values of the decision variables
-    qᵢ  , vᵢ  , τᵢ = x[ind_qᵢ  ], x[ind_vᵢ  ], x[ind_τᵢ]
-    qᵢ₊₁, vᵢ₊₁     = x[ind_qᵢ₊₁], x[ind_vᵢ₊₁]
-
-    # Update robot state
-    state = robot.statecache[T]
-    set_configuration!(state, qᵢ)
-    set_velocity!(state, vᵢ)
-
-    # Compute forward dynamics
-    result = robot.dynamicsresultcache[T]
-    dynamics!(result, state, τᵢ)
-    v̇ᵢ = result.v̇
-
-    # Integrate the robot state
-    xᵢ₊₁_integrated = semi_implicit_euler_step(qᵢ, vᵢ, v̇ᵢ, h)
-
-    # Next robot state discretised
-    xᵢ₊₁_discretised = [qᵢ₊₁
-                        vᵢ₊₁]
-
-    # Evaluate state defects (joint positions and joint velocities)
-    copyto!(defects, xᵢ₊₁_integrated - xᵢ₊₁_discretised)
-end
-
-function inverse_dynamics_defects!(defects, robot, x::AbstractArray{T}, h) where {T}
-    # Indices of the decision variables
-    ind_qᵢ   = (1:robot.n_q)
-    ind_vᵢ   = (1:robot.n_v) .+ (robot.n_q)
-    ind_τᵢ   = (1:robot.n_τ) .+ (robot.n_q + robot.n_v)
-    ind_qᵢ₊₁ = (1:robot.n_q) .+ (robot.n_q + robot.n_v + robot.n_τ)
-    ind_vᵢ₊₁ = (1:robot.n_v) .+ (robot.n_q + robot.n_v + robot.n_τ + robot.n_q)
-
-    # Retrieve values of the decision variables
-    qᵢ  , vᵢ  , τᵢ = x[ind_qᵢ  ], x[ind_vᵢ  ], x[ind_τᵢ]
-    qᵢ₊₁, vᵢ₊₁     = x[ind_qᵢ₊₁], x[ind_vᵢ₊₁]
-
-    # Update robot state
-    state = robot.statecache[T]
-    set_configuration!(state, qᵢ)
-    set_velocity!(state, vᵢ)
-
-    # Implicit joint accelerations
-    v̇ᵢ = similar(velocity(state))
-    copyto!(v̇ᵢ, (vᵢ₊₁ - vᵢ) / h)
-
-    # Compute inverse dynamics
-    torques = similar(velocity(state))  # create a SegmentedVector instance
-    dynamics_result = robot.dynamicsresultcache[T]
-    wrenches = dynamics_result.jointwrenches
-    accelerations = dynamics_result.accelerations
-    inverse_dynamics!(torques, wrenches, accelerations, state, v̇ᵢ)
-
-    # position_defects = (qᵢ + h * vᵢ) - qᵢ₊₁  # Explicit Euler
-    position_defects = (qᵢ + h * vᵢ₊₁) - qᵢ₊₁  # Semi-Implicit Euler
-    torque_defects = torques - τᵢ
-
-    # Evaluate defects (joint positions and joint torques)
-    copyto!(defects, [position_defects
-                        torque_defects])
-end
-
-# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-
-function make_cb_eval_fc_con_dyn(problem, robot, jacdata, eval_fc!::Function)
-    nₓ = robot.n_q + robot.n_v + robot.n_τ  # dimension of each mesh points
-    length_c = size(jacdata.jac, 1)  # length of constraint per pair of knots
-
-    function cb_eval_fc_con_dyn(kc, cb, evalRequest, evalResult, userParams)
-        x = evalRequest.x
-
-        for i = 0:problem.num_knots - 2
-            # Calculate the indices of the appropriate decision variables
-            ind_vars = range(1 + i * nₓ, length=size(jacdata.jac, 2))
-
-            # Evaluate constraints for Knitro
-            offset_con = i * length_c
-            ind_con = (1:length_c) .+ offset_con
-            @views eval_fc!(evalResult.c[ind_con], robot, x[ind_vars], problem.dt)
-        end
-
-        return 0
-    end
-end
-
-function make_cb_eval_ga_con_dyn(problem, robot, jacdata)
-    nₓ = robot.n_q + robot.n_v + robot.n_τ  # dimension of each mesh points
-
-    function cb_eval_ga_con_dyn(kc, cb, evalRequest, evalResult, userParams)
-        x = evalRequest.x
-
-        for i = 0:problem.num_knots - 2
-            # Calculate the indices of the appropriate decision variables
-            ind_vars = range(1 + i * nₓ, length=size(jacdata.jac, 2))
-
-            # Evaluate the Jacobian at that point
-            jacdata(x[ind_vars])
-
-            # Pass the Jacobian to Knitro
-            offset_jac = i * jacdata.length_jac
-            ind_jac = (1:jacdata.length_jac) .+ offset_jac
-            evalResult.jac[ind_jac] = nonzeros(jacdata.jac)
-        end
-
-        return 0
-    end
-end
diff --git a/src/constraints/end_effector.jl b/src/constraints/end_effector.jl
deleted file mode 100644
index 41dc83b..0000000
--- a/src/constraints/end_effector.jl
+++ /dev/null
@@ -1,66 +0,0 @@
-function ee_position!(position, robot, q::AbstractArray{T}) where {T}
-    state = robot.statecache[T]
-    set_configuration!(state, q)
-
-    point = Point3D(robot.frame_ee, 0.0, 0.0, 0.0)
-    position[:] = transform(state, point, root_frame(robot.mechanism)).v
-end
-
-function cb_eval_fc_con_ee(kc, cb, evalRequest, evalResult, userParams)
-    x = evalRequest.x
-    problem, robot = userParams
-
-    # dimension of each mesh point
-    nₓ = robot.n_q + robot.n_v + robot.n_τ
-
-    length_c = 3
-
-    for (i, k) = enumerate(sort(collect(keys(problem.ee_pos))))
-        ind_qᵢ = range(1 + (k - 1) * nₓ, length=robot.n_q)  # indices of the decision variables
-        ind_c = (1:length_c) .+ ((i - 1) * length_c)
-        @views ee_position!(evalResult.c[ind_c], robot, x[ind_qᵢ])  # constraint evaluation at that point
-    end
-
-    return 0
-end
-
-function cb_eval_ga_con_ee(kc, cb, evalRequest, evalResult, userParams)
-    x = evalRequest.x
-    problem, robot = userParams
-
-    # dimension of each mesh point
-    nₓ = robot.n_q + robot.n_v + robot.n_τ
-
-    for (i, k) = enumerate(sort(collect(keys(problem.ee_pos))))
-        ind_qᵢ = range(1 + (k - 1) * nₓ, length=robot.n_q)  # indices of the decision variables
-        problem.jacdata_ee_position(x[ind_qᵢ])              # jacobian evaluation at that point
-        ind_jac = (1:problem.jacdata_ee_position.length_jac) .+ ((i - 1) * problem.jacdata_ee_position.length_jac)
-        evalResult.jac[ind_jac] = nonzeros(problem.jacdata_ee_position.jac)  # pass jacobian to Knitro
-    end
-
-    return 0
-end
-
-function get_ee_path(problem::Problem, robot::Robot, x)
-    positions = zeros(3, problem.num_knots)
-
-    # dimension of each mesh point
-    nₓ = robot.n_q + robot.n_v + robot.n_τ
-
-    length_c = 3
-
-    for i = (1:problem.num_knots) .- 1
-        ind_c = (1:length_c) .+ (i * length_c)
-        ind_qᵢ = range(1 + i * nₓ, length=robot.n_q)
-        @views ee_position!(positions[ind_c], robot, x[ind_qᵢ])
-    end
-
-    return positions
-end
-
-function show_ee_path(vis::Visualizer, ee_positions::Array{Float64})
-    points = collect(eachcol(ee_positions))
-    material = LineBasicMaterial(color=colorant"yellow", linewidth=2.0)
-    setobject!(vis["ee path"], Object(PointCloud(points), material, "Line"))
-    nothing
-end
diff --git a/src/jacobian_data.jl b/src/jacobian_data.jl
deleted file mode 100644
index d22f9d7..0000000
--- a/src/jacobian_data.jl
+++ /dev/null
@@ -1,35 +0,0 @@
-struct JacobianData{T1 <: SparseMatrixCSC,T2 <: ForwardColorJacCache}
-    f!::Function
-    jac::T1
-    jac_cache::T2
-    length_jac::Int
-    sparsity::SparseArrays.SparseMatrixCSC{Bool,Int64}
-
-    function JacobianData(f!, output, input)
-        # TODO Proper way to do it (currently not working)
-        # Issue: https://github.com/SciML/SparsityDetection.jl/issues/41
-        # sparsity = jacobian_sparsity(f!, output, input)
-
-        # Workaround
-        num_samples = 50
-        jac_samples = [ForwardDiff.jacobian(f!, rand!(output), rand!(input)) for _ in 1:num_samples]
-        sparsity = sparse(sum(jac_samples) .≠ 0)
-
-        jac = convert.(Float64, sparse(sparsity))
-
-        jac_cache = ForwardColorJacCache(f!, input, dx=output,
-                                         colorvec=matrix_colors(jac),
-                                         sparsity=sparsity)
-
-        length_jac = nnz(jac)
-
-        T1 = typeof(jac)
-        T2 = typeof(jac_cache)
-
-        new{T1,T2}(f!, jac, jac_cache, length_jac, sparsity)
-    end
-end
-
-function (jd::JacobianData)(x)
-    forwarddiff_color_jacobian!(jd.jac, jd.f!, x, jd.jac_cache)
-end
diff --git a/src/plots.jl b/src/plots.jl
deleted file mode 100644
index e419cd2..0000000
--- a/src/plots.jl
+++ /dev/null
@@ -1,80 +0,0 @@
-function play_trajectory(vis, problem, robot, x)
-    ee_positions = get_ee_path(problem, robot, x)
-    show_ee_path(vis, ee_positions)
-
-    nₓ = robot.n_q + robot.n_v + robot.n_τ  # dimension of each mesh point
-    ind_q = hcat([range(1 + (i * nₓ), length=robot.n_q) for i = (1:problem.num_knots) .- 1]...)
-    q_mat = x[ind_q]
-
-    ts = range(0, length=problem.num_knots, step=problem.dt)
-    qs = [q_mat[:, i] for i = 1:size(q_mat, 2)]
-
-    animation = MeshCat.Animation(robot.mvis, ts, qs)
-    setanimation!(robot.mvis, animation)
-end
-
-function plot_results(problem::Problem, robot::Robot, x)
-    nₓ = robot.n_q + robot.n_v + robot.n_τ  # dimension of each mesh point
-
-    # Helper ranges
-    ind_q = hcat([range(1 + (i * nₓ)                        , length=robot.n_q) for i = (1:problem.num_knots    ) .- 1]...)
-    ind_v = hcat([range(1 + (i * nₓ) + robot.n_q            , length=robot.n_v) for i = (1:problem.num_knots    ) .- 1]...)
-    ind_τ = hcat([range(1 + (i * nₓ) + robot.n_q + robot.n_v, length=robot.n_τ) for i = (1:problem.num_knots - 1) .- 1]...)
-    
-    ts = range(0, length=problem.num_knots, step=problem.dt)
-
-    plts = plot(ts         , x[ind_q]', lw=2, legend=nothing, xlabel="time [s]", ylabel="position [rad]"),
-           plot(ts         , x[ind_v]', lw=2, legend=nothing, xlabel="time [s]", ylabel="velocity [rad/s]"),
-           plot(ts[1:end-1], x[ind_τ]', lw=2, legend=nothing, xlabel="time [s]", ylabel="torque [Nm]")
-
-    plot(
-        plts...,
-        layout=grid(3,1),
-        size=(600,3*400),
-        left_margin=20px,
-        bottom_margin=20px,
-    )
-end
-
-function plot_log(solver_log::SolverLog)
-
-    plt_1 = plot(
-        title="feasibility", title_location=:left,
-        xlabel="iterations",
-        ylabel="error",
-        yaxis=(:log10, [1e-11, 1e4]),
-        legend=nothing,
-    )
-
-    plot!(solver_log.abs_feas_error, c=1, lw=2)
-    scatter!([length(solver_log.abs_feas_error)], solver_log.abs_feas_error[end:end], c=1, marker=:star4)
-
-    plt_2 = plot(
-        title="objective", title_location=:left,
-        xlabel="iterations",
-        ylabel="cost (1e4)",
-        legend=nothing,
-    )
-
-    obj_value = solver_log.obj_value / 1e4
-
-    plot!(obj_value, c=1, lw=2)
-    scatter!([length(obj_value)], obj_value[end:end], c=1, marker=:star4)
-
-    plot(
-        plt_1, plt_2,
-        size=(600,300),
-        # left_margin=20px,
-
-        fontfamily = "Times",
-        guidefontsize = 12,
-        legendfontsize = 12,
-        tickfontsize = 10,
-        titlefontsize = 15,
-    )
-end
-
-export
-    play_trajectory,
-    plot_results,
-    plot_log
diff --git a/src/problem.jl b/src/problem.jl
deleted file mode 100644
index 20541ed..0000000
--- a/src/problem.jl
+++ /dev/null
@@ -1,106 +0,0 @@
-mutable struct Problem
-    num_knots::Int  # Total number of knots
-    dt::Float64  # Time step between two knots
-
-    fixed_q::Dict{Int64,Array{Float64}}  # Fixed joint positions
-    fixed_v::Dict{Int64,Array{Float64}}  # Fixed joint velocities
-    fixed_τ::Dict{Int64,Array{Float64}}  # Fixed joint torques
-
-    ee_pos::Dict{Int64,Point{3,Float64}}  # End-effector target positions
-
-    # Jacobian data (e.g., for sparse Jacobian of dynamics with AD)
-    jacdata_fwd_dyn::JacobianData
-    jacdata_inv_dyn::JacobianData
-    jacdata_ee_position::JacobianData
-
-    function Problem(robot, num_knots, dt)
-        @assert num_knots > 0
-        @assert dt > 0
-
-        input, output = rand(2 * (robot.n_q + robot.n_v) + robot.n_τ), rand(robot.n_q + robot.n_v)
-        jacdata_fwd_dyn = JacobianData((out, x) -> forward_dynamics_defects!(out, robot, x, dt), output, input)
-
-        input, output = rand(2 * (robot.n_q + robot.n_v) + robot.n_τ), rand(robot.n_q + robot.n_τ)
-        jacdata_inv_dyn = JacobianData((out, x) -> inverse_dynamics_defects!(out, robot, x, dt), output, input)
-
-        input, output = rand(robot.n_q), rand(3)
-        jacdata_ee_position = JacobianData((out, x) -> ee_position!(out, robot, x), output, input)
-
-        new(
-            num_knots, dt,
-            Dict{Int64,Array{Float64}}(),
-            Dict{Int64,Array{Float64}}(),
-            Dict{Int64,Array{Float64}}(),
-            Dict{Int64,Point{3,Float64}}(),
-            jacdata_fwd_dyn,
-            jacdata_inv_dyn,
-            jacdata_ee_position
-        )
-    end
-end
-
-"""
-    fix_joint_positions!(problem, robot, knot, q)
-
-Returns a.
-"""
-function fix_joint_positions!(problem::Problem, robot::Robot, knot, q)
-    @assert 1 <= knot <= problem.num_knots
-    @assert all(robot.q_lo .<= q .<= robot.q_hi)
-    problem.fixed_q[knot] = q
-    return problem
-end
-
-"""
-    fix_joint_velocities!(problem, robot, knot, v)
-
-To do.
-"""
-function fix_joint_velocities!(problem::Problem, robot::Robot, knot, v)
-    @assert 1 <= knot <= problem.num_knots
-    @assert all(robot.v_lo .<= v .<= robot.v_hi)
-    problem.fixed_v[knot] = v
-    return problem
-end
-
-"""
-    fix_joint_torques!(problem, robot, knot, τ)
-
-To do.
-"""
-function fix_joint_torques!(problem::Problem, robot::Robot, knot, τ)
-    @assert 1 <= knot <= problem.num_knots - 1
-    @assert all(robot.τ_lo .<= τ .<= robot.τ_hi)
-    problem.fixed_τ[knot] = τ
-    return problem
-end
-
-"""
-    constrain_ee_position!(problem, knot, position)
-
-To do.
-"""
-function constrain_ee_position!(problem::Problem, knot, position)
-    @assert 1 <= knot <= problem.num_knots
-    @assert length(position) == 3
-    problem.ee_pos[knot] = position
-    return problem
-end
-
-function show_problem_info(problem::Problem)
-    t = (problem.num_knots - 1) * problem.dt
-
-    println("Motion duration ...................................... $(t) seconds")
-    println("Number of knots with constrained joint positions ..... $(length(problem.fixed_q))")
-    println("Number of knots with constrained joint velocities .... $(length(problem.fixed_v))")
-    println("Number of knots with constrained joint torques ....... $(length(problem.fixed_τ))")
-    println("Number of knots with constrained ee position ......... $(length(problem.ee_pos))")
-end
-
-export
-    Problem,
-    fix_joint_positions!,
-    fix_joint_velocities!,
-    fix_joint_torques!,
-    constrain_ee_position!,
-    show_problem_info
diff --git a/src/robot.jl b/src/robot.jl
deleted file mode 100644
index 170af90..0000000
--- a/src/robot.jl
+++ /dev/null
@@ -1,71 +0,0 @@
-struct Robot
-    urdfpath::String
-    mechanism::Mechanism
-    state::MechanismState
-    statecache::StateCache
-    dynamicsresultcache::DynamicsResultCache
-    mvis::MechanismVisualizer
-
-    q_lo::Array{Float64}
-    q_hi::Array{Float64}
-    v_lo::Array{Float64}
-    v_hi::Array{Float64}
-    τ_lo::Array{Float64}
-    τ_hi::Array{Float64}
-
-    n_q::Int64  # Number of generalized coordinates
-    n_v::Int64  # Number of generalized velocities
-    n_τ::Int64  # Number of actuated joints
-
-    frame_ee::CartesianFrame3D  # End-effector frame
-
-    function Robot(urdfpath::String,
-                   mechanism::Mechanism,
-                   frame_ee::CartesianFrame3D,
-                   mvis::MechanismVisualizer)
-        state = MechanismState(mechanism)
-        statecache = StateCache(mechanism)
-        dynamicsresultcache = DynamicsResultCache(mechanism)
-
-        q_lo = [lim for joint in joints(mechanism) for lim in map(x -> x.lower, position_bounds(joint))]
-        q_hi = [lim for joint in joints(mechanism) for lim in map(x -> x.upper, position_bounds(joint))]
-        v_lo = [lim for joint in joints(mechanism) for lim in map(x -> x.lower, velocity_bounds(joint))]
-        v_hi = [lim for joint in joints(mechanism) for lim in map(x -> x.upper, velocity_bounds(joint))]
-        τ_lo = [lim for joint in joints(mechanism) for lim in map(x -> x.lower,   effort_bounds(joint))]
-        τ_hi = [lim for joint in joints(mechanism) for lim in map(x -> x.upper,   effort_bounds(joint))]
-
-        new(
-            urdfpath,
-            mechanism,
-            state,
-            statecache,
-            dynamicsresultcache,
-            mvis,
-            q_lo,
-            q_hi,
-            v_lo,
-            v_hi,
-            τ_lo,
-            τ_hi,
-            num_positions(mechanism),
-            num_velocities(mechanism),
-            num_velocities(mechanism),
-            frame_ee
-        )
-    end
-end
-
-function create_robot_kuka_iiwa_14(vis::Visualizer)
-    package_path = joinpath(@__DIR__, "..", "iiwa_stack")
-    urdfpath = joinpath(@__DIR__, "..", "robots", "iiwa14.urdf")
-
-    mechanism = parse_urdf(urdfpath, remove_fixed_tree_joints=false)
-    frame_ee = default_frame(findbody(mechanism, "iiwa_link_pen_tip"))
-    remove_fixed_tree_joints!(mechanism)
-
-    urdfvisuals = URDFVisuals(urdfpath, package_path=[package_path])
-    mvis = MechanismVisualizer(mechanism, urdfvisuals, vis["robot"])
-    # setelement!(mvis, frame_ee)  # Visualise a triad at the end-effector
-
-    Robot(urdfpath, mechanism, frame_ee, mvis)
-end
diff --git a/src/solver_log.jl b/src/solver_log.jl
deleted file mode 100644
index 5f659d0..0000000
--- a/src/solver_log.jl
+++ /dev/null
@@ -1,95 +0,0 @@
-mutable struct SolverLog
-    x::Array{Float64,2}
-    abs_feas_error::Array{Float64,1}
-    abs_opt_error::Array{Float64,1}
-    obj_value::Array{Float64,1}
-    fc_evals::Array{Float64,1}
-    ga_evals::Array{Float64,1}
-    nStatus::Int  # solution status return code
-
-    @doc """
-        SolverLog(N::Int)
-
-    Creates an empty NLP solver log.
-
-    # Arguments
-    - `N`: the total number of decision variables of the NLP.
-    """
-    function SolverLog(N)
-        new(Array{Float64,2}(undef, N, 0),
-            Array{Float64,1}(undef, 0),
-            Array{Float64,1}(undef, 0),
-            Array{Float64,1}(undef, 0),
-            Array{Float64,1}(undef, 0),
-            Array{Float64,1}(undef, 0),
-            -999)
-    end
-end
-
-"""
-    update!(log::SolverLog,
-            x::Array{Float64,2},
-            abs_feas_error::Array{Float64,1},
-            abs_opt_error::Array{Float64,1},
-            obj_value::Array{Float64,1},
-            fc_evals::Array{Float64,1},
-            ga_evals::Array{Float64,1})
-
-Updates the log.
-
-# Arguments
-- `log`: instance of a `SolverLog`.
-- `x`: an intermediate iterate point.
-- `abs_feas_error`: abs_feas_error at the current point.
-- `abs_opt_error`: abs_opt_error at the current point.
-- `obj_value`: obj_value at the current point.
-- `fc_evals`: the number of function evaluations requested by the NLP solver so far.
-- `ga_evals`: the number of gradient evaluations requested by the NLP solver so far.
-"""
-function update!(log, x, abs_feas_error, abs_opt_error, obj_value, fc_evals, ga_evals)
-    log.x = hcat(log.x, x)
-    log.abs_feas_error = vcat(log.abs_feas_error, abs_feas_error)
-    log.abs_opt_error = vcat(log.abs_opt_error, abs_opt_error)
-    log.obj_value = vcat(log.obj_value, obj_value)
-    log.fc_evals = vcat(log.fc_evals, fc_evals)
-    log.ga_evals = vcat(log.ga_evals, ga_evals)
-end
-
-function length(log::SolverLog)
-    num_iters = size(log.x, 2)
-    @assert all(==(num_iters), length.([log.abs_feas_error, log.abs_opt_error, log.obj_value, log.fc_evals, log.ga_evals]))
-    return num_iters
-end
-
-function save(log::SolverLog, file::String)
-    npzwrite(file, Dict(
-        "x" => log.x,
-        "abs_feas_error" => log.abs_feas_error,
-        "abs_opt_error" => log.abs_opt_error,
-        "obj_value" => log.obj_value,
-        "fc_evals" => log.fc_evals,
-        "ga_evals" => log.ga_evals,
-        "nStatus" => log.nStatus,
-    ))
-end
-
-function load!(log::SolverLog, file::String)
-    data = npzread(file)
-
-    log.x = data["x"]
-    log.abs_feas_error = data["abs_feas_error"]
-    log.abs_opt_error = data["abs_opt_error"]
-    log.obj_value = data["obj_value"]
-    log.fc_evals = data["fc_evals"]
-    log.ga_evals = data["ga_evals"]
-    log.nStatus = data["nStatus"]
-
-    return log
-end
-
-export
-    SolverLog,
-    update!,
-    length,
-    save,
-    load!
diff --git a/src/transcription/ipopt.jl b/src/transcription/ipopt.jl
deleted file mode 100644
index 5af68f5..0000000
--- a/src/transcription/ipopt.jl
+++ /dev/null
@@ -1,291 +0,0 @@
-function solve_with_ipopt(problem::Problem, robot::Robot;
-                          initial_guess::Array{Float64}=Float64[],
-                          use_inv_dyn::Bool=false,
-                          minimise_τ::Bool=false,
-                          user_options::Dict=Dict())
-    # # # # # # # # # # # # # # # #
-    # Variables and their bounds  #
-    # # # # # # # # # # # # # # # #
-
-    n1 = robot.n_q *  problem.num_knots       # positions
-    n2 = robot.n_v *  problem.num_knots       # velocities
-    n3 = robot.n_τ * (problem.num_knots - 1)  # torques
-
-    n = n1 + n2 + n3  # total number of decision variables
-
-    x_L = Array{Float64,2}(undef, robot.n_q, 0)
-    x_U = Array{Float64,2}(undef, robot.n_q, 0)
-
-    for k = 1:problem.num_knots
-        if k ∈ keys(problem.fixed_q)
-            x_L = [x_L problem.fixed_q[k]]
-            x_U = [x_U problem.fixed_q[k]]
-        else
-            x_L = [x_L robot.q_lo]
-            x_U = [x_U robot.q_hi]
-        end
-
-        if k ∈ keys(problem.fixed_v)
-            x_L = [x_L problem.fixed_v[k]]
-            x_U = [x_U problem.fixed_v[k]]
-        else
-            x_L = [x_L robot.v_lo]
-            x_U = [x_U robot.v_hi]
-        end
-
-        if k <= problem.num_knots - 1
-            if k ∈ keys(problem.fixed_τ)
-                x_L = [x_L problem.fixed_τ[k]]
-                x_U = [x_U problem.fixed_τ[k]]
-            else
-                x_L = [x_L robot.τ_lo]
-                x_U = [x_U robot.τ_hi]
-            end
-        end
-    end
-
-    # # # # # # # #
-    # Constraints #
-    # # # # # # # #
-
-    use_m₁ = true  # nonlinear equality: dynamics
-    use_m₂ = true  # nonlinear equality: ee xyz-position
-
-    m₁ = !use_m₁ ? 0 : (robot.n_q + robot.n_v) * (problem.num_knots - 1)  # equations of motion
-    m₂ = !use_m₂ ? 0 : 3 * length(problem.ee_pos)  # xyz-position (3 NL equality)
-
-    m = m₁ + m₂  # total number of constraints
-
-    ind_con_dyn    = (1:m₁)
-    ind_con_ee_pos = (1:m₂) .+ (m₁)
-
-    g_L, g_U = Float64[], Float64[]
-
-    if use_m₁
-        append!(g_L, zeros(m₁))
-        append!(g_U, zeros(m₁))
-    end
-
-    if use_m₂
-        knots_con_ee = sort(collect(keys(problem.ee_pos)))
-        con_ee = hcat([[problem.ee_pos[k].data...] for k in knots_con_ee]...)
-        append!(g_L, vec(con_ee))
-        append!(g_U, vec(con_ee))
-    end
-
-    @assert length(g_L) == length(g_U)
-    @assert eltype(g_L) == eltype(g_U) == Float64
-
-    # dimension of each mesh point
-    nₓ = robot.n_q + robot.n_v + robot.n_τ
-
-    if use_inv_dyn
-        jacdata_dyn = problem.jacdata_inv_dyn
-        dynamics_defects! = inverse_dynamics_defects!
-    else
-        jacdata_dyn = problem.jacdata_fwd_dyn
-        dynamics_defects! = forward_dynamics_defects!
-    end
-
-    function eval_g(x, g)
-        if use_m₁
-            length_c = size(jacdata_dyn.jac, 1)  # length of constraint per pair of knots
-            for i = 0:problem.num_knots - 2
-                # Calculate the indices of the appropriate decision variables
-                ind_vars = range(1 + i * nₓ, length=size(jacdata_dyn.jac, 2))
-
-                # Evaluate constraints
-                offset_con = i * length_c
-                ind_cons = (1:length_c) .+ offset_con
-                @views dynamics_defects!(g[ind_cons], robot, x[ind_vars], problem.dt)
-            end
-        end
-
-        if use_m₂
-            length_c = 3
-            for (i, k) = enumerate(sort(collect(keys(problem.ee_pos))))
-                ind_vars = range(1 + (k - 1) * nₓ, length=robot.n_q)  # indices of the decision variables
-                offset_con = (i - 1) * length_c + (m₁)
-                ind_cons = (1:length_c) .+ offset_con
-                @views ee_position!(g[ind_cons], robot, x[ind_vars])  # constraint evaluation at that point
-            end
-        end
-    end
-
-    jacIndexConsCB = Cint[]
-    jacIndexVarsCB = Cint[]
-
-    if use_m₁
-        for i = 0:problem.num_knots - 2
-            offset_con = i * size(jacdata_dyn.jac, 1)
-            ind_cons = rowvals(jacdata_dyn.jac) .+ offset_con
-            append!(jacIndexConsCB, ind_cons)
-
-            for j = 1:size(jacdata_dyn.jac, 2)
-                ind_vars = fill(j + i * nₓ, length(nzrange(jacdata_dyn.jac, j)))
-                append!(jacIndexVarsCB, ind_vars)
-            end
-        end
-
-        @assert length(jacIndexConsCB) == length(jacIndexVarsCB)
-    end
-
-    if use_m₂
-        ind_offset = m₁
-        for k = knots_con_ee
-            inds = rowvals(problem.jacdata_ee_position.jac) .+ ind_offset
-            ind_offset += size(problem.jacdata_ee_position.jac, 1)
-            append!(jacIndexConsCB, inds)
-        end
-
-        for k = knots_con_ee
-            vals = vcat([fill(j + (k - 1) * nₓ, length(nzrange(problem.jacdata_ee_position.jac, j)))
-                         for j = 1:size(problem.jacdata_ee_position.jac, 2)]...)
-            append!(jacIndexVarsCB, vals)
-        end
-
-        @assert length(jacIndexConsCB) == length(jacIndexVarsCB)
-    end
-
-
-    function eval_jac_g(x, mode, rows, cols, values)
-        if mode == :Structure
-            for (i, r, c) in zip(1:length(jacIndexConsCB), jacIndexConsCB, jacIndexVarsCB)
-                rows[i] = r
-                cols[i] = c
-            end
-        else
-            offset_prev = 0
-
-            if use_m₁
-                # Dynamics constraints
-                for i = 0:problem.num_knots - 2
-                    # Calculate the indices of the appropriate decision variables
-                    ind_vars = range(1 + i * nₓ, length=size(jacdata_dyn.jac, 2))
-
-                    # Evaluate the Jacobian at that point
-                    jacdata_dyn(x[ind_vars])
-
-                    # Pass the Jacobian to Knitro
-                    offset_jac = i * jacdata_dyn.length_jac
-                    ind_jac = (1:jacdata_dyn.length_jac) .+ offset_jac
-                    values[ind_jac] = nonzeros(jacdata_dyn.jac)
-                end
-                offset_prev += (problem.num_knots - 1) * jacdata_dyn.length_jac
-            end
-
-            if use_m₂
-                # End-effector constraints
-                for (i, k) = enumerate(sort(collect(keys(problem.ee_pos))))
-                    ind_qᵢ = range(1 + (k - 1) * nₓ, length=robot.n_q)  # indices of the decision variables
-                    problem.jacdata_ee_position(x[ind_qᵢ])              # jacobian evaluation at that point
-                    offset_jac = (i - 1) * problem.jacdata_ee_position.length_jac + offset_prev
-                    ind_jac = (1:problem.jacdata_ee_position.length_jac) .+ offset_jac
-                    values[ind_jac] = nonzeros(problem.jacdata_ee_position.jac)  # pass jacobian to Knitro
-                end
-            end
-        end
-    end
-
-    # # # # # # #
-    # Objective #
-    # # # # # # #
-
-    function eval_f(x)
-        return 0
-    end
-
-    function eval_grad_f(x, grad_f)
-        grad_f[:] = zeros(n)
-    end
-
-    if minimise_τ
-        ind_τ = hcat([range(1 + (i * nₓ) + robot.n_q + robot.n_v, length=robot.n_τ)
-                      for i = (1:problem.num_knots - 1) .- 1]...)
-        indexVars, coefs = vec(ind_τ), fill(1 / (problem.num_knots - 1), n3)
-        @assert length(indexVars) == length(coefs)
-
-        eval_f = function(x)
-            # Minimise τ, i.e., the necessary joint torques.
-            return sum(coefs .* x[indexVars] .* x[indexVars])
-        end
-
-        eval_grad_f = function(x, grad_f)
-            grad_f[:] = zeros(n)
-            grad_f[indexVars] .= coefs .* 2x[indexVars]
-        end
-    end
-
-    # # # # # # # # # #
-    # Create Problem  #
-    # # # # # # # # # #
-
-    # number of nonzeros in the Jacobian of the constraints
-    nele_jac = 0
-    nele_jac += !use_m₁ ? 0 : jacdata_dyn.length_jac * (problem.num_knots - 1)
-    nele_jac += !use_m₂ ? 0 : problem.jacdata_ee_position.length_jac * length(problem.ee_pos)
-
-    prob = Ipopt.createProblem(n, vec(x_L), vec(x_U), m, g_L, g_U, nele_jac, 0,
-                               eval_f, eval_g, eval_grad_f, eval_jac_g)
-
-    # # # # # # # # #
-    # Initial guess #
-    # # # # # # # # #
-
-    if initial_guess |> isempty
-        initial_guess = zeros(n)
-    end
-
-    # Set starting solution
-    prob.x = copy(initial_guess)
-
-    @assert length(prob.x) == length(initial_guess) == n
-
-    # # # # # # # # #
-    # User Options  #
-    # # # # # # # # #
-
-    addOption(prob, "hessian_approximation", "limited-memory")
-    addOption(prob, "mu_strategy", "adaptive")
-    # addOption(prob, "linear_solver", "ma57")
-    # addOption(prob, "ma57_pre_alloc", 2.0)
-    addOption(prob, "tol", 1.0e-3)
-    addOption(prob, "max_cpu_time", 10.0)
-
-    foreach(x -> addOption(prob, x...), user_options)
-
-    solver_log = SolverLog(n)
-
-    function intermediate(alg_mod::Int, iter_count::Int, obj_value::Float64, inf_pr::Float64, inf_du::Float64, mu::Float64,
-                          d_norm::Float64, regularization_size::Float64, alpha_du::Float64, alpha_pr::Float64, ls_trials::Int)
-        print("")  # Flush the output to the Jupyter notebook cell
-
-        x = zeros(n)  # Not implemented for Ipopt
-        abs_opt_error = 0  # Not implemented for Ipopt
-        fc_evals = 0  # Not implemented for Ipopt
-        ga_evals = 0  # Not implemented for Ipopt
-
-        update!(solver_log, x, inf_pr, abs_opt_error, obj_value, fc_evals, ga_evals)
-
-        return true
-    end
-
-    setIntermediateCallback(prob, intermediate)
-  
-    # # Perform a derivative check.
-    # addOption(prob, "derivative_test", "first-order")
-
-    # # # # #
-    # Solve #
-    # # # # #
-
-    cpu_time = @elapsed status = Ipopt.solveProblem(prob)
-
-    # println(Ipopt.ApplicationReturnStatus[status])
-    # println(prob.x)
-    # println(prob.obj_val)
-
-    return cpu_time, prob.x, solver_log
-end
-
-export solve_with_ipopt
diff --git a/src/transcription/knitro.jl b/src/transcription/knitro.jl
deleted file mode 100644
index 72ef1ad..0000000
--- a/src/transcription/knitro.jl
+++ /dev/null
@@ -1,211 +0,0 @@
-using .KNITRO
-
-function solve_with_knitro(problem::Problem, robot::Robot;
-                           initial_guess::Array{Float64}=Float64[],
-                           use_inv_dyn::Bool=false,
-                           minimise_τ::Bool=false,
-                           user_options::Dict=Dict())
-    lm = KNITRO.LMcontext()  # Instantiate license manager
-    kc = KNITRO.KN_new_lm(lm)  # Create a new Knitro instance
-
-    # # # # # # # # # # # # # # # #
-    # Variables and their bounds  #
-    # # # # # # # # # # # # # # # #
-
-    n1 = robot.n_q *  problem.num_knots       # positions
-    n2 = robot.n_v *  problem.num_knots       # velocities
-    n3 = robot.n_τ * (problem.num_knots - 1)  # torques
-
-    n = n1 + n2 + n3  # total number of decision variables
-    KNITRO.KN_add_vars(kc, n)  # add the variables
-
-    nₓ = robot.n_q + robot.n_v + robot.n_τ  # dimension of each mesh point
-
-    # Helper ranges
-    ind_q = hcat([range(1 + (i * nₓ)                        , length=robot.n_q) for i = (1:problem.num_knots    ) .- 1]...)
-    ind_v = hcat([range(1 + (i * nₓ) + robot.n_q            , length=robot.n_v) for i = (1:problem.num_knots    ) .- 1]...)
-    ind_τ = hcat([range(1 + (i * nₓ) + robot.n_q + robot.n_v, length=robot.n_τ) for i = (1:problem.num_knots - 1) .- 1]...)
-
-    KNITRO.KN_set_var_lobnds(kc, Cint.(vec(ind_q) .- 1), repeat(robot.q_lo, problem.num_knots))  # q lower bounds
-    KNITRO.KN_set_var_upbnds(kc, Cint.(vec(ind_q) .- 1), repeat(robot.q_hi, problem.num_knots))  # q upper bounds
-
-    KNITRO.KN_set_var_lobnds(kc, Cint.(vec(ind_v) .- 1), repeat(robot.v_lo, problem.num_knots))  # v lower bounds
-    KNITRO.KN_set_var_upbnds(kc, Cint.(vec(ind_v) .- 1), repeat(robot.v_hi, problem.num_knots))  # v upper bounds
-
-    if !isempty(ind_τ)
-        KNITRO.KN_set_var_lobnds(kc, Cint.(vec(ind_τ) .- 1), repeat(robot.τ_lo, problem.num_knots - 1))  # τ lower bounds
-        KNITRO.KN_set_var_upbnds(kc, Cint.(vec(ind_τ) .- 1), repeat(robot.τ_hi, problem.num_knots - 1))  # τ upper bounds
-    end
-
-    # Fixed variables
-    for (k, q) ∈ problem.fixed_q KNITRO.KN_set_var_fxbnds(kc, Cint.(vec(ind_q[:,k]) .- 1), q) end
-    for (k, v) ∈ problem.fixed_v KNITRO.KN_set_var_fxbnds(kc, Cint.(vec(ind_v[:,k]) .- 1), v) end
-    for (k, τ) ∈ problem.fixed_τ KNITRO.KN_set_var_fxbnds(kc, Cint.(vec(ind_τ[:,k]) .- 1), τ) end
-
-    # # # # # # # #
-    # Constraints #
-    # # # # # # # #
-
-    use_m₁ = true  # nonlinear equality: dynamics
-    use_m₂ = true  # nonlinear equality: ee xyz-position
-
-    m₁ = !use_m₁ ? 0 : (robot.n_q + robot.n_v) * (problem.num_knots - 1)  # equations of motion
-    m₂ = !use_m₂ ? 0 : 3 * length(problem.ee_pos)  # xyz-position (3 NL equality)
-
-    m = m₁ + m₂  # total number of constraints
-    KNITRO.KN_add_cons(kc, m)  # add the constraints
-
-    ind_con_dyn    = (1:m₁)
-    ind_con_ee_pos = (1:m₂) .+ (m₁)
-
-    if use_m₁
-        KNITRO.KN_set_con_eqbnds(kc, collect(Cint, ind_con_dyn .- 1), zeros(m₁))
-
-        if use_inv_dyn
-            jac = problem.jacdata_inv_dyn.jac
-            cb_eval_fc_con = make_cb_eval_fc_con_dyn(problem, robot, problem.jacdata_inv_dyn, inverse_dynamics_defects!)
-            cb_eval_ga_con = make_cb_eval_ga_con_dyn(problem, robot, problem.jacdata_inv_dyn)
-        else
-            jac = problem.jacdata_fwd_dyn.jac
-            cb_eval_fc_con = make_cb_eval_fc_con_dyn(problem, robot, problem.jacdata_fwd_dyn, forward_dynamics_defects!)
-            cb_eval_ga_con = make_cb_eval_ga_con_dyn(problem, robot, problem.jacdata_fwd_dyn)
-        end
-
-        cb = KNITRO.KN_add_eval_callback(kc, false, collect(Cint, ind_con_dyn .- 1), cb_eval_fc_con)
-
-        jacIndexConsCB = Cint.(hcat([rowvals(jac) .+ i * size(jac, 1)
-                                     for i = 0:problem.num_knots - 2]...) .- 1)
-
-        jacIndexVarsCB = Cint.(hcat([vcat([fill(j + i * nₓ, length(nzrange(jac, j)))
-                                           for j = 1:size(jac, 2)]...)
-                                     for i = 0:problem.num_knots - 2]...) .- 1)
-
-        @assert length(jacIndexConsCB) == length(jacIndexVarsCB)
-        @assert eltype(jacIndexConsCB) == eltype(jacIndexVarsCB) == Cint
-
-        KNITRO.KN_set_cb_grad(kc, cb, cb_eval_ga_con,
-                              nV=0, objGradIndexVars=C_NULL,
-                              jacIndexCons=jacIndexConsCB,
-                              jacIndexVars=jacIndexVarsCB)
-    end
-
-    if use_m₂
-        knots_con_ee = sort(collect(keys(problem.ee_pos)))
-
-        con_ee = Array{Float64,2}(undef, 3, 0)
-
-        for k in knots_con_ee
-            con_ee = [con_ee problem.ee_pos[k]]
-        end
-
-        @assert length(ind_con_ee_pos) == length(con_ee)
-
-        KNITRO.KN_set_con_eqbnds(kc, collect(Cint, ind_con_ee_pos .- 1), vec(con_ee))
-
-        cb = KNITRO.KN_add_eval_callback(kc, false, collect(Cint, ind_con_ee_pos .- 1), cb_eval_fc_con_ee)
-
-        ind_offset = 0
-        jacIndexConsCB = Cint[]
-        for k = knots_con_ee
-            inds = rowvals(problem.jacdata_ee_position.jac) .+ ind_offset
-            ind_offset += size(problem.jacdata_ee_position.jac, 1)
-            append!(jacIndexConsCB, inds)
-        end
-        jacIndexConsCB = Cint.(jacIndexConsCB .+ (m₁) .- 1)
-
-        jacIndexVarsCB = Cint[]
-        for k = knots_con_ee
-            vals = vcat([fill(j + (k - 1) * nₓ, length(nzrange(problem.jacdata_ee_position.jac, j)))
-                         for j = 1:size(problem.jacdata_ee_position.jac, 2)]...)
-            append!(jacIndexVarsCB, vals)
-        end
-        jacIndexVarsCB = Cint.(jacIndexVarsCB .- 1)
-
-        @assert length(jacIndexConsCB) == length(jacIndexVarsCB)
-        @assert eltype(jacIndexConsCB) == eltype(jacIndexVarsCB) == Cint
-
-        KNITRO.KN_set_cb_grad(kc, cb, cb_eval_ga_con_ee,
-                              nV=0, objGradIndexVars=C_NULL,
-                              jacIndexCons=jacIndexConsCB,
-                              jacIndexVars=jacIndexVarsCB)
-
-        KNITRO.KN_set_cb_user_params(kc, cb, (problem, robot))
-    end
-
-    # # # # # # #
-    # Objective #
-    # # # # # # #
-
-    if minimise_τ
-        # Minimise τ, i.e., the necessary joint torques.
-        indexVars, coefs = Cint.(vec(ind_τ) .- 1), fill(1 / (problem.num_knots - 1), n3)
-        KNITRO.KN_add_obj_quadratic_struct(kc, indexVars, indexVars, coefs)
-
-        KNITRO.KN_set_obj_goal(kc, KNITRO.KN_OBJGOAL_MINIMIZE)
-    end
-
-    # # # # # # # # #
-    # Initial guess #
-    # # # # # # # # #
-
-    if !isempty(initial_guess)
-        KNITRO.KN_set_var_primal_init_values(kc, vec(initial_guess))
-    else
-        KNITRO.KN_set_var_primal_init_values(kc, zeros(n))
-    end
-
-    # # # # # # # # #
-    # User Options  #
-    # # # # # # # # #
-
-    KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_HESSOPT, KNITRO.KN_HESSOPT_LBFGS)
-    KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_ALGORITHM, KNITRO.KN_ALG_BAR_DIRECT)
-    KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_BAR_MURULE, KNITRO.KN_BAR_MURULE_ADAPTIVE)
-    KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_LINSOLVER, KNITRO.KN_LINSOLVER_MA57)
-    KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_FEASTOL, 1.0e-3)
-    KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_FTOL, 1.0e-6)
-    KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_MAXTIMECPU, 10.0)
-
-    solver_log = SolverLog(n)
-
-    function callbackNewPoint(kc, x, duals, userParams)
-        print("")  # Flush the output to the Jupyter notebook cell
-
-        abs_feas_error = KNITRO.KN_get_abs_feas_error(kc)
-        abs_opt_error = KNITRO.KN_get_abs_opt_error(kc)
-        obj_value = KNITRO.KN_get_obj_value(kc)
-
-        fc_evals = KNITRO.KN_get_number_FC_evals(kc)
-        ga_evals = KNITRO.KN_get_number_GA_evals(kc)
-
-        update!(solver_log, x, abs_feas_error, abs_opt_error, obj_value, fc_evals, ga_evals)
-
-        return 0
-    end
-    
-    KNITRO.KN_set_newpt_callback(kc, callbackNewPoint)
-
-    # # - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
-    # # Perform a derivative check.
-    # KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_DERIVCHECK, KNITRO.KN_DERIVCHECK_FIRST)
-    # KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_DERIVCHECK_TERMINATE, KNITRO.KN_DERIVCHECK_STOPALWAYS)
-    # # KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_DERIVCHECK_TOL, 1.0e-4)  # Default value: 1.0e-6
-    # KNITRO.KN_set_param(kc, KNITRO.KN_PARAM_DERIVCHECK_TYPE, KNITRO.KN_DERIVCHECK_CENTRAL)
-
-    # # # # #
-    # Solve #
-    # # # # #
-
-    KNITRO.KN_solve(kc)  # Solve the problem
-
-    # Retrieve solution information
-    nStatus, objSol, x, duals = KNITRO.KN_get_solution(kc)
-    cpu_time = KNITRO.KN_get_solve_time_real(kc)
-
-    KNITRO.KN_free(kc)  # Delete the Knitro solver instance
-    KNITRO.KN_release_license(lm)  # Free license manager
-
-    return cpu_time, x, solver_log
-end
-
-export solve_with_knitro
diff --git a/test/Project.toml b/test/Project.toml
deleted file mode 100644
index 0c36332..0000000
--- a/test/Project.toml
+++ /dev/null
@@ -1,2 +0,0 @@
-[deps]
-Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
diff --git a/test/runtests.jl b/test/runtests.jl
deleted file mode 100644
index cd20b54..0000000
--- a/test/runtests.jl
+++ /dev/null
@@ -1,4 +0,0 @@
-using Test, TORA
-
-@testset "TORA" begin
-end
diff --git a/third_party/gazebo-pkgs/LICENSE b/third_party/gazebo-pkgs/LICENSE
new file mode 100644
index 0000000..461daad
--- /dev/null
+++ b/third_party/gazebo-pkgs/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2019, Jennifer Buehler
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/gazebo-pkgs/README.md b/third_party/gazebo-pkgs/README.md
new file mode 100644
index 0000000..1bb2ba0
--- /dev/null
+++ b/third_party/gazebo-pkgs/README.md
@@ -0,0 +1,9 @@
+These ROS packages were cloned from https://github.com/JenniferBuehler/gazebo-pkgs into ros_kortex to properly simulate grasping in Gazebo for the Robotiq 2f 85 gripper.
+The repository was cloned at commit e54939f6a80982dc1b89c3c2fb288e989f758b20.
+The original readme file follows:
+
+# gazebo-pkgs
+
+A collection of tools and plugins for Gazebo.
+
+Please also refer to [the wiki](https://github.com/JenniferBuehler/gazebo-pkgs/wiki) for more information.
diff --git a/third_party/gazebo-pkgs/gazebo_grasp_plugin/CHANGELOG.rst b/third_party/gazebo-pkgs/gazebo_grasp_plugin/CHANGELOG.rst
new file mode 100644
index 0000000..c8c1009
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_grasp_plugin/CHANGELOG.rst
@@ -0,0 +1,19 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package gazebo_grasp_plugin
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.2 (2018-01-06)
+------------------
+* Merge branch jacknlliu-fix-c11-error
+* fix build error with c++ 11
+* Contributors: Jack Liu, Jennifer Buehler
+
+1.0.1 (2016-06-08)
+------------------
+* Fixed cmake files for jenkins builds
+* Contributors: Jennifer Buehler
+
+1.0.0 (2016-06-07)
+------------------
+* Initial release
+* Contributors: Jennifer Buehler
diff --git a/third_party/gazebo-pkgs/gazebo_grasp_plugin/CMakeLists.txt b/third_party/gazebo-pkgs/gazebo_grasp_plugin/CMakeLists.txt
new file mode 100644
index 0000000..a93a285
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_grasp_plugin/CMakeLists.txt
@@ -0,0 +1,140 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gazebo_grasp_plugin)
+
+# This is added to remove policy CMP0054 warning (see https://stackoverflow.com/questions/45900159/how-to-use-variables-and-avoid-cmp0054-policy-violations)
+cmake_policy(SET CMP0054 NEW)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  gazebo_ros
+  geometry_msgs
+  roscpp
+  std_msgs
+  gazebo_version_helpers
+)
+
+find_package(gazebo REQUIRED)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES gazebo_grasp_fix
+  CATKIN_DEPENDS gazebo_ros geometry_msgs roscpp std_msgs gazebo_version_helpers
+  DEPENDS gazebo
+)
+
+###########
+## Build ##
+###########
+# check c++11 / c++0x
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+    set(CMAKE_CXX_FLAGS "-std=c++11")
+elseif(COMPILER_SUPPORTS_CXX0X)
+    set(CMAKE_CXX_FLAGS "-std=c++0x")
+else()
+    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
+endif()
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${GAZEBO_INCLUDE_DIRS}
+)
+
+link_directories(
+  ${catkin_LIBRARY_DIRS}
+  ${GAZEBO_LIBRARY_DIRS}
+)
+
+# Protobuf 2.6.1 includes were copied in kortex_gazebo/include and are necessary to build Gazebo plugins
+include_directories(BEFORE ../../../kortex_gazebo/include/)
+link_directories(BEFORE ../../../kortex_gazebo/lib/)
+
+## Declare a cpp library
+add_library(gazebo_grasp_fix SHARED src/GazeboGraspFix.cpp src/GazeboGraspGripper.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(gazebo_grasp_plugin_node gazebo_grasp_plugin_generate_messages_cpp)
+add_dependencies(gazebo_grasp_fix ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+
+target_link_libraries(gazebo_grasp_fix 
+	${catkin_LIBRARIES}  
+  ${Boost_LIBRARIES}
+  libprotobuf.so
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS gazebo_grasp_fix
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+   FILES_MATCHING PATTERN "*.h"
+)
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  FILES_MATCHING PATTERN "*.launch"
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_gazebo_grasp_plugin.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/third_party/gazebo-pkgs/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspFix.h b/third_party/gazebo-pkgs/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspFix.h
new file mode 100644
index 0000000..b3e3ef3
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspFix.h
@@ -0,0 +1,256 @@
+#ifndef GAZEBO_GAZEBOGRASPFIX_H
+#define GAZEBO_GAZEBOGRASPFIX_H
+
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/transport/TransportTypes.hh>
+#include <stdio.h>
+#include <gazebo_grasp_plugin/GazeboGraspGripper.h>
+
+namespace gazebo
+{
+
+/**
+ * Inspired by gazebo::physics::Gripper, this plugin fixes an object which is grasped to the
+ * robot hand to avoid problems with physics engines and to help the object staying in
+ * the robot hand without slipping out.
+ *
+ * This is a *model* plugin, so you have to load the model plugin from the robot URDF:
+ *
+ * ```xml
+ *   <gazebo>
+ *       <plugin name="gazebo_grasp_fix" filename="libgazebo_grasp_fix.so">
+ *          <arm>
+ *              <arm_name>name-of-arm</arm_name>
+ *              <palm_link> hand_link_name  </palm_link>
+ *              <gripper_link> finger_index_link_1 </gripper_link>
+ *              <gripper_link> finger_index_link_2 </gripper_link>
+ *              <gripper_link> ... </gripper_link>
+ *           </arm>
+ *           <forces_angle_tolerance>100</forces_angle_tolerance>
+ *           <update_rate>4</update_rate>
+ *           <grip_count_threshold>4</grip_count_threshold>
+ *           <max_grip_count>8</max_grip_count>
+ *           <release_tolerance>0.005</release_tolerance>
+ *           <disable_collisions_on_attach>false</disable_collisions_on_attach>
+ *           <contact_topic>__default_topic__</contact_topic>
+ *       </plugin>
+ *   </gazebo>
+ * ```
+ *
+ *    Description of the arguments:
+ *
+ *    - ``<arm>`` contains a collections of specification for each arm which can grasp one object (there may be several ``<arm>`` tags):
+ *        - ``<arm_name>`` is the name of this arm. Has to be unique.
+ *        - ``<palm_link>`` has to be the link to which the finger joints are attached.
+ *        - ``<gripper_link>`` tags have to include -all- link names of the gripper/hand which are used to
+ *              actively grasp objects (these are the links which determine whether a "grasp" exists according to
+ *              above described criterion).
+ *    - ``<update_rate>`` is the rate at which all contact points are checked against the "gripping criterion".
+ *          Note that in-between such updates, existing contact points may be collected at
+ *          a higher rate (the Gazebo world update rate). The ``update_rate`` is only the rate at
+ *          which they are processed, which takes a bit of computation time, and therefore
+ *          should be lower than the gazebo world update rate.
+ *    - ``<forces_angle_tolerance>`` is the tolerance angle (in degrees) between two force vectors to be considered
+ *           "opposing forces". If the angle is smaller than this, they are not opposing.
+ *    - ``<grip_count_threshold>`` is number of times in the update loop (running at update_rate) that an object has
+ *            to be detected as "gripped" in order to attach the object.
+ *            Adjust this with the update rate.
+ *    - ``<max_grip_count>`` is the maximum number of a counter:
+ *            At each update iteration (running at update_rate), if the "gripping criterion" is
+ *            met for an object, a counter for this object is increased. ``max_grip_count`` is
+ *            the maximum number recorded for an object. As soon as the counter goes beyond this
+ *            number, the counter is stopped. As soon as the "gripping criterion" does not
+ *            hold any more, the number will start to decrease again, (by 1 each time the object
+ *            is detected as "not grasped" in an update iteration). So this counter is
+ *            like a "buffer" which, when it is full, maintains the state, and when it is empty,
+ *            again, the object is released.
+ *            This should be at least double of ``grip_count_threshold``.
+ *    - ``<release_tolerance>`` is the distance which the gripper links are allowed to move away from the object
+ *            during- a grasp without the object being detached, even if there are currently no
+ *            actual contacts on the object. This condition can happen if the fingers "wobble"
+ *            or move ever so slightly away from the object, and therefore the "gripping criterion"
+ *            fails in a few subsequent update iterations. This setting is to make the behaviour more
+ *            stable.
+ *            Setting this number too high will also lead to the object not being detached even
+ *            if the grippers have opened up to release it, so use this with care.
+ *    - ``<disable_collisions_on_attach>`` can be used for the following:
+ *            When an object is attached, collisions with it may be disabled, in case the
+ *            robot still keeps wobbling.
+ *    - ``<contact_topic>`` is the gazebo topic of contacts. Should normally be left at -\_\_default_topic\_\_-.
+ *
+ * Current limitations:
+ *
+ *  - Only one object can be attached per gripper.
+ *  - Only partial support for an object cannot be gripped with two grippers (release condition may be
+ *     triggered wrongly, or not at all, if two grippers are involved)
+ *
+ * \author Jennifer Buehler
+ */
+class GazeboGraspFix : public ModelPlugin
+{
+  public:
+    GazeboGraspFix();
+    GazeboGraspFix(physics::ModelPtr _model);
+    virtual ~GazeboGraspFix();
+
+    /**
+     * Gets called just after the object has been attached to the palm link on \e armName
+     */
+    virtual void OnAttach(const std::string &objectName,
+                          const std::string &armName) {}
+    /**
+     * Gets called just after the object has been detached to the palm link on \e armName
+     */
+    virtual void OnDetach(const std::string &objectName,
+                          const std::string &armName) {}
+
+  private:
+    virtual void Init();
+    virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
+    /**
+     * Collects for each object all forces which are currently applied on it.
+     * Then, for each object, checks whether of all the forces applied,
+     * there are opposing forces.
+     * This is done by calling CheckGrip() with the list of all forces applied.
+     * If CheckGrip() returns true, the number of "grip counts"
+     * is increased for the holding arm (but grip counts will never exceed \e max_grip_count).
+     * If the number of grip counts for this object exceeds \e grip_count_threshold,
+     * the object is attached by calling GazeboGraspGripper::HandleAttach(object-name),
+     * setting \e attached and \e attachedObjName, and \e GazeboGraspGripper::attachGripContacts
+     * is updated with the contact points currently existing for this object (current entry in \e contacts).
+     *
+     * Then, goes through all entries in \e gripCount, and unless it's an object
+     * we just detected as "gripped", the counter is decreased.
+     * If the counter is is smaller than \e grip_count_threshold, the object should
+     * potentially be released, but this criterion happens too easily
+     * (the fingers in gazebo may have started wobbling as the arm moves around, and although they are still
+     * close to the object, the grip is not detected any more).
+     * So to be sure, and additional criterion has to be satisfied before the object is released:
+     * check that the collision point (the place on the link where the contact originally
+     * was detected) has not moved too far from where it originally was, relative to the object.
+     */
+    void OnUpdate();
+
+    void InitValues();
+
+
+    /**
+     * Gets called upon detection of contacts.
+     * A list of contacts is passed in \_msg. One contact has two bodies, and only
+     * the ones where one of the bodies is a gripper link are considered.
+     * Each contact consists of a *list* of forces with their own origin/position each
+     * (e.g. when the object and gripper are colliding at several places).
+     * The averages of each contact's force vectors along with their origins is computed.
+     * This "average contact force/origin" for each contact is then added to the \e this->contacts map.
+     * If an entry for this object/link pair already exists, the average force (and its origin)
+     * is *added* to the existing force/origin, and the average count is increased. This is to get
+     * the average force application over time between link and object.
+     */
+    void OnContact(const ConstContactsPtr &ptr);
+
+//    bool CheckGrip(const std::vector<GzVector3> &forces, float minAngleDiff,
+//                   float lengthRatio);
+
+    bool IsGripperLink(const std::string &linkName, std::string &gripperName) const;
+
+    /**
+     * return objects (key) and the gripper (value) to which it is attached
+     */
+    std::map<std::string, std::string> GetAttachedObjects() const;
+
+    /**
+     * Helper class to collect contact info per object.
+     * Forward declaration here.
+     */
+    class ObjectContactInfo;
+
+    /**
+     * Helper function to determine if object attached to a gripper in ObjectContactInfo.
+     */
+    bool ObjectAttachedToGripper(const ObjectContactInfo &objContInfo,
+                                 std::string &attachedToGripper) const;
+
+    /**
+     * Helper function to determine if object attached to this gripper
+     */
+    bool ObjectAttachedToGripper(const std::string &gripperName,
+                                 std::string &attachedToGripper) const;
+
+
+    // physics::ModelPtr model;
+    // physics::PhysicsEnginePtr physics;
+    physics::WorldPtr world;
+
+    // sorted by their name, all grippers of the robot
+    std::map<std::string, GazeboGraspGripper> grippers;
+
+    event::ConnectionPtr update_connection;
+    transport::NodePtr node;
+    transport::SubscriberPtr contactSub; //subscriber to contact updates
+
+    // tolerance (in degrees) between force vectors to
+    // beconsidered "opposing"
+    float forcesAngleTolerance;
+
+    // when an object is attached, collisions with it may be disabled, in case the
+    // robot still keeps wobbling.
+    bool disableCollisionsOnAttach;
+
+    // all collisions per gazebo collision link (each entry
+    // belongs to a physics::CollisionPtr element). The key
+    // is the collision link name, the value is the gripper name
+    // this collision link belongs to.
+    std::map<std::string, std::string> collisions;
+
+
+    /**
+     * Helper class to encapsulate a collision information. Forward declaration here.
+     */
+    class CollidingPoint;
+
+    // Contact forces sorted by object name the gripper collides with (first key)
+    // and the link colliding (second key).
+    std::map<std::string, std::map<std::string, CollidingPoint> > contacts;
+    boost::mutex mutexContacts; //mutex protects contacts
+
+    // when an object was first attached, it had these colliding points.
+    // First key is object name, second is the link colliding, as in \e contacts.
+    // Only the links of *one* gripper are stored here. This indirectly imposes the
+    // limitation that no two grippers can grasp the object (while it would be
+    // possible, the release condition is tied to only one link, so the object may
+    // not be released properly).
+    std::map<std::string, std::map<std::string, CollidingPoint> >
+    attachGripContacts;
+
+
+    // Records how many subsequent update calls the grip on that object has been recorded
+    // as "holding". Every loop, if a grip is not recorded, this number decreases.
+    // When it reaches \e grip_count_threshold, it will be attached.
+    // The number won't increase above max_grip_count once it has reached that number.
+    std::map<std::string, int> gripCounts;
+
+    // *maximum* number in \e gripCounts to be recorded.
+    int maxGripCount;
+
+    // number of recorded "grips" in the past (in gripCount) which, when it is exceeded, counts
+    // as the object grasped, and when it is lower, as released.
+    int gripCountThreshold;
+
+    // once an object is gripped, the relative position of the collision link surface to the
+    // object is remembered. As soon as this distance changes more than release_tolerance,
+    // the object is released.
+    float releaseTolerance;
+
+    //nano seconds between two updates
+    common::Time updateRate;
+
+    //last time OnUpdate() was called
+    common::Time prevUpdateTime;
+};
+
+}
+
+#endif  // GAZEBO_GAZEBOGRASPFIX_H
diff --git a/third_party/gazebo-pkgs/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspGripper.h b/third_party/gazebo-pkgs/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspGripper.h
new file mode 100644
index 0000000..f8fdbb1
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_grasp_plugin/include/gazebo_grasp_plugin/GazeboGraspGripper.h
@@ -0,0 +1,89 @@
+#ifndef GAZEBO_GAZEBOGRASPGRIPPER_H
+#define GAZEBO_GAZEBOGRASPGRIPPER_H
+
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+#include <gazebo/transport/TransportTypes.hh>
+#include <stdio.h>
+
+namespace gazebo
+{
+
+/**
+ * \brief Helper class for GazeboGraspFix which holds information for one arm.
+ * Attaches /detaches objects to the palm of this arm.
+ *
+ * \author Jennifer Buehler
+ */
+class GazeboGraspGripper
+{
+  public:
+    GazeboGraspGripper();
+    GazeboGraspGripper(const GazeboGraspGripper &o);
+    virtual ~GazeboGraspGripper();
+
+    /**
+     *
+     * \param disableCollisionsOnAttach when an object is attached, collisions with it will be disabled. This is useful
+     *      if the robot then still keeps wobbling.
+     */
+    bool Init(physics::ModelPtr &_model,
+              const std::string &_gripperName,
+              const std::string &palmLinkName,
+              const std::vector<std::string> &fingerLinkNames,
+              bool _disableCollisionsOnAttach,
+              std::map<std::string, physics::CollisionPtr> &_collisions);
+
+    const std::string &getGripperName() const;
+
+    /**
+     * Has the link name (URDF)
+     */
+    bool hasLink(const std::string &linkName) const;
+
+    /**
+     * Has the collision link name (Gazebo collision element name)
+     */
+    bool hasCollisionLink(const std::string &linkName) const;
+
+    bool isObjectAttached() const;
+
+    const std::string &attachedObject() const;
+
+    /**
+     * \param gripContacts contact forces on the object sorted by the link name colliding.
+     */
+    bool HandleAttach(const std::string &objName);
+    void HandleDetach(const std::string &objName);
+
+  private:
+
+    physics::ModelPtr model;
+
+    // name of the gripper
+    std::string gripperName;
+
+    // names of the gripper links
+    std::vector<std::string> linkNames;
+    // names and Collision objects of the collision links in Gazebo (scoped names)
+    // Not necessarily equal names and size to linkNames.
+    std::map<std::string, physics::CollisionPtr> collisionElems;
+
+    physics::JointPtr fixedJoint;
+
+    physics::LinkPtr palmLink;
+
+    // when an object is attached, collisions with it may be disabled, in case the
+    // robot still keeps wobbling.
+    bool disableCollisionsOnAttach;
+
+    // flag holding whether an object is attached. Object name in \e attachedObjName
+    bool attached;
+    // name of the object currently attached.
+    std::string attachedObjName;
+};
+
+}
+#endif  // GAZEBO_GAZEBOGRASPGRIPPER_H
diff --git a/third_party/gazebo-pkgs/gazebo_grasp_plugin/package.xml b/third_party/gazebo-pkgs/gazebo_grasp_plugin/package.xml
new file mode 100644
index 0000000..5924275
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_grasp_plugin/package.xml
@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+<package>
+  <name>gazebo_grasp_plugin</name>
+  <version>1.0.2</version>
+  <description>
+        Gazebo Model plugin(s) which handle/help grasping in Gazebo.
+  </description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <maintainer email="jennifer.e.buehler@gmail.com">Jennifer Buehler</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>GPLv3</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/gazebo_grasp_plugin</url> -->
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <author email="jennifer.e.buehler@gmail.com">Jennifer Buehler</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>gazebo_ros</build_depend>
+  <build_depend>gazebo</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>gazebo_version_helpers</build_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>gazebo</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>gazebo_version_helpers</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+    <!-- Other tools can request additional information be placed here -->
+  </export>
+</package>
diff --git a/third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspFix.cpp b/third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspFix.cpp
new file mode 100644
index 0000000..5162d5c
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspFix.cpp
@@ -0,0 +1,948 @@
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/physics/ContactManager.hh>
+#include <gazebo/physics/Contact.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+
+#include <gazebo_grasp_plugin/GazeboGraspFix.h>
+#include <gazebo_version_helpers/GazeboVersionHelpers.h>
+
+using gazebo::GazeboGraspFix;
+using gazebo::GzVector3;
+
+#define DEFAULT_FORCES_ANGLE_TOLERANCE 120
+#define DEFAULT_UPDATE_RATE 5
+#define DEFAULT_MAX_GRIP_COUNT 10
+#define DEFAULT_RELEASE_TOLERANCE 0.005
+#define DEFAULT_DISABLE_COLLISIONS_ON_ATTACH false
+
+// Register this plugin with the simulator
+GZ_REGISTER_MODEL_PLUGIN(GazeboGraspFix)
+
+////////////////////////////////////////////////////////////////////////////////
+GazeboGraspFix::GazeboGraspFix()
+{
+  InitValues();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+GazeboGraspFix::GazeboGraspFix(physics::ModelPtr _model)
+{
+  InitValues();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+GazeboGraspFix::~GazeboGraspFix()
+{
+  this->update_connection.reset();
+  if (this->node) this->node->Fini();
+  this->node.reset();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+void GazeboGraspFix::Init()
+{
+  this->prevUpdateTime = common::Time::GetWallTime();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+void GazeboGraspFix::InitValues()
+{
+#if GAZEBO_MAJOR_VERSION > 2
+  gazebo::common::Console::SetQuiet(false);
+#endif
+
+  // float timeDiff=0.25;
+  // this->releaseTolerance=0.005;
+  // this->updateRate = common::Time(0, common::Time::SecToNano(timeDiff));
+  this->prevUpdateTime = common::Time::GetWallTime();
+  //float graspedSecs=2;
+  //this->maxGripCount=floor(graspedSecs/timeDiff);
+  //this->gripCountThreshold=floor(this->maxGripCount/2);
+  this->node = transport::NodePtr(new transport::Node());
+}
+
+////////////////////////////////////////////////////////////////////////////////
+void GazeboGraspFix::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
+{
+  gzmsg << "Loading grasp-fix plugin" << std::endl;
+
+  // ++++++++++++ Read parameters and initialize fields  +++++++++++++++
+
+  physics::ModelPtr model = _parent;
+  this->world = model->GetWorld();
+
+  sdf::ElementPtr disableCollisionsOnAttachElem =
+    _sdf->GetElement("disable_collisions_on_attach");
+  if (!disableCollisionsOnAttachElem)
+  {
+    gzmsg << "GazeboGraspFix: Using default " <<
+          DEFAULT_DISABLE_COLLISIONS_ON_ATTACH <<
+          " because no <disable_collisions_on_attach> element specified." <<
+          std::endl;
+    this->disableCollisionsOnAttach = DEFAULT_DISABLE_COLLISIONS_ON_ATTACH;
+  }
+  else
+  {
+    std::string str = disableCollisionsOnAttachElem->Get<std::string>();
+    bool bVal = false;
+    if ((str == "true") || (str == "1"))  bVal = true;
+    this->disableCollisionsOnAttach = bVal;
+    gzmsg << "GazeboGraspFix: Using disable_collisions_on_attach " <<
+          this->disableCollisionsOnAttach << std::endl;
+  }
+
+  sdf::ElementPtr forcesAngleToleranceElem =
+    _sdf->GetElement("forces_angle_tolerance");
+  if (!forcesAngleToleranceElem)
+  {
+    gzmsg << "GazeboGraspFix: Using default tolerance of " <<
+          DEFAULT_FORCES_ANGLE_TOLERANCE <<
+          " because no <forces_angle_tolerance> element specified." <<
+          std::endl;
+    this->forcesAngleTolerance = DEFAULT_FORCES_ANGLE_TOLERANCE * M_PI / 180;
+  }
+  else
+  {
+    this->forcesAngleTolerance =
+      forcesAngleToleranceElem->Get<float>() * M_PI / 180;
+  }
+
+  sdf::ElementPtr updateRateElem = _sdf->GetElement("update_rate");
+  double _updateSecs;
+  if (!updateRateElem)
+  {
+    gzmsg << "GazeboGraspFix: Using  " << DEFAULT_UPDATE_RATE <<
+          " because no <updateRate_tag> element specified." << std::endl;
+    _updateSecs = 1.0 / DEFAULT_UPDATE_RATE;
+  }
+  else
+  {
+    int _rate = updateRateElem->Get<int>();
+    double _updateRate = _rate;
+    _updateSecs = 1.0 / _updateRate;
+    gzmsg << "GazeboGraspFix: Using update rate " << _rate << std::endl;
+  }
+  this->updateRate = common::Time(0, common::Time::SecToNano(_updateSecs));
+
+  sdf::ElementPtr maxGripCountElem = _sdf->GetElement("max_grip_count");
+  if (!maxGripCountElem)
+  {
+    gzmsg << "GazeboGraspFix: Using  " << DEFAULT_MAX_GRIP_COUNT <<
+          " because no <max_grip_count> element specified." << std::endl;
+    this->maxGripCount = DEFAULT_MAX_GRIP_COUNT;
+  }
+  else
+  {
+    this->maxGripCount = maxGripCountElem->Get<int>();
+    gzmsg << "GazeboGraspFix: Using max_grip_count "
+          << this->maxGripCount << std::endl;
+  }
+
+  sdf::ElementPtr gripCountThresholdElem =
+    _sdf->GetElement("grip_count_threshold");
+  if (!gripCountThresholdElem)
+  {
+    this->gripCountThreshold = floor(this->maxGripCount / 2.0);
+    gzmsg << "GazeboGraspFix: Using  " << this->gripCountThreshold <<
+          " because no <grip_count_threshold> element specified." <<
+          std::endl;
+  }
+  else
+  {
+    this->gripCountThreshold = gripCountThresholdElem->Get<int>();
+    gzmsg << "GazeboGraspFix: Using grip_count_threshold " <<
+          this->gripCountThreshold << std::endl;
+  }
+
+  sdf::ElementPtr releaseToleranceElem = _sdf->GetElement("release_tolerance");
+  if (!releaseToleranceElem)
+  {
+    gzmsg << "GazeboGraspFix: Using  " << DEFAULT_RELEASE_TOLERANCE <<
+          " because no <release_tolerance> element specified." << std::endl;
+    this->releaseTolerance = DEFAULT_RELEASE_TOLERANCE;
+  }
+  else
+  {
+    this->releaseTolerance = releaseToleranceElem->Get<float>();
+    gzmsg << "GazeboGraspFix: Using release_tolerance " <<
+          this->releaseTolerance << std::endl;
+  }
+
+  // will contain all names of collision entities involved from all arms
+  std::vector<std::string> collisionNames;
+
+  sdf::ElementPtr armElem = _sdf->GetElement("arm");
+  if (!armElem)
+  {
+    gzerr << "GazeboGraspFix: Cannot load the GazeboGraspFix without any <arm> declarations"
+          << std::endl;
+    return;
+  }
+  // add all arms:
+  for (; armElem != NULL; armElem = armElem->GetNextElement("arm"))
+  {
+    sdf::ElementPtr armNameElem = armElem->GetElement("arm_name");
+    sdf::ElementPtr handLinkElem = armElem->GetElement("palm_link");
+    sdf::ElementPtr fingerLinkElem = armElem->GetElement("gripper_link");
+
+    if (!handLinkElem || !fingerLinkElem || !armNameElem)
+    {
+      gzerr << "ERROR: GazeboGraspFix: Cannot use a GazeboGraspFix arm because "
+            << "not all of <arm_name>, <palm_link> and <gripper_link> elements specified in URDF/SDF. Skipping."
+            << std::endl;
+      continue;
+    }
+
+    std::string armName = armNameElem->Get<std::string>();
+    std::string palmName = handLinkElem->Get<std::string>();
+
+    // collect all finger names:
+    std::vector<std::string> fingerLinkNames;
+    for (; fingerLinkElem != NULL;
+         fingerLinkElem = fingerLinkElem->GetNextElement("gripper_link"))
+    {
+      std::string linkName = fingerLinkElem->Get<std::string>();
+      fingerLinkNames.push_back(linkName);
+    }
+
+    // add new gripper
+    if (grippers.find(armName) != grippers.end())
+    {
+      gzerr << "GazeboGraspFix: Arm named " << armName <<
+            " was already added, cannot add it twice." << std::endl;
+    }
+    GazeboGraspGripper &gripper = grippers[armName];
+    std::map<std::string, physics::CollisionPtr> _collisions;
+    if (!gripper.Init(_parent, armName, palmName, fingerLinkNames,
+                      disableCollisionsOnAttach, _collisions))
+    {
+      gzerr << "GazeboGraspFix: Could not initialize arm " << armName << ". Skipping."
+            << std::endl;
+      grippers.erase(armName);
+      continue;
+    }
+    // add all the grippers's collision elements
+    for (std::map<std::string, physics::CollisionPtr>::iterator collIt =
+           _collisions.begin();
+         collIt != _collisions.end(); ++collIt)
+    {
+      const std::string &collName = collIt->first;
+      //physics::CollisionPtr& coll=collIt->second;
+      std::map<std::string, std::string>::iterator collIter = this->collisions.find(
+            collName);
+      if (collIter !=
+          this->collisions.end())   //this collision was already added before
+      {
+        gzwarn << "GazeboGraspFix: Adding Gazebo collision link element " << collName <<
+               " multiple times, the grasp plugin may not work properly" << std::endl;
+        continue;
+      }
+      gzmsg << "GazeboGraspFix: Adding collision scoped name " << collName <<
+            std::endl;
+      this->collisions[collName] = armName;
+      collisionNames.push_back(collName);
+    }
+  }
+
+  if (grippers.empty())
+  {
+    gzerr << "ERROR: GazeboGraspFix: Cannot use a GazeboGraspFix because "
+          << "no arms were configured successfully. Plugin will not work." << std::endl;
+    return;
+  }
+
+  // ++++++++++++ start up things +++++++++++++++
+
+  physics::PhysicsEnginePtr physics = GetPhysics(this->world);
+  this->node->Init(gazebo::GetName(*(this->world)));
+  physics::ContactManager *contactManager = physics->GetContactManager();
+  contactManager->PublishContacts();  // TODO not sure this is required?
+
+  std::string topic = contactManager->CreateFilter(model->GetScopedName(),
+                      collisionNames);
+  if (!this->contactSub)
+  {
+    gzmsg << "Subscribing contact manager to topic " << topic << std::endl;
+    bool latching = false;
+    this->contactSub = this->node->Subscribe(topic, &GazeboGraspFix::OnContact,
+                       this, latching);
+  }
+
+  update_connection = event::Events::ConnectWorldUpdateEnd(boost::bind(
+                        &GazeboGraspFix::OnUpdate, this));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+class GazeboGraspFix::ObjectContactInfo
+{
+  public:
+
+    // all forces effecting on the object
+    std::vector<GzVector3> appliedForces;
+
+    // all grippers involved in the process, along with
+    // a number counting the number of contact points with the
+    // object per gripper
+    std::map<std::string, int> grippersInvolved;
+
+    // maximum number of contacts of *any one* gripper
+    // (any in grippersInvolved)
+    int maxGripperContactCnt;
+
+    // the gripper for maxGripperContactCnt
+    std::string maxContactGripper;
+};
+
+////////////////////////////////////////////////////////////////////////////////
+bool GazeboGraspFix::IsGripperLink(const std::string &linkName,
+                                   std::string &gripperName) const
+{
+  for (std::map<std::string, GazeboGraspGripper>::const_iterator it =
+         grippers.begin(); it != grippers.end(); ++it)
+  {
+    if (it->second.hasLink(linkName))
+    {
+      gripperName = it->first;
+      return true;
+    }
+  }
+  return false;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+std::map<std::string, std::string> GazeboGraspFix::GetAttachedObjects() const
+{
+  std::map<std::string, std::string> ret;
+  for (std::map<std::string, GazeboGraspGripper>::const_iterator it =
+         grippers.begin(); it != grippers.end(); ++it)
+  {
+    const std::string &gripperName = it->first;
+    const GazeboGraspGripper &gripper = it->second;
+    if (gripper.isObjectAttached())
+    {
+      ret[gripper.attachedObject()] = gripperName;
+    }
+  }
+  return ret;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+bool GazeboGraspFix::ObjectAttachedToGripper(const ObjectContactInfo
+    &objContInfo, std::string &attachedToGripper) const
+{
+  for (std::map<std::string, int>::const_iterator gripInvIt =
+         objContInfo.grippersInvolved.begin();
+       gripInvIt != objContInfo.grippersInvolved.end(); ++gripInvIt)
+  {
+    const std::string &gripperName = gripInvIt->first;
+    if (ObjectAttachedToGripper(gripperName, attachedToGripper))
+    {
+      return true;
+    }
+  }
+  return false;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+bool GazeboGraspFix::ObjectAttachedToGripper(const std::string &gripperName,
+    std::string &attachedToGripper) const
+{
+  std::map<std::string, GazeboGraspGripper>::const_iterator gIt = grippers.find(
+        gripperName);
+  if (gIt == grippers.end())
+  {
+    gzerr << "GazeboGraspFix: Inconsistency, gripper " << gripperName <<
+          " not found in GazeboGraspFix grippers" << std::endl;
+    return false;
+  }
+  const GazeboGraspGripper &gripper = gIt->second;
+  // gzmsg<<"Gripper "<<gripperName<<" is involved in the grasp"<<std::endl;
+  if (gripper.isObjectAttached())
+  {
+    attachedToGripper = gripperName;
+    return true;
+  }
+  return false;
+}
+
+
+////////////////////////////////////////////////////////////////////////////////
+/**
+ * Helper class to encapsulate a collision information.
+ * One contact has two bodies, and only
+ * the ones where one of the bodies is a gripper link are considered.
+ * Each contact consists of a *list* of forces with their own origin/position each
+ * (e.g. when the object and gripper are colliding at several places).
+ * The averages of each contact's force vectors along with their origins are
+ * *accumulated* in the given Vector3 \e pos and \eforce objects.
+ * The number of additions is stored in \e sum.
+ * This is to get the average force application over time between link and object.
+ *
+ * \author Jennifer Buehler
+ */
+class GazeboGraspFix::CollidingPoint
+{
+  public:
+    CollidingPoint(): sum(0) {}
+    CollidingPoint(const CollidingPoint &o):
+      gripperName(o.gripperName),
+      collLink(o.collLink),
+      collObj(o.collObj),
+      force(o.force),
+      pos(o.pos),
+      objPos(o.objPos),
+      sum(o.sum) {}
+
+    // Name of the gripper/arm involved in contact point
+    // This is not the specific link, but the name of the
+    // whole gripper
+    std::string gripperName;
+
+    // the collision
+    physics::CollisionPtr collLink, collObj;
+
+    // average force vector of the colliding point
+    GzVector3 force;
+
+    // position (relative to reference frame of gripper
+    // collision surface) where the contact happens on collision surface
+    GzVector3 pos;
+
+    // position (relative to reference frame of *gripper* collision surface)
+    // where the object center is located during collision.
+    GzVector3 objPos;
+
+    // sum of force and pose (they are actually summed
+    // up from several contact points).
+    // Divide both \e force and \e pos by this to obtain average
+    int sum;
+};
+
+////////////////////////////////////////////////////////////////////////////////
+double AngularDistance(const GzVector3 &_v1,
+                       const GzVector3 &_v2)
+{
+  GzVector3 v1 = _v1;
+  GzVector3 v2 = _v2;
+  v1.Normalize();
+  v2.Normalize();
+  return acos(v1.Dot(v2));
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Checks whether any two vectors in the set have an angle greater
+// than minAngleDiff (in rad), and one is at least
+// lengthRatio (0..1) of the other in it's length.
+bool CheckGrip(const std::vector<GzVector3> &forces,
+               float minAngleDiff, float lengthRatio)
+{
+  if (((lengthRatio > 1) || (lengthRatio < 0)) && (lengthRatio > 1e-04
+      && (fabs(lengthRatio - 1) > 1e-04)))
+  {
+    std::cerr << "ERROR: CheckGrip: always specify a lengthRatio of [0..1]" <<
+              std::endl;
+    return false;
+  }
+  if (minAngleDiff < M_PI_2)
+  {
+    std::cerr << "ERROR: CheckGrip: min angle must be at least 90 degrees (PI/2)" <<
+              std::endl;
+    return false;
+  }
+  std::vector<GzVector3>::const_iterator it1, it2;
+  for (it1 = forces.begin(); it1 != forces.end(); ++it1)
+  {
+    GzVector3 v1 = *it1;
+    for (it2 = it1 + 1; it2 != forces.end(); ++it2)
+    {
+      GzVector3 v2 = *it2;
+      float l1 = gazebo::GetLength(v1);
+      float l2 = gazebo::GetLength(v2);
+      if ((l1 < 1e-04) || (l2 < 1e-04)) continue;
+      /*GzVector3 _v1=v1;
+      GzVector3 _v2=v2;
+      _v1/=l1;
+      _v2/=l2;
+      float angle=acos(_v1.Dot(_v2));*/
+      float angle = AngularDistance(v1, v2);
+      // gzmsg<<"Angular distance between v1.len="<<v1.GetLength()<<" and v2.len="<<v2.GetLength()<<": "<<angle*180/M_PI<<std::endl;
+      if (angle > minAngleDiff)
+      {
+        float ratio;
+        if (l1 > l2) ratio = l2 / l1;
+        else ratio = l1 / l2;
+        // gzmsg<<"Got angle "<<angle<<", ratio "<<ratio<<std::endl;
+        if (ratio >= lengthRatio)
+        {
+          // gzmsg<<"CheckGrip() is true"<<std::endl;
+          return true;
+        }
+      }
+    }
+  }
+  return false;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+void GazeboGraspFix::OnUpdate()
+{
+  if ((common::Time::GetWallTime() - this->prevUpdateTime) < this->updateRate)
+    return;
+
+  // first, copy all contact data into local struct. Don't do the complex grip check (CheckGrip)
+  // within the mutex, because that slows down OnContact().
+  this->mutexContacts.lock();
+  std::map<std::string, std::map<std::string, CollidingPoint> > contPoints(
+    this->contacts);
+  this->contacts.clear(); // clear so it can be filled anew by OnContact().
+  this->mutexContacts.unlock();
+
+  // contPoints now contains CollidingPoint objects for each *object* and *link*.
+
+  // Iterate through all contact points to gather all summed forces
+  // (and other useful information) for all the objects (so we have all forces on one object).
+  std::map<std::string, std::map<std::string, CollidingPoint> >::iterator objIt;
+  std::map<std::string, ObjectContactInfo> objectContactInfo;
+
+  for (objIt = contPoints.begin(); objIt != contPoints.end(); ++objIt)
+  {
+    std::string objName = objIt->first;
+    //gzmsg<<"Examining object collisions with "<<objName<<std::endl;
+
+    // create new entry in accumulated results map and get reference to fill in:
+    ObjectContactInfo &objContInfo = objectContactInfo[objName];
+
+    // for all links colliding with this object...
+    std::map<std::string, CollidingPoint>::iterator lIt;
+    for (lIt = objIt->second.begin(); lIt != objIt->second.end(); ++lIt)
+    {
+      std::string linkName = lIt->first;
+      CollidingPoint &collP = lIt->second;
+      GzVector3 avgForce = collP.force / collP.sum;
+      // gzmsg << "Found collision with "<<linkName<<": "<<avgForce.x<<", "<<avgForce.y<<", "<<avgForce.z<<" (avg over "<<collP.sum<<")"<<std::endl;
+      objContInfo.appliedForces.push_back(avgForce);
+      // insert the gripper (if it doesn't exist yet) and increase contact counter
+      int &gContactCnt = objContInfo.grippersInvolved[collP.gripperName];
+      gContactCnt++;
+      int &_maxGripperContactCnt = objContInfo.maxGripperContactCnt;
+      if (gContactCnt > _maxGripperContactCnt)
+      {
+        _maxGripperContactCnt = gContactCnt;
+        objContInfo.maxContactGripper = collP.gripperName;
+      }
+    }
+  }
+
+  // ++++++++++++++++++++ Handle Attachment  +++++++++++++++++++++++++++++++
+
+  // collect of all objects which are found to be "gripped" at the current stage.
+  // if they are gripped, increase the grip counter. If the grip count exceeds the
+  // threshold, attach the object to the gripper which has most contact points with the
+  // object.
+  std::set<std::string> grippedObjects;
+  for (std::map<std::string, ObjectContactInfo>::iterator ocIt =
+         objectContactInfo.begin();
+       ocIt != objectContactInfo.end(); ++ocIt)
+  {
+    const std::string &objName = ocIt->first;
+    const ObjectContactInfo &objContInfo = ocIt->second;
+
+    // gzmsg<<"Number applied forces on "<<objName<<": "<<objContInfo.appliedForces.size()<<std::endl;
+  
+    // TODO: remove this test print, for issue #26 ------------------- 
+#if 0
+    physics::CollisionPtr objColl =
+      boost::dynamic_pointer_cast<physics::Collision>(GetEntityByName(world, objName));
+    if (objColl && objColl->GetLink())
+    {
+      auto linVel = GetWorldVelocity(objColl->GetLink());
+      gzmsg << "Velocity for link " << objColl->GetLink()->GetName()
+        << " (collision name " << objName << "): " << linVel
+        << ", absolute val " << GetLength(linVel) << std::endl;
+    }
+#endif
+    // ------------------- 
+
+    float minAngleDiff = this->forcesAngleTolerance; //120 * M_PI/180;
+    if (!CheckGrip(objContInfo.appliedForces, minAngleDiff, 0.3))
+      continue;
+
+    // add to "gripped objects"
+    grippedObjects.insert(objName);
+
+    //gzmsg<<"Grasp Held: "<<objName<<" grip count: "<<this->gripCounts[objName]<<std::endl;
+
+    int &counts = this->gripCounts[objName];
+    if (counts < this->maxGripCount) ++counts;
+
+    // only need to attach object if the grip count threshold is exceeded
+    if (counts <= this->gripCountThreshold)
+      continue;
+
+    //gzmsg<<"GRIPPING "<<objName<<", grip count "<<counts<<" (threshold "<<this->gripCountThreshold<<")"<<std::endl;
+
+    // find out if any of the grippers involved in the grasp is already grasping the object.
+    // If there is no such gripper, attach it to the gripper which has most contact points.
+    std::string attachedToGripper;
+    bool isAttachedToGripper = ObjectAttachedToGripper(objContInfo,
+                               attachedToGripper);
+    if (isAttachedToGripper)
+    {
+      // the object is already attached to a gripper, so it does not need to be attached.
+      // gzmsg << "GazeboGraspFix has found that object "<<
+      //     gripper.attachedObject()<<" is already attached to gripper "<<gripperName;
+      continue;
+    }
+
+    // attach the object to the gripper with most contact counts
+    const std::string &graspingGripperName = objContInfo.maxContactGripper;
+    std::map<std::string, GazeboGraspGripper>::iterator gIt = grippers.find(
+          graspingGripperName);
+    if (gIt == grippers.end())
+    {
+      gzerr << "GazeboGraspFix: Inconsistency, gripper '" << graspingGripperName
+            << "' not found in GazeboGraspFix grippers, so cannot do attachment of object "
+            << objName << std::endl;
+      continue;
+    }
+    GazeboGraspGripper &graspingGripper = gIt->second;
+
+    if (graspingGripper.isObjectAttached())
+    {
+      gzerr << "GazeboGraspFix has found that object " <<
+            graspingGripper.attachedObject() << " is already attached to gripper " <<
+            graspingGripperName << ", so can't grasp '" << objName << "'!" << std::endl;
+      continue;
+    }
+
+    gzmsg << "GazeboGraspFix: Attaching " << objName << " to gripper " <<
+          graspingGripperName << "." << std::endl;
+
+    // Store the array of contact poses which played part in the grip, sorted by colliding link.
+    // Filter out all link names of other grippers, otherwise if the other gripper moves
+    // away, this is going to trigger the release condition.
+    // XXX this does not consider full support for an object being gripped by two grippers (e.g.
+    // one left, one right).
+    // this->attachGripContacts[objName]=contPoints[objName];
+    const std::map<std::string, CollidingPoint> &contPointsTmp =
+      contPoints[objName];
+    std::map<std::string, CollidingPoint> &attGripConts =
+      this->attachGripContacts[objName];
+    attGripConts.clear();
+    std::map<std::string, CollidingPoint>::const_iterator contPointsIt;
+    for (contPointsIt = contPointsTmp.begin(); contPointsIt != contPointsTmp.end();
+         ++contPointsIt)
+    {
+      const std::string &collidingLink = contPointsIt->first;
+      const CollidingPoint &collidingPoint = contPointsIt->second;
+      // gzmsg<<"Checking initial contact with "<<collidingLink<<" and "<<graspingGripperName<<std::endl;
+      if (graspingGripper.hasCollisionLink(collidingLink))
+      {
+        // gzmsg<<"Insert initial contact with "<<collidingLink<<std::endl;
+        attGripConts[collidingLink] = collidingPoint;
+      }
+    }
+
+    if (!graspingGripper.HandleAttach(objName))
+    {
+      gzerr << "GazeboGraspFix: Could not attach object " << objName << " to gripper "
+            << graspingGripperName << std::endl;
+    }
+    this->OnAttach(objName, graspingGripperName);
+  }  // for all objects
+
+
+
+  // ++++++++++++++++++++ Handle Detachment  +++++++++++++++++++++++++++++++
+  std::map<std::string, std::string> attachedObjects = GetAttachedObjects();
+
+  // now, for all objects that are not currently gripped,
+  // decrease grip counter, and possibly release object.
+  std::map<std::string, int>::iterator gripCntIt;
+  for (gripCntIt = this->gripCounts.begin(); gripCntIt != this->gripCounts.end();
+       ++gripCntIt)
+  {
+
+    const std::string &objName = gripCntIt->first;
+
+    if (grippedObjects.find(objName) != grippedObjects.end())
+    {
+      // this object is one we just detected as "gripped", so no need to check for releasing it...
+      // gzmsg<<"NOT considering "<<objName<<" for detachment."<<std::endl;
+      continue;
+    }
+
+    // the object does not satisfy "gripped" criteria, so potentially has to be released.
+
+    // gzmsg<<"NOT-GRIPPING "<<objName<<", grip count "<<gripCntIt->second<<" (threshold "<<this->gripCountThreshold<<")"<<std::endl;
+
+    if (gripCntIt->second > 0) --(gripCntIt->second);
+
+    std::map<std::string, std::string>::iterator attIt = attachedObjects.find(
+          objName);
+    bool isAttached = (attIt != attachedObjects.end());
+
+    // gzmsg<<"is attached: "<<isAttached<<std::endl;
+
+    if (!isAttached || (gripCntIt->second > this->gripCountThreshold)) continue;
+
+    const std::string &graspingGripperName = attIt->second;
+
+    // gzmsg<<"Considering "<<objName<<" for detachment."<<std::endl;
+
+    // Object should potentially be detached now.
+    // However, this happens too easily when just considering the count, as the fingers
+    // in gazebo start wobbling as the arm moves around, and although they are still
+    // close to the object, the grip is not detected any more. So to be sure, we will
+    // check that the collision point (the place on the link where the contact originally
+    // was detected) has not moved too far from where it originally was, relative to the object.
+
+    // get the initial set of CollidingPoints for this object
+    // note that it is enough to use the initial contact points, because the object won't
+    // have "slipped" after being attached, and the location of the original contact point
+    // on the link itself is considered as a fixed point on the link, regardless whether this
+    // point is currently still colliding with the object or not. We only want to know whether
+    // this fixed point on the link has increased in distance from the corresponding fixed
+    // point (where the contact originally happened) on the object.
+    std::map<std::string, std::map<std::string, CollidingPoint> >::iterator
+    initCollIt = this->attachGripContacts.find(objName);
+    if (initCollIt == this->attachGripContacts.end())
+    {
+      std::cerr << "ERROR: Consistency: Could not find attachGripContacts for " <<
+                objName << std::endl;
+      continue;
+    }
+
+    std::map<std::string, CollidingPoint> &initColls = initCollIt->second;
+    int cntRelease = 0;
+
+    // for all links which have initially been detected to collide:
+    std::map<std::string, CollidingPoint>::iterator pointIt;
+    for (pointIt = initColls.begin(); pointIt != initColls.end(); ++pointIt)
+    {
+      CollidingPoint &cpInfo = pointIt->second;
+      // initial distance from link to contact point (relative to link)
+      GzVector3 relContactPos = cpInfo.pos / cpInfo.sum;
+      // Initial distance from link to object (relative to link)
+      GzVector3 relObjPos = cpInfo.objPos / cpInfo.sum;
+
+      // Get current world pose of object
+      GzPose3 currObjWorldPose =
+        gazebo::GetWorldPose(cpInfo.collObj->GetLink());
+
+      // Get world pose of link
+      GzPose3 currLinkWorldPose =
+        gazebo::GetWorldPose(cpInfo.collLink->GetLink());
+
+      // Get transform for currLinkWorldPose as matrix
+      GzMatrix4 worldToLink = gazebo::GetMatrix(currLinkWorldPose);
+
+      // Get the transform from collision link to contact point
+      GzMatrix4 linkToContact = gazebo::GetMatrix(relContactPos);
+
+      // The current world position of the contact point right now is:
+      GzMatrix4 _currContactWorldPose = worldToLink * linkToContact;
+      GzVector3 currContactWorldPose = gazebo::GetPos(_currContactWorldPose);
+
+      // The initial contact point location on the link should still correspond
+      // to the initial contact point location on the object.
+
+      // Initial vector from object center to contact point (relative to link,
+      // because relObjPos and relContactPos are from center of link)
+      GzVector3 oldObjDist = relContactPos - relObjPos;
+      // The same vector as \e oldObjDist, but calculated by the current world pose
+      // of object and the current location of the initial contact location on the link.
+      // This is the new distance from contact to object.
+      GzVector3 newObjDist = currContactWorldPose - gazebo::GetPos(currObjWorldPose);
+
+      //gzmsg<<"Obj Trans "<<cpInfo.collLink->GetName()<<": "<<relObjPos.x<<", "<<relObjPos.y<<", "<<relObjPos.z<<std::endl;
+      //gzmsg<<"Cont Trans "<<cpInfo.collLink->GetName()<<": "<<relContactPos.x<<", "<<relContactPos.y<<", "<<relContactPos.z<<std::endl;
+
+      // the difference between these vectors should not be too large...
+      float diff =
+        fabs(gazebo::GetLength(oldObjDist) - gazebo::GetLength(newObjDist));
+      //gzmsg<<"Diff for link "<<cpInfo.collLink->GetName()<<": "<<diff<<std::endl;
+
+      if (diff > releaseTolerance)
+      {
+        ++cntRelease;
+      }
+    }
+
+    if (cntRelease > 0)
+    {
+      // sufficient links did not meet the criteria to be close enough to the object.
+      // First, get the grasping gripper:
+      std::map<std::string, GazeboGraspGripper>::iterator gggIt = grippers.find(
+            graspingGripperName);
+      if (gggIt == grippers.end())
+      {
+        gzerr << "GazeboGraspFix: Inconsistency: Gazebo gripper '" <<
+              graspingGripperName << "' not found when checking for detachment" << std::endl;
+        continue;
+      }
+      GazeboGraspGripper &graspingGripper = gggIt->second;
+      // Now, detach the object:
+      gzmsg << "GazeboGraspFix: Detaching " << objName << " from gripper " <<
+            graspingGripperName << "." << std::endl;
+      graspingGripper.HandleDetach(objName);
+      this->OnDetach(objName, graspingGripperName);
+      gripCntIt->second = 0;
+      this->attachGripContacts.erase(initCollIt);
+    }
+  }
+
+  this->prevUpdateTime = common::Time::GetWallTime();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+void GazeboGraspFix::OnContact(const ConstContactsPtr &_msg)
+{
+  //gzmsg<<"CONTACT! "<<std::endl;//<<_contact<<std::endl;
+  // for all contacts...
+  for (int i = 0; i < _msg->contact_size(); ++i)
+  {
+    physics::CollisionPtr collision1 =
+      boost::dynamic_pointer_cast<physics::Collision>(
+        gazebo::GetEntityByName(this->world, _msg->contact(i).collision1()));
+    physics::CollisionPtr collision2 =
+      boost::dynamic_pointer_cast<physics::Collision>(
+        gazebo::GetEntityByName(this->world, _msg->contact(i).collision2()));
+
+    if ((collision1 && !collision1->IsStatic()) && (collision2
+        && !collision2->IsStatic()))
+    {
+      std::string name1 = collision1->GetScopedName();
+      std::string name2 = collision2->GetScopedName();
+
+      //gzmsg<<"OBJ CONTACT! "<<name1<<" / "<<name2<<std::endl;
+      int count = _msg->contact(i).position_size();
+
+      // Check to see if the contact arrays all have the same size.
+      if ((count != _msg->contact(i).normal_size()) ||
+          (count != _msg->contact(i).wrench_size()) ||
+          (count != _msg->contact(i).depth_size()))
+      {
+        gzerr << "GazeboGraspFix: Contact message has invalid array sizes\n" <<
+              std::endl;
+        continue;
+      }
+
+      std::string collidingObjName, collidingLink, gripperOfCollidingLink;
+      physics::CollisionPtr linkCollision;
+      physics::CollisionPtr objCollision;
+
+      physics::Contact contact;
+      contact = _msg->contact(i);
+
+      if (contact.count < 1)
+      {
+        std::cerr << "ERROR: GazeboGraspFix: Not enough forces given for contact of ."
+                  << name1 << " / " << name2 << std::endl;
+        continue;
+      }
+
+      // all force vectors which are part of this contact
+      std::vector<GzVector3> force;
+
+      // find out which part of the colliding entities is the object, *not* the gripper,
+      // and copy all the forces applied to it into the vector 'force'.
+      std::map<std::string, std::string>::const_iterator gripperCollIt =
+        this->collisions.find(name2);
+      if (gripperCollIt != this->collisions.end())
+      {
+        // collision 1 is the object
+        collidingObjName = name1;
+        collidingLink = name2;
+        linkCollision = collision2;
+        objCollision = collision1;
+        gripperOfCollidingLink = gripperCollIt->second;
+        for (int k = 0; k < contact.count; ++k)
+          force.push_back(contact.wrench[k].body1Force);
+      }
+      else if ((gripperCollIt = this->collisions.find(name1)) !=
+               this->collisions.end())
+      {
+        // collision 2 is the object
+        collidingObjName = name2;
+        collidingLink = name1;
+        linkCollision = collision1;
+        objCollision = collision2;
+        gripperOfCollidingLink = gripperCollIt->second;
+        for (int k = 0; k < contact.count; ++k)
+          force.push_back(contact.wrench[k].body2Force);
+      }
+
+      GzVector3 avgForce;
+      // compute average/sum of the forces applied on the object
+      for (int k = 0; k < force.size(); ++k)
+      {
+        avgForce += force[k];
+      }
+      avgForce /= force.size();
+
+      GzVector3 avgPos;
+      // compute center point (average pose) of all the origin positions of the forces appied
+      for (int k = 0; k < contact.count; ++k) avgPos += contact.positions[k];
+      avgPos /= contact.count;
+
+      // now, get average pose relative to the colliding link
+      GzPose3 linkWorldPose = gazebo::GetWorldPose(linkCollision->GetLink());
+
+      // To find out the collision point relative to the Link's local coordinate system, first get the Poses as 4x4 matrices
+      GzMatrix4 worldToLink = gazebo::GetMatrix(linkWorldPose);
+
+      // We can assume that the contact has identity rotation because we don't care about its orientation.
+      // We could always set another rotation here too.
+      GzMatrix4 worldToContact = gazebo::GetMatrix(avgPos);
+
+      // now, worldToLink * contactInLocal = worldToContact
+      // hence, contactInLocal = worldToLink.Inv * worldToContact
+      GzMatrix4 worldToLinkInv = worldToLink.Inverse();
+      GzMatrix4 contactInLocal = worldToLinkInv * worldToContact;
+      GzVector3 contactPosInLocal = gazebo::GetPos(contactInLocal);
+
+      //gzmsg<<"---------"<<std::endl;
+      //gzmsg<<"CNT in loc: "<<contactPosInLocal.x<<","<<contactPosInLocal.y<<","<<contactPosInLocal.z<<std::endl;
+
+      /*GzVector3 sDiff=avgPos-linkWorldPose.pos;
+      gzmsg<<"SIMPLE trans: "<<sDiff.x<<","<<sDiff.y<<","<<sDiff.z<<std::endl;
+      gzmsg<<"coll world pose: "<<linkWorldPose.pos.x<<", "<<linkWorldPose.pos.y<<", "<<linkWorldPose.pos.z<<std::endl;
+      gzmsg<<"contact avg pose: "<<avgPos.x<<", "<<avgPos.y<<", "<<avgPos.z<<std::endl;
+
+      GzVector3 lX=linkWorldPose.rot.GetXAxis();
+      GzVector3 lY=linkWorldPose.rot.GetYAxis();
+      GzVector3 lZ=linkWorldPose.rot.GetZAxis();
+
+      gzmsg<<"World ori: "<<linkWorldPose.rot.x<<","<<linkWorldPose.rot.y<<","<<linkWorldPose.rot.z<<","<<linkWorldPose.rot.w<<std::endl;
+      gzmsg<<"x axis: "<<lX.x<<","<<lX.y<<","<<lX.z<<std::endl;
+      gzmsg<<"y axis: "<<lY.x<<","<<lY.y<<","<<lY.z<<std::endl;
+      gzmsg<<"z axis: "<<lZ.x<<","<<lZ.y<<","<<lZ.z<<std::endl;*/
+
+      // Get the pose of the object and compute it's relative position to
+      // the collision surface.
+      GzPose3 objWorldPose = gazebo::GetWorldPose(objCollision->GetLink());
+      GzMatrix4 worldToObj = gazebo::GetMatrix(objWorldPose);
+
+      GzMatrix4 objInLocal = worldToLinkInv * worldToObj;
+      GzVector3 objPosInLocal = gazebo::GetPos(objInLocal);
+
+      {
+        boost::mutex::scoped_lock lock(this->mutexContacts);
+        CollidingPoint &p =
+          this->contacts[collidingObjName][collidingLink];  // inserts new entry if doesn't exist
+        p.gripperName = gripperOfCollidingLink;
+        p.collLink = linkCollision;
+        p.collObj = objCollision;
+        p.force += avgForce;
+        p.pos += contactPosInLocal;
+        p.objPos += objPosInLocal;
+        p.sum++;
+      }
+      //gzmsg<<"Average force of contact= "<<avgForce.x<<", "<<avgForce.y<<", "<<avgForce.z<<" out of "<<force.size()<<" vectors."<<std::endl;
+    }
+  }
+}
diff --git a/third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspGripper.cpp b/third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspGripper.cpp
new file mode 100644
index 0000000..aef2079
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_grasp_plugin/src/GazeboGraspGripper.cpp
@@ -0,0 +1,265 @@
+#include <boost/bind.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/physics/ContactManager.hh>
+#include <gazebo/physics/Contact.hh>
+#include <gazebo/common/common.hh>
+#include <stdio.h>
+
+#include <gazebo_grasp_plugin/GazeboGraspGripper.h>
+#include <gazebo_version_helpers/GazeboVersionHelpers.h>
+
+using gazebo::GazeboGraspGripper;
+
+#define DEFAULT_FORCES_ANGLE_TOLERANCE 120
+#define DEFAULT_UPDATE_RATE 5
+#define DEFAULT_MAX_GRIP_COUNT 10
+#define DEFAULT_RELEASE_TOLERANCE 0.005
+#define DEFAULT_DISABLE_COLLISIONS_ON_ATTACH false
+
+///////////////////////////////////////////////////////////////////////////////
+GazeboGraspGripper::GazeboGraspGripper():
+  attached(false)
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////
+GazeboGraspGripper::GazeboGraspGripper(const GazeboGraspGripper &o):
+  model(o.model),
+  gripperName(o.gripperName),
+  linkNames(o.linkNames),
+  collisionElems(o.collisionElems),
+  fixedJoint(o.fixedJoint),
+  palmLink(o.palmLink),
+  disableCollisionsOnAttach(o.disableCollisionsOnAttach),
+  attached(o.attached),
+  attachedObjName(o.attachedObjName)
+{}
+
+///////////////////////////////////////////////////////////////////////////////
+GazeboGraspGripper::~GazeboGraspGripper()
+{
+  this->model.reset();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+bool GazeboGraspGripper::Init(physics::ModelPtr &_model,
+                              const std::string &_gripperName,
+                              const std::string &palmLinkName,
+                              const std::vector<std::string> &fingerLinkNames,
+                              bool _disableCollisionsOnAttach,
+                              std::map<std::string, physics::CollisionPtr> &_collisionElems)
+{
+  this->gripperName = _gripperName;
+  this->attached = false;
+  this->disableCollisionsOnAttach = _disableCollisionsOnAttach;
+  this->model = _model;
+  physics::PhysicsEnginePtr physics =
+    gazebo::GetPhysics(this->model->GetWorld());
+  this->fixedJoint = physics->CreateJoint("revolute");
+
+  this->palmLink = this->model->GetLink(palmLinkName);
+  if (!this->palmLink)
+  {
+    gzerr << "GazeboGraspGripper: Palm link " << palmLinkName <<
+          " not found. The gazebo grasp plugin will not work." << std::endl;
+    return false;
+  }
+  for (std::vector<std::string>::const_iterator fingerIt =
+         fingerLinkNames.begin();
+       fingerIt != fingerLinkNames.end(); ++fingerIt)
+  {
+    physics::LinkPtr link = this->model->GetLink(*fingerIt);
+    //gzmsg<<"Got link "<<fingerLinkElem->Get<std::string>()<<std::endl;
+    if (!link.get())
+    {
+      gzerr << "GazeboGraspGripper ERROR: Link " << *fingerIt <<
+            " can't be found in gazebo for GazeboGraspGripper model plugin. Skipping." <<
+            std::endl;
+      continue;
+    }
+    for (unsigned int j = 0; j < link->GetChildCount(); ++j)
+    {
+      physics::CollisionPtr collision = link->GetCollision(j);
+      std::string collName = collision->GetScopedName();
+      //collision->SetContactsEnabled(true);
+      std::map<std::string, physics::CollisionPtr>::iterator collIter =
+        collisionElems.find(collName);
+      if (collIter !=
+          this->collisionElems.end())   //this collision was already added before
+      {
+        gzwarn << "GazeboGraspGripper: Adding Gazebo collision link element " <<
+               collName << " multiple times, the gazebo grasp handler may not work properly" <<
+               std::endl;
+        continue;
+      }
+      this->collisionElems[collName] = collision;
+      _collisionElems[collName] = collision;
+    }
+  }
+  return !this->collisionElems.empty();
+}
+
+///////////////////////////////////////////////////////////////////////////////
+const std::string &GazeboGraspGripper::getGripperName() const
+{
+  return gripperName;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+bool GazeboGraspGripper::hasLink(const std::string &linkName) const
+{
+  for (std::vector<std::string>::const_iterator it = linkNames.begin();
+       it != linkNames.end(); ++it)
+  {
+    if (*it == linkName) return true;
+  }
+  return false;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+bool GazeboGraspGripper::hasCollisionLink(const std::string &linkName) const
+{
+  return collisionElems.find(linkName) != collisionElems.end();
+}
+
+
+///////////////////////////////////////////////////////////////////////////////
+bool GazeboGraspGripper::isObjectAttached() const
+{
+  return attached;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+const std::string &GazeboGraspGripper::attachedObject() const
+{
+  return attachedObjName;
+}
+
+
+
+///////////////////////////////////////////////////////////////////////////////
+// #define USE_MODEL_ATTACH // this only works if the object is a model in itself, which is usually not
+// the case. Leaving this in here anyway for documentation of what has been
+// tried, and for and later re-evaluation.
+bool GazeboGraspGripper::HandleAttach(const std::string &objName)
+{
+  if (!this->palmLink)
+  {
+    gzwarn << "GazeboGraspGripper: palm link not found, not enforcing grasp hack!\n"
+           << std::endl;
+    return false;
+  }
+  physics::WorldPtr world = this->model->GetWorld();
+  if (!world.get())
+  {
+    gzerr << "GazeboGraspGripper: world is NULL" << std::endl;
+    return false;
+  }
+#ifdef USE_MODEL_ATTACH
+  physics::ModelPtr obj = world->GetModel(objName);
+  if (!obj.get())
+  {
+    std::cerr << "ERROR: Object ModelPtr " << objName <<
+              " not found in world, can't attach it" << std::endl;
+    return false;
+  }
+  gazebo::math::Pose diff = obj->GetLink()->GetWorldPose() -
+                            this->palmLink->GetWorldPose();
+  this->palmLink->AttachStaticModel(obj, diff);
+#else
+  physics::CollisionPtr obj =
+    boost::dynamic_pointer_cast<physics::Collision>(gazebo::GetEntityByName(world, objName));
+  if (!obj.get())
+  {
+    std::cerr << "ERROR: Object " << objName <<
+              " not found in world, can't attach it" << std::endl;
+    return false;
+  }
+  gazebo::GzPose3 diff = gazebo::GetWorldPose(obj->GetLink()) -
+                         gazebo::GetWorldPose(this->palmLink);
+  this->fixedJoint->Load(this->palmLink, obj->GetLink(), diff);
+  this->fixedJoint->Init();
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->fixedJoint->SetUpperLimit(0, 0);
+  this->fixedJoint->SetLowerLimit(0, 0);
+#else
+  this->fixedJoint->SetHighStop(0, 0);
+  this->fixedJoint->SetLowStop(0, 0);
+#endif
+
+  if (this->disableCollisionsOnAttach)
+  {
+    // we can disable collisions of the grasped object, because when the fingers keep colliding with
+    // it, the fingers keep wobbling, which can create difficulties when moving the arm.
+    obj->GetLink()->SetCollideMode("none");
+  }
+#endif  // USE_MODEL_ATTACH
+  this->attached = true;
+  this->attachedObjName = objName;
+  return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void GazeboGraspGripper::HandleDetach(const std::string &objName)
+{
+  physics::WorldPtr world = this->model->GetWorld();
+  if (!world.get())
+  {
+    gzerr << "GazeboGraspGripper: world is NULL" << std::endl << std::endl;
+    return;
+  }
+#ifdef USE_MODEL_ATTACH
+  physics::ModelPtr obj = world->GetModel(objName);
+  if (!obj.get())
+  {
+    std::cerr << "ERROR: Object ModelPtr " << objName <<
+              " not found in world, can't detach it" << std::endl;
+    return;
+  }
+  this->palmLink->DetachStaticModel(objName);
+#else
+  physics::CollisionPtr obj = boost::dynamic_pointer_cast<physics::Collision>
+                              (gazebo::GetEntityByName(world, objName));
+  if (!obj.get())
+  {
+    std::cerr << "ERROR: Object " << objName <<
+              " not found in world, can't attach it" << std::endl;
+    return;
+  }
+  else if (this->disableCollisionsOnAttach)
+  {
+    obj->GetLink()->SetCollideMode("all");
+  }
+
+  // TODO: remove this test print, for issue #26 ------------------- 
+#if 0
+  if (obj && obj->GetLink())
+  {
+    auto linVel = GetWorldVelocity(obj->GetLink());
+    gzmsg << "PRE-DETACH Velocity for link " << obj->GetLink()->GetName()
+          << " (collision name " << objName << "): " << linVel
+          << ", absolute val " << GetLength(linVel) << std::endl;
+  }
+#endif
+  // ------------------- 
+
+  this->fixedJoint->Detach();
+
+  // TODO: remove this test print, for issue #26 ------------------- 
+#if 0
+  if (obj && obj->GetLink())
+  {
+    auto linVel = GetWorldVelocity(obj->GetLink());
+    gzmsg << "POST-DETACH Velocity for link " << obj->GetLink()->GetName()
+          << " (collision name " << objName << "): " << linVel
+          << ", absolute val " << GetLength(linVel) << std::endl;
+
+  }
+#endif
+  // ------------------- 
+
+#endif  // USE_MODEL_ATTACH
+  this->attached = false;
+  this->attachedObjName = "";
+}
diff --git a/third_party/gazebo-pkgs/gazebo_version_helpers/CMakeLists.txt b/third_party/gazebo-pkgs/gazebo_version_helpers/CMakeLists.txt
new file mode 100644
index 0000000..09e4069
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_version_helpers/CMakeLists.txt
@@ -0,0 +1,140 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gazebo_version_helpers)
+
+# This is added to remove policy CMP0054 warning (see https://stackoverflow.com/questions/45900159/how-to-use-variables-and-avoid-cmp0054-policy-violations)
+cmake_policy(SET CMP0054 NEW)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  gazebo_ros
+  roscpp
+)
+
+find_package(gazebo REQUIRED)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES gazebo_version_helpers
+  CATKIN_DEPENDS gazebo_ros roscpp
+  DEPENDS gazebo 
+)
+
+###########
+## Build ##
+###########
+
+# check c++11 / c++0x
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+    set(CMAKE_CXX_FLAGS "-std=c++11")
+elseif(COMPILER_SUPPORTS_CXX0X)
+    set(CMAKE_CXX_FLAGS "-std=c++0x")
+else()
+    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
+endif()
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+
+
+link_directories(${GAZEBO_LIBRARY_DIRS})
+include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} include)
+
+# Protobuf 2.6.1 includes were copied in kortex_gazebo/include and are necessary to build Gazebo plugins
+include_directories(BEFORE ../../../kortex_gazebo/include/)
+link_directories(BEFORE ../../../kortex_gazebo/lib/)
+
+## Declare a C++ library
+add_library(${PROJECT_NAME} SHARED
+  src/GazeboVersionHelpers.cpp
+)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/gazebo_version_helpers_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}
+   ${catkin_LIBRARIES}
+   libprotobuf.so
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_gazebo_version_helpers.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/third_party/gazebo-pkgs/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h b/third_party/gazebo-pkgs/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h
new file mode 100644
index 0000000..5a8f359
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h
@@ -0,0 +1,146 @@
+#ifndef GAZEBO_VERSIONHELPERS_H
+#define GAZEBO_VERSIONHELPERS_H
+
+#include <gazebo/gazebo.hh>
+
+namespace gazebo
+{
+
+// typedefs
+#if GAZEBO_MAJOR_VERSION >= 8
+namespace gz_math = ignition::math;
+typedef gz_math::Pose3d GzPose3;
+typedef gz_math::Vector3d GzVector3;
+typedef gz_math::Quaterniond GzQuaternion;
+typedef gz_math::Matrix4d GzMatrix4;
+typedef gz_math::Matrix3d GzMatrix3;
+#else
+namespace gz_math = gazebo::math;
+typedef gz_math::Pose GzPose3;
+typedef gz_math::Vector3 GzVector3;
+typedef gz_math::Quaternion GzQuaternion;
+typedef gz_math::Matrix4 GzMatrix4;
+typedef gz_math::Matrix3 GzMatrix3;
+#endif
+
+// Helper functions
+// //////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////
+GzPose3 GetWorldPose(const gazebo::physics::LinkPtr &link);
+
+///////////////////////////////////////////////////////////////////////////////
+GzVector3 GetWorldVelocity(const gazebo::physics::LinkPtr &link);
+
+///////////////////////////////////////////////////////////////////////////////
+GzMatrix4 GetIdentity();
+
+///////////////////////////////////////////////////////////////////////////////
+GzMatrix4 GetMatrix(const GzPose3 &pose);
+
+///////////////////////////////////////////////////////////////////////////////
+GzMatrix4 GetMatrix(const GzVector3 &pos);
+
+///////////////////////////////////////////////////////////////////////////////
+double GetLength(const GzVector3 &v);
+
+///////////////////////////////////////////////////////////////////////////////
+GzVector3 GetVector(const double x, const double y, const double z);
+
+///////////////////////////////////////////////////////////////////////////////
+void SetX(GzVector3 &v, const double val);
+void SetY(GzVector3 &v, const double val);
+void SetZ(GzVector3 &v, const double val);
+double GetX(const GzVector3 &v);
+double GetY(const GzVector3 &v);
+double GetZ(const GzVector3 &v);
+
+
+///////////////////////////////////////////////////////////////////////////////
+void SetX(GzQuaternion &q, const double val);
+void SetY(GzQuaternion &q, const double val);
+void SetZ(GzQuaternion &q, const double val);
+void SetW(GzQuaternion &q, const double val);
+double GetX(const GzQuaternion &q);
+double GetY(const GzQuaternion &q);
+double GetZ(const GzQuaternion &q);
+double GetW(const GzQuaternion &q);
+
+///////////////////////////////////////////////////////////////////////////////
+GzVector3 GetPos(const GzPose3 &pose);
+///////////////////////////////////////////////////////////////////////////////
+GzVector3 GetPos(const GzMatrix4 &mat);
+
+///////////////////////////////////////////////////////////////////////////////
+GzQuaternion GetRot(const GzPose3 &pose);
+///////////////////////////////////////////////////////////////////////////////
+GzQuaternion GetRot(const GzMatrix4 &mat);
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::physics::PhysicsEnginePtr GetPhysics(
+  const gazebo::physics::WorldPtr &world);
+
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::physics::EntityPtr GetEntityByName(
+  const gazebo::physics::WorldPtr &world, const std::string &name);
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::physics::ModelPtr GetModelByName(
+  const gazebo::physics::WorldPtr &world, const std::string &name);
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::physics::Model_V GetModels(const gazebo::physics::WorldPtr &world);
+
+///////////////////////////////////////////////////////////////////////////////
+template<typename T>
+GzVector3 GetSize3(const T& t)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+    return t.Size();
+#else
+    return t.GetSize();
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////
+template<typename T>
+std::string GetName(const T& t)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+    return t.Name();
+#else
+    return t.GetName();
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////
+template<typename T>
+gz_math::Box GetBoundingBox(const T &t)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+    return t.BoundingBox();
+#else
+    return t.GetBoundingBox();
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////
+GzVector3 GetBoundingBoxDimensions(const gz_math::Box &box);
+
+///////////////////////////////////////////////////////////////////////////////
+template<typename T>
+GzPose3 GetRelativePose(const T &t)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+    return t.RelativePose();
+#else
+    return t.GetRelativePose();
+#endif
+}
+
+
+
+}  // namespace
+
+#endif  //  GAZEBO_VERSIONHELPERS_H
diff --git a/third_party/gazebo-pkgs/gazebo_version_helpers/package.xml b/third_party/gazebo-pkgs/gazebo_version_helpers/package.xml
new file mode 100644
index 0000000..2c2cc92
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_version_helpers/package.xml
@@ -0,0 +1,64 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>gazebo_version_helpers</name>
+  <version>0.0.0</version>
+  <description>The gazebo_version_helpers package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="jenny@todo.todo">jenny</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/gazebo_version_helpers</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>gazebo_ros</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_export_depend>gazebo_ros</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/third_party/gazebo-pkgs/gazebo_version_helpers/src/GazeboVersionHelpers.cpp b/third_party/gazebo-pkgs/gazebo_version_helpers/src/GazeboVersionHelpers.cpp
new file mode 100644
index 0000000..e0ef898
--- /dev/null
+++ b/third_party/gazebo-pkgs/gazebo_version_helpers/src/GazeboVersionHelpers.cpp
@@ -0,0 +1,325 @@
+#include <gazebo_version_helpers/GazeboVersionHelpers.h>
+#include <gazebo/physics/physics.hh>
+
+using gazebo::GzPose3;
+using gazebo::GzVector3;
+using gazebo::GzMatrix3;
+using gazebo::GzMatrix4;
+
+///////////////////////////////////////////////////////////////////////////////
+GzPose3 gazebo::GetWorldPose(const gazebo::physics::LinkPtr &link)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return link->WorldPose();
+#else 
+  return link->GetWorldPose();
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+GzVector3 gazebo::GetWorldVelocity(const gazebo::physics::LinkPtr &link)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return link->WorldLinearVel();
+#else 
+  return link->GetWorldLinearVel();
+#endif 
+}
+ 
+
+///////////////////////////////////////////////////////////////////////////////
+GzMatrix4 gazebo::GetIdentity()
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return GzMatrix4::Identity;
+#else 
+  return GzMatrix4::IDENTITY;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+GzMatrix4 gazebo::GetMatrix(const GzPose3 &pose)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return GzMatrix4(pose);
+#else 
+  GzMatrix4 mat = pose.rot.GetAsMatrix4();
+  mat.SetTranslate(pose.pos);
+  return mat;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+GzMatrix4 gazebo::GetMatrix(const GzVector3 &pos)
+{
+  GzMatrix4 mat = GetIdentity();
+#if GAZEBO_MAJOR_VERSION >= 8
+  mat.SetTranslation(pos);
+#else 
+  mat.SetTranslate(pos);
+#endif 
+  return mat;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+double gazebo::GetLength(const GzVector3 &v)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return v.Length();
+#else 
+  return v.GetLength();
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void gazebo::SetX(GzVector3 &v, const double val)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  v.X(val);
+#else 
+  v.x = val;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void gazebo::SetY(GzVector3 &v, const double val)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  v.Y(val);
+#else 
+  v.y = val;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void gazebo::SetZ(GzVector3 &v, const double val)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  v.Z(val);
+#else 
+  v.z = val;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+double gazebo::GetX(const GzVector3 &v)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return v.X();
+#else 
+  return v.x;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+double gazebo::GetY(const GzVector3 &v)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return v.Y();
+#else 
+  return v.y;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+double gazebo::GetZ(const GzVector3 &v)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return v.Z();
+#else 
+  return v.z;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void gazebo::SetX(GzQuaternion &q, const double val)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  q.X(val);
+#else 
+  q.x = val;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void gazebo::SetY(GzQuaternion &q, const double val)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  q.Y(val);
+#else 
+  q.y = val;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void gazebo::SetZ(GzQuaternion &q, const double val)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  q.Z(val);
+#else 
+  q.z = val;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+void gazebo::SetW(GzQuaternion &q, const double val)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  q.W(val);
+#else 
+  q.w = val;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+double gazebo::GetX(const GzQuaternion &q)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return q.X();
+#else 
+  return q.x;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+double gazebo::GetY(const GzQuaternion &q)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return q.Y();
+#else 
+  return q.y;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+double gazebo::GetZ(const GzQuaternion &q)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return q.Z();
+#else 
+  return q.z;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+double gazebo::GetW(const GzQuaternion &q)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return q.W();
+#else 
+  return q.w;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+GzVector3 gazebo::GetVector(const double x, const double y, const double z)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  GzVector3 v(x, y, z);
+//  v.X(x);
+//  v.Y(y);
+//  v.Z(z);
+#else 
+  GzVector3 v;
+  v.x = x;
+  v.y = y;
+  v.z = z;
+#endif 
+  return v;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+GzVector3 gazebo::GetPos(const GzPose3 &pose)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return pose.Pos();
+#else 
+  return pose.pos;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::GzQuaternion gazebo::GetRot(const GzPose3 &pose)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return pose.Rot();
+#else 
+  return pose.rot;
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+GzVector3 gazebo::GetPos(const GzMatrix4 &mat)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return mat.Translation();
+#else 
+  return mat.GetTranslation();
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::GzQuaternion gazebo::GetRot(const GzMatrix4 &mat)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+  return mat.Rotation();
+#else 
+  return mat.GetRotation();
+#endif 
+}
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::physics::PhysicsEnginePtr gazebo::GetPhysics(
+  const gazebo::physics::WorldPtr &world)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+    return world->Physics();
+#else
+    return world->GetPhysicsEngine();
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::physics::EntityPtr gazebo::GetEntityByName(
+  const gazebo::physics::WorldPtr &world, const std::string &name)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+    return world->EntityByName(name);
+#else
+    return world->GetEntity(name);
+#endif
+
+}
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::physics::ModelPtr gazebo::GetModelByName(
+  const gazebo::physics::WorldPtr &world, const std::string &name)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+    return world->ModelByName(name);
+#else
+    return world->GetModel(name);
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::physics::Model_V gazebo::GetModels(
+  const gazebo::physics::WorldPtr &world)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+    return world->Models();
+#else
+    return world->GetModels();
+#endif
+}
+
+///////////////////////////////////////////////////////////////////////////////
+gazebo::GzVector3 gazebo::GetBoundingBoxDimensions(const gz_math::Box &box)
+{
+#if GAZEBO_MAJOR_VERSION >= 8
+    GzVector3 bb(box.XLength(), box.YLength(), box.ZLength());
+#else
+    GzVector3 bb(box.GetXLength(), box.GetYLength(), box.GetZLength());
+#endif
+    return bb;
+}
diff --git a/third_party/roboticsgroup_gazebo_plugins/CMakeLists.txt b/third_party/roboticsgroup_gazebo_plugins/CMakeLists.txt
new file mode 100644
index 0000000..61918ff
--- /dev/null
+++ b/third_party/roboticsgroup_gazebo_plugins/CMakeLists.txt
@@ -0,0 +1,48 @@
+cmake_minimum_required(VERSION 2.8.6 FATAL_ERROR)
+project(roboticsgroup_gazebo_plugins)
+
+# This is added to remove policy CMP0054 warning (see https://stackoverflow.com/questions/45900159/how-to-use-variables-and-avoid-cmp0054-policy-violations)
+cmake_policy(SET CMP0054 NEW)
+
+# Load catkin and all dependencies required for this package
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  gazebo_ros
+  control_toolbox
+)
+
+# Depend on system install of Gazebo
+find_package(gazebo REQUIRED)
+# Gazebo cxx flags should have all the required C++ flags
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
+
+find_package(Boost REQUIRED)
+
+catkin_package(
+  DEPENDS
+    roscpp
+    gazebo_ros
+    control_toolbox
+)
+
+link_directories(${GAZEBO_LIBRARY_DIRS})
+include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} include)
+
+# Protobuf 2.6.1 includes were copied in kortex_gazebo/include and are necessary to build Gazebo plugins
+include_directories(BEFORE ../../kortex_gazebo/include/)
+link_directories(BEFORE ../../kortex_gazebo/lib/)
+
+add_library(roboticsgroup_gazebo_mimic_joint_plugin src/mimic_joint_plugin.cpp)
+target_link_libraries(roboticsgroup_gazebo_mimic_joint_plugin libprotobuf.so ${catkin_LIBRARIES})
+
+add_library(roboticsgroup_gazebo_disable_link_plugin src/disable_link_plugin.cpp)
+target_link_libraries(roboticsgroup_gazebo_disable_link_plugin libprotobuf.so ${catkin_LIBRARIES})
+
+install(TARGETS roboticsgroup_gazebo_mimic_joint_plugin roboticsgroup_gazebo_disable_link_plugin
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+install(DIRECTORY include/${PROJECT_NAME}
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
diff --git a/third_party/roboticsgroup_gazebo_plugins/README.md b/third_party/roboticsgroup_gazebo_plugins/README.md
new file mode 100644
index 0000000..62a5645
--- /dev/null
+++ b/third_party/roboticsgroup_gazebo_plugins/README.md
@@ -0,0 +1,83 @@
+This ROS package was cloned from https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins into ros_kortex to properly simulate mimic joints in Gazebo for the Robotiq 2f 85 gripper.
+The repository was cloned at commit 4d93ecd86e4415c3fe74d0027fd41c5e3b39ec44.
+The original readme file follows:
+
+roboticsgroup_gazebo_plugins
+================
+
+Collection of small gazebo plugins
+----------------------------------
+
+MimicJointPlugin
+----------------
+
+A simple (Model) plugin for Gazebo in order to add to Gazebo the mimic joint functionality that exists in URDF (ROS). Inspired by code of Goncalo Cabrita.
+
+  - *XML Parameters*
+
+    - joint (Required)
+
+      A **string** specifying the name of the joint to be mimic-ed.
+
+    - mimicJoint (Required)
+
+      A **string** specifying the name of the mimic joint.
+
+    - multiplier
+
+      A **double** specifying the multiplier parameter of the mimic joint. Defaults to 1.0.
+
+    - offset
+
+      A **double** specifying the offset parameter of the mimic joint. Defaults to 0.0.
+
+    - maxEffort
+
+      A **double** specifying the max effort the mimic joint can generate. Defaults to the effort limit in the sdf model.
+
+    - sensitiveness
+
+      A **double** specifying the sensitiveness of the mimic joint. Defaults to 0.0. It basically is the threshold of the difference between the 2 angles (joint's and mimic's) before applying the "mimicness".
+
+    - robotNamespace
+
+      A **string** specifying the namespace the robot is under. Defaults to "".
+
+    - hasPID
+
+      Determines whether the joint has PID in order to be controlled via PID position/effort controller. *\<hasPID/\>* means that the mimic joint is controlled via PID. Omit it so that the mimic joint is controlled via setAngle. Optionally, specify a value to set the pid namespace.
+
+DisableLinkPlugin
+-----------------
+
+A simple (Model) plugin for Gazebo that allows you to disable a link in Gazebo's physics engine.
+
+  - *XML Parameters*
+
+    - link (Required)
+
+      A **string** specifying the name of the link to be disabled. It should be a valid sdf (not urdf) link.
+
+### Hoping to add more plugins....
+
+Usage
+------
+
+Standard Gazebo plugin import inside xacro/urdf. Use **libroboticsgroup_gazebo_** prefix. E.g. if you want to import MimicJointPlugin:
+
+```
+libroboticsgroup_gazebo_mimic_joint_plugin.so
+```
+
+Notes
+------
+
+If there is a need, please make an issue and I'll see what I can do to add that functionality/plugin.
+
+License
+----
+
+BSD
+
+
+Copyright (c) 2014, **Konstantinos Chatzilygeroudis**
diff --git a/third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/disable_link_plugin.h b/third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/disable_link_plugin.h
new file mode 100644
index 0000000..b3bd6c3
--- /dev/null
+++ b/third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/disable_link_plugin.h
@@ -0,0 +1,64 @@
+/**
+Copyright (c) 2014, Konstantinos Chatzilygeroudis
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer
+    in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived
+    from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
+BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+**/
+
+#ifndef ROBOTICSGROUP_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN
+#define ROBOTICSGROUP_GAZEBO_PLUGINS_DISABLE_LINK_PLUGIN
+
+// ROS includes
+#include <ros/ros.h>
+
+// Boost includes
+#include <boost/bind.hpp>
+
+// Gazebo includes
+#include <gazebo/common/Plugin.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+
+namespace gazebo {
+    class DisableLinkPlugin : public ModelPlugin {
+    public:
+        DisableLinkPlugin();
+        ~DisableLinkPlugin();
+
+        void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
+        void UpdateChild();
+
+    private:
+        // Parameters
+        std::string link_name_;
+
+        bool kill_sim;
+
+        // Pointers to the joints
+        physics::LinkPtr link_;
+
+        // Pointer to the model
+        physics::ModelPtr model_;
+
+        // Pointer to the world
+        physics::WorldPtr world_;
+    };
+}
+
+#endif
diff --git a/third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/mimic_joint_plugin.h b/third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/mimic_joint_plugin.h
new file mode 100644
index 0000000..39ab0fc
--- /dev/null
+++ b/third_party/roboticsgroup_gazebo_plugins/include/roboticsgroup_gazebo_plugins/mimic_joint_plugin.h
@@ -0,0 +1,73 @@
+/**
+Copyright (c) 2014, Konstantinos Chatzilygeroudis
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer
+    in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived
+    from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
+BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+**/
+
+#ifndef ROBOTICSGROUP_GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN
+#define ROBOTICSGROUP_GAZEBO_PLUGINS_MIMIC_JOINT_PLUGIN
+
+// ROS includes
+#include <ros/ros.h>
+
+// ros_control
+#include <control_toolbox/pid.h>
+
+// Boost includes
+#include <boost/bind.hpp>
+
+// Gazebo includes
+#include <gazebo/common/Plugin.hh>
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/common/common.hh>
+
+namespace gazebo {
+    class MimicJointPlugin : public ModelPlugin {
+    public:
+        MimicJointPlugin();
+        ~MimicJointPlugin();
+
+        void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
+        void UpdateChild();
+
+    private:
+        // Parameters
+        std::string joint_name_, mimic_joint_name_, robot_namespace_;
+        double multiplier_, offset_, sensitiveness_, max_effort_;
+        bool has_pid_;
+
+        // PID controller if needed
+        control_toolbox::Pid pid_;
+
+        // Pointers to the joints
+        physics::JointPtr joint_, mimic_joint_;
+
+        // Pointer to the model
+        physics::ModelPtr model_;
+
+        // Pointer to the world
+        physics::WorldPtr world_;
+
+        // Pointer to the update event connection
+        event::ConnectionPtr updateConnection;
+    };
+}
+
+#endif
diff --git a/third_party/roboticsgroup_gazebo_plugins/package.xml b/third_party/roboticsgroup_gazebo_plugins/package.xml
new file mode 100644
index 0000000..c5e4733
--- /dev/null
+++ b/third_party/roboticsgroup_gazebo_plugins/package.xml
@@ -0,0 +1,51 @@
+<?xml version="1.0"?>
+<!-- Copyright (c) 2014, Konstantinos Chatzilygeroudis
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer
+  in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived
+  from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
+BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
+<package>
+  <name>roboticsgroup_gazebo_plugins</name>
+  <version>0.0.1</version>
+  <description>Collection of small gazebo plugins</description>
+
+  <maintainer email="costashatz@gmail.com">Konstantinos Chatzilygeroudis</maintainer>
+
+  <license>BSD</license>
+
+  <url type="repository">https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins</url>
+  <url type="bugtracker">https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins/issues</url>
+
+  <author email="costashatz@gmail.com">Konstantinos Chatzilygeroudis</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <build_depend>gazebo_ros</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>control_toolbox</build_depend>
+
+
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>control_toolbox</run_depend>
+
+
+  <export>
+    <gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" />
+  </export>
+</package>
diff --git a/third_party/roboticsgroup_gazebo_plugins/src/disable_link_plugin.cpp b/third_party/roboticsgroup_gazebo_plugins/src/disable_link_plugin.cpp
new file mode 100644
index 0000000..9a15838
--- /dev/null
+++ b/third_party/roboticsgroup_gazebo_plugins/src/disable_link_plugin.cpp
@@ -0,0 +1,64 @@
+/**
+Copyright (c) 2014, Konstantinos Chatzilygeroudis
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer
+    in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived
+    from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
+BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+**/
+
+#include <roboticsgroup_gazebo_plugins/disable_link_plugin.h>
+
+namespace gazebo {
+
+    DisableLinkPlugin::DisableLinkPlugin()
+    {
+        kill_sim = false;
+
+        link_.reset();
+    }
+
+    DisableLinkPlugin::~DisableLinkPlugin()
+    {
+        kill_sim = true;
+    }
+
+    void DisableLinkPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
+    {
+        model_ = _parent;
+        world_ = model_->GetWorld();
+
+        // Check for link element
+        if (!_sdf->HasElement("link")) {
+            ROS_ERROR("No link element present. DisableLinkPlugin could not be loaded.");
+            return;
+        }
+
+        link_name_ = _sdf->GetElement("link")->Get<std::string>();
+
+        // Get pointers to joints
+        link_ = model_->GetLink(link_name_);
+        if (link_) {
+            link_->SetEnabled(false);
+            // Output some confirmation
+            ROS_INFO_STREAM("DisableLinkPlugin loaded! Link: \"" << link_name_);
+        }
+        else
+            ROS_ERROR_STREAM("Link" << link_name_ << " not found! DisableLinkPlugin could not be loaded.");
+    }
+
+    GZ_REGISTER_MODEL_PLUGIN(DisableLinkPlugin);
+}
diff --git a/third_party/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp b/third_party/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp
new file mode 100644
index 0000000..ca53e2f
--- /dev/null
+++ b/third_party/roboticsgroup_gazebo_plugins/src/mimic_joint_plugin.cpp
@@ -0,0 +1,194 @@
+/**
+Copyright (c) 2014, Konstantinos Chatzilygeroudis
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer
+    in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived
+    from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
+BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+**/
+
+#include <roboticsgroup_gazebo_plugins/mimic_joint_plugin.h>
+
+#if GAZEBO_MAJOR_VERSION >= 8
+namespace math = ignition::math;
+#else
+namespace math = gazebo::math;
+#endif
+
+namespace gazebo {
+
+    MimicJointPlugin::MimicJointPlugin()
+    {
+        joint_.reset();
+        mimic_joint_.reset();
+    }
+
+    MimicJointPlugin::~MimicJointPlugin()
+    {
+        this->updateConnection.reset();
+    }
+
+    void MimicJointPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
+    {
+        model_ = _parent;
+        world_ = model_->GetWorld();
+
+        // Error message if the model couldn't be found
+        if (!model_) {
+            ROS_ERROR("Parent model is NULL! MimicJointPlugin could not be loaded.");
+            return;
+        }
+
+        // Check that ROS has been initialized
+        if (!ros::isInitialized()) {
+            ROS_ERROR("A ROS node for Gazebo has not been initialized, unable to load plugin.");
+            return;
+        }
+
+        // Check for robot namespace
+        robot_namespace_ = "";
+        if (_sdf->HasElement("robotNamespace")) {
+            robot_namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
+        }
+        ros::NodeHandle model_nh(robot_namespace_);
+
+        // Check for joint element
+        if (!_sdf->HasElement("joint")) {
+            ROS_ERROR("No joint element present. MimicJointPlugin could not be loaded.");
+            return;
+        }
+
+        joint_name_ = _sdf->GetElement("joint")->Get<std::string>();
+
+        // Check for mimicJoint element
+        if (!_sdf->HasElement("mimicJoint")) {
+            ROS_ERROR("No mimicJoint element present. MimicJointPlugin could not be loaded.");
+            return;
+        }
+
+        mimic_joint_name_ = _sdf->GetElement("mimicJoint")->Get<std::string>();
+
+        // Check if PID controller wanted
+        has_pid_ = _sdf->HasElement("hasPID");
+        if (has_pid_) {
+            std::string name = _sdf->GetElement("hasPID")->Get<std::string>();
+            if (name.empty()) {
+                name = "gazebo_ros_control/pid_gains/" + mimic_joint_name_;
+            }
+            const ros::NodeHandle nh(model_nh, name);
+            pid_.init(nh);
+        }
+
+        // Check for multiplier element
+        multiplier_ = 1.0;
+        if (_sdf->HasElement("multiplier"))
+            multiplier_ = _sdf->GetElement("multiplier")->Get<double>();
+
+        // Check for offset element
+        offset_ = 0.0;
+        if (_sdf->HasElement("offset"))
+            offset_ = _sdf->GetElement("offset")->Get<double>();
+
+        // Check for sensitiveness element
+        sensitiveness_ = 0.0;
+        if (_sdf->HasElement("sensitiveness"))
+            sensitiveness_ = _sdf->GetElement("sensitiveness")->Get<double>();
+
+        // Get pointers to joints
+        joint_ = model_->GetJoint(joint_name_);
+        if (!joint_) {
+            ROS_ERROR_STREAM("No joint named \"" << joint_name_ << "\". MimicJointPlugin could not be loaded.");
+            return;
+        }
+        mimic_joint_ = model_->GetJoint(mimic_joint_name_);
+        if (!mimic_joint_) {
+            ROS_ERROR_STREAM("No (mimic) joint named \"" << mimic_joint_name_ << "\". MimicJointPlugin could not be loaded.");
+            return;
+        }
+
+        // Check for max effort
+#if GAZEBO_MAJOR_VERSION > 2
+        max_effort_ = mimic_joint_->GetEffortLimit(0);
+#else
+        max_effort_ = mimic_joint_->GetMaxForce(0);
+#endif
+        if (_sdf->HasElement("maxEffort")) {
+            max_effort_ = _sdf->GetElement("maxEffort")->Get<double>();
+        }
+
+        // Set max effort
+        if (!has_pid_) {
+#if GAZEBO_MAJOR_VERSION > 2
+            mimic_joint_->SetEffortLimit(0, max_effort_);
+#else
+            mimic_joint_->SetMaxForce(0, max_effort_);
+#endif
+        }
+
+        // Listen to the update event. This event is broadcast every
+        // simulation iteration.
+        this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+            boost::bind(&MimicJointPlugin::UpdateChild, this));
+
+        // Output some confirmation
+        ROS_INFO_STREAM("MimicJointPlugin loaded! Joint: \"" << joint_name_ << "\", Mimic joint: \"" << mimic_joint_name_ << "\""
+                                                             << ", Multiplier: " << multiplier_ << ", Offset: " << offset_
+                                                             << ", MaxEffort: " << max_effort_ << ", Sensitiveness: " << sensitiveness_);
+    }
+
+    void MimicJointPlugin::UpdateChild()
+    {
+#if GAZEBO_MAJOR_VERSION >= 8
+        static ros::Duration period(world_->Physics()->GetMaxStepSize());
+#else
+        static ros::Duration period(world_->GetPhysicsEngine()->GetMaxStepSize());
+#endif
+
+        // Set mimic joint's angle based on joint's angle
+#if GAZEBO_MAJOR_VERSION >= 8
+        double angle = joint_->Position(0) * multiplier_ + offset_;
+        double a = mimic_joint_->Position(0);
+#else
+        double angle = joint_->GetAngle(0).Radian() * multiplier_ + offset_;
+        double a = mimic_joint_->GetAngle(0).Radian();
+#endif
+
+        if (fabs(angle - a) >= sensitiveness_) {
+            if (has_pid_) {
+                if (a != a)
+                    a = angle;
+                double error = angle - a;
+                double effort = math::clamp(pid_.computeCommand(error, period), -max_effort_, max_effort_);
+                mimic_joint_->SetForce(0, effort);
+            }
+            else {
+#if GAZEBO_MAJOR_VERSION >= 9
+                mimic_joint_->SetPosition(0, angle, true);
+#elif GAZEBO_MAJOR_VERSION > 2
+                ROS_WARN_ONCE("The mimic_joint plugin is using the Joint::SetPosition method without preserving the link velocity.");
+                ROS_WARN_ONCE("As a result, gravity will not be simulated correctly for your model.");
+                ROS_WARN_ONCE("Please set gazebo_pid parameters or upgrade to Gazebo 9.");
+                ROS_WARN_ONCE("For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612");
+                mimic_joint_->SetPosition(0, angle);
+#else
+                mimic_joint_->SetAngle(0, math::Angle(angle));
+#endif
+            }
+        }
+    }
+
+    GZ_REGISTER_MODEL_PLUGIN(MimicJointPlugin);
+}