diff --git a/sawyer_moveit_config/.setup_assistant b/sawyer_moveit_config/.setup_assistant
new file mode 100644
index 0000000..c511263
--- /dev/null
+++ b/sawyer_moveit_config/.setup_assistant
@@ -0,0 +1,10 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: sawyer_description
+    relative_path: urdf/sawyer.urdf
+  SRDF:
+    relative_path: srdf/sawyer.srdf.xacro
+  CONFIG:
+    author_name: Rethink Robotics Inc.
+    author_email: rsdk.support@rethinkrobotics.com
+    generated_timestamp: 1478278031
diff --git a/sawyer_moveit_config/CMakeLists.txt b/sawyer_moveit_config/CMakeLists.txt
index 7726372..21763a9 100644
--- a/sawyer_moveit_config/CMakeLists.txt
+++ b/sawyer_moveit_config/CMakeLists.txt
@@ -5,5 +5,7 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+   PATTERN "setup_assistant.launch" EXCLUDE)
 install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY srdf   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/sawyer_moveit_config/launch/move_group.launch b/sawyer_moveit_config/launch/move_group.launch
index 850d680..12033ee 100644
--- a/sawyer_moveit_config/launch/move_group.launch
+++ b/sawyer_moveit_config/launch/move_group.launch
@@ -53,16 +53,16 @@
 
     <!-- MoveGroup capabilities to load -->
     <param name="capabilities" value="move_group/MoveGroupCartesianPathService
-				      move_group/MoveGroupExecuteService
-				      move_group/MoveGroupKinematicsService
-				      move_group/MoveGroupMoveAction
-				      move_group/MoveGroupPickPlaceAction
-				      move_group/MoveGroupPlanService
-				      move_group/MoveGroupQueryPlannersService
-				      move_group/MoveGroupStateValidationService
-				      move_group/MoveGroupGetPlanningSceneService
-				      move_group/ClearOctomapService
-				      " />
+                                      move_group/MoveGroupExecuteTrajectoryAction
+                                      move_group/MoveGroupKinematicsService
+                                      move_group/MoveGroupMoveAction
+                                      move_group/MoveGroupPickPlaceAction
+                                      move_group/MoveGroupPlanService
+                                      move_group/MoveGroupQueryPlannersService
+                                      move_group/MoveGroupStateValidationService
+                                      move_group/MoveGroupGetPlanningSceneService
+                                      move_group/ClearOctomapService
+                                      " />
 
     <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
     <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
diff --git a/sawyer_moveit_config/launch/planning_context.launch b/sawyer_moveit_config/launch/planning_context.launch
index 4cdeb07..a1121a2 100644
--- a/sawyer_moveit_config/launch/planning_context.launch
+++ b/sawyer_moveit_config/launch/planning_context.launch
@@ -19,7 +19,7 @@
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="robot_description_semantic"
-      command="$(find xacro)/xacro.py --inorder $(find sawyer_moveit_config)/srdf/sawyer.srdf.xacro
+      command="$(find xacro)/xacro --inorder $(find sawyer_moveit_config)/srdf/sawyer.srdf.xacro
           electric_gripper:=$(arg electric_gripper)
           tip_name:=$(arg tip_name)
           controller_box:=$(arg controller_box)"/>
diff --git a/sawyer_moveit_config/package.xml b/sawyer_moveit_config/package.xml
index df3079b..7a6f248 100644
--- a/sawyer_moveit_config/package.xml
+++ b/sawyer_moveit_config/package.xml
@@ -18,6 +18,7 @@
 
   <run_depend>moveit_ros_move_group</run_depend>
   <run_depend>moveit_planners_ompl</run_depend>
+  <run_depend>moveit_kinematics</run_depend>
   <run_depend>moveit_ros_visualization</run_depend>
   <run_depend>joint_state_publisher</run_depend>
   <run_depend>robot_state_publisher</run_depend>
@@ -26,6 +27,10 @@
   <run_depend>sawyer_description</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> -->
   <buildtool_depend>catkin</buildtool_depend>
   
 </package>