diff --git a/motoman/package.xml b/motoman/package.xml
index 0ce7f6ec..1f32418b 100644
--- a/motoman/package.xml
+++ b/motoman/package.xml
@@ -1,17 +1,28 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>motoman</name>
   <version>0.3.5</version>
-  <description>The motoman stack constains libraries, configuration files, and ROS nodes for controlling a Motoman robot from ROS-Industrial</description>
-  <maintainer email="sedwards@swri.org">Shaun Edwards</maintainer>
+  <description>ROS-Industrial support for Yaskawa Motoman manipulators (metapackage).</description>
+  <author>Shaun Edwards</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>BSD</license>
+
   <url type="website">http://wiki.ros.org/motoman</url>
-  <author email="sedwards@swri.org">Shaun Edwards</author>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
 
   <buildtool_depend>catkin</buildtool_depend>
 
   <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>motoman_gp12_support</exec_depend>
+  <exec_depend>motoman_gp7_support</exec_depend>
+  <exec_depend>motoman_gp8_support</exec_depend>
+  <exec_depend>motoman_mh12_support</exec_depend>
+  <exec_depend>motoman_mh50_support</exec_depend>
   <exec_depend>motoman_mh5_support</exec_depend>
+  <exec_depend>motoman_motomini_support</exec_depend>
   <exec_depend>motoman_msgs</exec_depend>
   <exec_depend>motoman_sda10f_moveit_config</exec_depend>
   <exec_depend>motoman_sda10f_support</exec_depend>
diff --git a/motoman_driver/CMakeLists.txt b/motoman_driver/CMakeLists.txt
index c7e558d2..0079985f 100644
--- a/motoman_driver/CMakeLists.txt
+++ b/motoman_driver/CMakeLists.txt
@@ -170,8 +170,8 @@ set_target_properties(motoman_motion_streaming_interface_bswap
   PREFIX "")
 
 add_executable(${PROJECT_NAME}_joint_trajectory_action
-  src/joint_trajectory_action_node.cpp
-  src/industrial_robot_client/joint_trajectory_action.cpp)
+  src/industrial_robot_client/joint_trajectory_action.cpp
+  src/joint_trajectory_action_node.cpp)
 target_link_libraries(${PROJECT_NAME}_joint_trajectory_action
   industrial_robot_client
   motoman_industrial_robot_client
diff --git a/motoman_driver/launch/robot_interface_streaming.launch b/motoman_driver/launch/robot_interface_streaming.launch
index 2249a6f9..3bad48ba 100644
--- a/motoman_driver/launch/robot_interface_streaming.launch
+++ b/motoman_driver/launch/robot_interface_streaming.launch
@@ -1,7 +1,7 @@
 <launch>
 
 <!-- This launch file provides a socket-based connection to industrial robots
-     that implement the standard ROS Industrial simple_message protocol.
+     that implement the standard ROS-Industrial simple_message protocol.
      *** Motion control is implemented by STREAMING path data to the robot ***
          (for DOWNLOAD-based path-control, use a different launch file)
 
diff --git a/motoman_driver/package.xml b/motoman_driver/package.xml
index 3fb412b4..d4cbe3e8 100644
--- a/motoman_driver/package.xml
+++ b/motoman_driver/package.xml
@@ -1,14 +1,15 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>motoman_driver</name>
   <version>0.3.5</version>
-  <description>
-    This package provides nodes for interfacing with Motoman industrial robot controllers.
-  </description>
+  <description>ROS-Industrial nodes for interfacing with Yaskawa Motoman robot controllers.</description>
   <author>Jeremy Zoss (Southwest Research Institute)</author>
   <author>Ted Miller (MotoROS) (Yaskawa Motoman)</author>
   <author>Eric Marcil (MotoROS) (Yaskawa Motoman)</author>
   <maintainer email="jeremy.zoss@swri.org">Jeremy Zoss (Southwest Research Institute)</maintainer>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>BSD</license>
 
   <url type="website">http://wiki.ros.org/motoman_driver</url>
diff --git a/motoman_gp12_support/CMakeLists.txt b/motoman_gp12_support/CMakeLists.txt
index 78d6b989..f13bb17b 100644
--- a/motoman_gp12_support/CMakeLists.txt
+++ b/motoman_gp12_support/CMakeLists.txt
@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 2.8.3)
 
 project(motoman_gp12_support)
@@ -12,7 +11,5 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(test/launch_test.xml)
 endif()
 
-foreach(dir config launch meshes urdf)
-   install(DIRECTORY ${dir}/
-      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/motoman_gp12_support/package.xml b/motoman_gp12_support/package.xml
index bf3b737a..ed243170 100644
--- a/motoman_gp12_support/package.xml
+++ b/motoman_gp12_support/package.xml
@@ -1,47 +1,53 @@
-
-<package>
- <name>motoman_gp12_support</name>
- <version>0.1.0</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman gp12 (and variants).
-    </p>
-  <p>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>motoman_gp12_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman GP12 (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman gp12 manipulators.
+      for Motoman GP12 manipulators.
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>gp12 - Default</li>
-  </ul>
-  <p>
+    <p>
+      <b>Specifications</b>
+    </p>
+    <ul>
+      <li>GP12 - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       https://www.motoman.com/hubfs/Robots/GP12.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author>Shaun Edwards</author>
- <maintainer email="shaun.edwards@gmail.com"/>
- <license>BSD</license>
- <url type="website">http://ros.org/wiki/motoman_gp12_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>roslaunch</build_depend>
- <run_depend>motoman_driver</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>rviz</run_depend>
- <run_depend>joint_state_publisher</run_depend>
- <export>
-  <architecture_independent/>
- </export>
+  </description>
+  <author>Eric Marcil</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_gp12_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
 </package>
diff --git a/motoman_gp7_support/CMakeLists.txt b/motoman_gp7_support/CMakeLists.txt
index 5c69d99d..ac236dab 100644
--- a/motoman_gp7_support/CMakeLists.txt
+++ b/motoman_gp7_support/CMakeLists.txt
@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 2.8.3)
 
 project(motoman_gp7_support)
@@ -12,7 +11,5 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(test/launch_test.xml)
 endif()
 
-foreach(dir config launch meshes urdf)
-   install(DIRECTORY ${dir}/
-      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/motoman_gp7_support/package.xml b/motoman_gp7_support/package.xml
index 9a313202..5d868f15 100644
--- a/motoman_gp7_support/package.xml
+++ b/motoman_gp7_support/package.xml
@@ -1,47 +1,53 @@
-
-<package>
- <name>motoman_gp7_support</name>
- <version>0.1.0</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman gp7 (and variants).
-    </p>
-  <p>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>motoman_gp7_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman GP7 (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman gp7 manipulators.
+      for Motoman GP7 manipulators.
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>gp7 - Default</li>
-  </ul>
-  <p>
+    <p>
+      <b>Specifications</b>
+    </p>
+    <ul>
+      <li>GP7 - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       https://www.motoman.com/hubfs/Robots/gp7.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author>Eric Marcil</author>
- <maintainer email="shaun.edwards@gmail.com"/>
- <license>BSD</license>
- <url type="website">http://ros.org/wiki/motoman_gp7_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>roslaunch</build_depend>
- <run_depend>motoman_driver</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>rviz</run_depend>
- <run_depend>joint_state_publisher</run_depend>
- <export>
-  <architecture_independent/>
- </export>
+  </description>
+  <author>Eric Marcil</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_gp7_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
 </package>
diff --git a/motoman_gp8_support/CMakeLists.txt b/motoman_gp8_support/CMakeLists.txt
index 2a9141bc..7e4c6349 100644
--- a/motoman_gp8_support/CMakeLists.txt
+++ b/motoman_gp8_support/CMakeLists.txt
@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 2.8.3)
 
 project(motoman_gp8_support)
@@ -12,7 +11,5 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(test/launch_test.xml)
 endif()
 
-foreach(dir config launch meshes urdf)
-   install(DIRECTORY ${dir}/
-      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/motoman_gp8_support/package.xml b/motoman_gp8_support/package.xml
index 1ec6d15e..27164921 100644
--- a/motoman_gp8_support/package.xml
+++ b/motoman_gp8_support/package.xml
@@ -1,47 +1,53 @@
-
-<package>
- <name>motoman_gp8_support</name>
- <version>0.1.0</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman gp8 (and variants).
-    </p>
-  <p>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>motoman_gp8_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman GP8 (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman gp8 manipulators.
+      for Motoman GP8 manipulators.
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>gp8 - Default</li>
-  </ul>
-  <p>
+    <p>
+      <b>Specifications</b>
+    </p>
+    <ul>
+      <li>GP8 - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       https://www.motoman.com/hubfs/Robots/gp8.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author>Eric Marcil</author>
- <maintainer email="shaun.edwards@gmail.com"/>
- <license>BSD</license>
- <url type="website">http://ros.org/wiki/motoman_gp8_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>roslaunch</build_depend>
- <run_depend>motoman_driver</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>rviz</run_depend>
- <run_depend>joint_state_publisher</run_depend>
- <export>
-  <architecture_independent/>
- </export>
+  </description>
+  <author>Eric Marcil</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_gp8_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
 </package>
diff --git a/motoman_mh12_support/CMakeLists.txt b/motoman_mh12_support/CMakeLists.txt
index 745e3763..0d90e486 100644
--- a/motoman_mh12_support/CMakeLists.txt
+++ b/motoman_mh12_support/CMakeLists.txt
@@ -1,11 +1,10 @@
 cmake_minimum_required(VERSION 2.8.3)
+
 project(motoman_mh12_support)
 
 find_package(catkin REQUIRED)
 
 catkin_package()
 
-foreach(dir config launch meshes urdf)
-   install(DIRECTORY ${dir}/
-      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/motoman_mh12_support/package.xml b/motoman_mh12_support/package.xml
index 646f1362..d73ef3a9 100644
--- a/motoman_mh12_support/package.xml
+++ b/motoman_mh12_support/package.xml
@@ -1,24 +1,29 @@
 <?xml version="1.0"?>
-<package>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
   <name>motoman_mh12_support</name>
-  <version>0.1.0</version>
-  <description>The motoman_mh12_support package</description>
-
-  <maintainer email="Jmeyer@swri.org">Jon Meyer</maintainer>
-
+  <version>0.3.5</version>
+  <description>ROS-Industrial support for the Motoman MH12 (and variants).</description>
+  <author>Jon Meyer</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>Apache 2.0</license>
 
+  <url type="website">http://wiki.ros.org/motoman_mh12_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
   <buildtool_depend>catkin</buildtool_depend>
-  
-  <build_depend>roslaunch</build_depend>
 
-  <run_depend>joint_state_publisher</run_depend>
-  <run_depend>motoman_driver</run_depend>
-  <run_depend>robot_state_publisher</run_depend>
-  <run_depend>rviz</run_depend>
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
   <export>
     <architecture_independent/>
   </export>
-
-</package>
\ No newline at end of file
+</package>
diff --git a/motoman_mh50_support/CMakeLists.txt b/motoman_mh50_support/CMakeLists.txt
index cc02b6e9..f5b5a7f8 100644
--- a/motoman_mh50_support/CMakeLists.txt
+++ b/motoman_mh50_support/CMakeLists.txt
@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 2.8.3)
 
 project(motoman_mh50_support)
@@ -12,7 +11,5 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(test/launch_test.xml)
 endif()
 
-foreach(dir config launch meshes urdf)
-   install(DIRECTORY ${dir}/
-      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach(dir)
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/motoman_mh50_support/package.xml b/motoman_mh50_support/package.xml
index 67a6fbcc..9379abdc 100644
--- a/motoman_mh50_support/package.xml
+++ b/motoman_mh50_support/package.xml
@@ -1,47 +1,53 @@
-
-<package>
- <name>motoman_mh50_support</name>
- <version>0.1.0</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman mh50 (and variants).
-    </p>
-  <p>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>motoman_mh50_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman MH50 (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman mh50 manipulators.
+      for Motoman MH50 manipulators.
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>mh50 - Default</li>
-  </ul>
-  <p>
+    <p>
+      <b>Specifications</b>
+    </p>
+    <ul>
+      <li>MH50 - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       https://www.motoman.com/hubfs/Robots/mh50.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author>Eric Marcil</author>
- <maintainer email="shaun.edwards@gmail.com"/>
- <license>BSD</license>
- <url type="website">http://ros.org/wiki/motoman_mh50_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>roslaunch</build_depend>
- <run_depend>motoman_driver</run_depend>
- <run_depend>robot_state_publisher</run_depend>
- <run_depend>rviz</run_depend>
- <run_depend>joint_state_publisher</run_depend>
- <export>
-  <architecture_independent/>
- </export>
+  </description>
+  <author>Eric Marcil</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_mh50_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
 </package>
diff --git a/motoman_mh5_support/CMakeLists.txt b/motoman_mh5_support/CMakeLists.txt
index ba2f67a2..cb25046d 100644
--- a/motoman_mh5_support/CMakeLists.txt
+++ b/motoman_mh5_support/CMakeLists.txt
@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 2.8.3)
 
 project(motoman_mh5_support)
diff --git a/motoman_mh5_support/package.xml b/motoman_mh5_support/package.xml
index 3c925342..a40902a1 100644
--- a/motoman_mh5_support/package.xml
+++ b/motoman_mh5_support/package.xml
@@ -1,48 +1,53 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
- <name>motoman_mh5_support</name>
- <version>0.3.5</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman mh5 (and variants).
-    </p>
-  <p>
+  <name>motoman_mh5_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman MH5 (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman mh5 manipulators.
+      for Motoman MH5 manipulators.
+    </p>
+    <p>
+      <b>Specifications</b>
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>mh5 - Default</li>
-  </ul>
-  <p>
+    <ul>
+      <li>MH5 - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       http://www.motoman.com/datasheets/mh5.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author>Shaun Edwards</author>
- <maintainer email="shaun.edwards@gmail.com"/>
- <license>BSD</license>
- <url type="website">http://wiki.ros.org/motoman_mh5_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <test_depend>roslaunch</test_depend>
- <exec_depend>joint_state_publisher</exec_depend>
- <exec_depend>motoman_driver</exec_depend>
- <exec_depend>robot_state_publisher</exec_depend>
- <exec_depend>rviz</exec_depend>
- <exec_depend>xacro</exec_depend>
- <export>
-  <architecture_independent/>
- </export>
+  </description>
+  <author>Shaun Edwards</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_mh5_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
 </package>
diff --git a/motoman_motomini_support/package.xml b/motoman_motomini_support/package.xml
index 3f24d0cf..8e730981 100644
--- a/motoman_motomini_support/package.xml
+++ b/motoman_motomini_support/package.xml
@@ -1,48 +1,54 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
- <name>motoman_motomini_support</name>
- <version>0.3.5</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman MotoMini (and variants).
-    </p>
-  <p>
+  <name>motoman_motomini_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman MotoMini (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
       for Motoman MotoMini manipulators.
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>MotoMini - Default</li>
-  </ul>
-  <p>
+    <p>
+      <b>Specifications</b>
+    </p>
+    <ul>
+      <li>MotoMini - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       https://www.motoman.com/hubfs/Robots/MotoMini.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author>Eric Marcil</author>
- <maintainer email="eric.marcil@motoman.com"/>
- <license>BSD</license>
- <url type="website">http://wiki.ros.org/motoman_motomini_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <test_depend>roslaunch</test_depend>
- <exec_depend>joint_state_publisher</exec_depend>
- <exec_depend>motoman_driver</exec_depend>
- <exec_depend>robot_state_publisher</exec_depend>
- <exec_depend>rviz</exec_depend>
- <exec_depend>xacro</exec_depend>
- <export>
-  <architecture_independent/>
- </export>
+  </description>
+  <author>Eric Marcil</author>
+  <maintainer email="eric.marcil@motoman.com">Eric Marcil</maintainer>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_motomini_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
 </package>
diff --git a/motoman_msgs/package.xml b/motoman_msgs/package.xml
index 3f51d80c..c0bf307f 100644
--- a/motoman_msgs/package.xml
+++ b/motoman_msgs/package.xml
@@ -1,14 +1,17 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>motoman_msgs</name>
   <version>0.3.5</version>
-  <description>Set of messages to serve as support for the multi-group driver.</description>
-
-  <maintainer email="tdf@ipa.fhg.de">Thiago de Freitas</maintainer>
-
+  <description>Messages for the multi-group interface of motoman_driver.</description>
+  <author>Thiago de Freitas</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>BSD</license>
+
   <url type="website">http://wiki.ros.org/motoman_msgs</url>
-  <author>Thiago de Freitas</author>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
 
   <buildtool_depend>catkin</buildtool_depend>
 
@@ -16,7 +19,7 @@
   <build_export_depend>message_runtime</build_export_depend>
   <exec_depend>message_runtime</exec_depend>
 
-  <depend>std_msgs</depend>
   <depend>industrial_msgs</depend>
+  <depend>std_msgs</depend>
   <depend>trajectory_msgs</depend>
 </package>
diff --git a/motoman_sda10f_moveit_config/package.xml b/motoman_sda10f_moveit_config/package.xml
index 4694f015..c764ee92 100644
--- a/motoman_sda10f_moveit_config/package.xml
+++ b/motoman_sda10f_moveit_config/package.xml
@@ -1,29 +1,33 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>motoman_sda10f_moveit_config</name>
   <version>0.3.5</version>
   <description>
-     An automatically generated package with all the configuration and launch files for using the motoman_sda10f with the MoveIt Motion Planning Framework
+    <p>MoveIt package for the Motoman SDA10F.</p>
+    <p>
+      An automatically generated package with all the configuration and launch files for using the Motoman SDA10F with the MoveIt Motion Planning Framework.
+    </p>
   </description>
-  <author email="tdf@ipa.fhg.de">Thiago de Freitas</author>
-  <maintainer email="tdf@ipa.fhg.de">Thiago de Freitas</maintainer>
-
+  <author>Thiago de Freitas</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>BSD</license>
 
-  <url type="website">http://moveit.ros.org/</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
-  <url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
+  <url type="website">http://wiki.ros.org/motoman_sda10f_moveit_config</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
 
-  <exec_depend>moveit_ros_move_group</exec_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>industrial_robot_simulator</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_sda10f_support</exec_depend>
   <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <exec_depend>industrial_robot_simulator</exec_depend>
-  <exec_depend>motoman_sda10f_support</exec_depend>
-
-  <buildtool_depend>catkin</buildtool_depend>
 
   <export>
     <architecture_independent/>
diff --git a/motoman_sda10f_support/CMakeLists.txt b/motoman_sda10f_support/CMakeLists.txt
index b1201d14..557f955b 100644
--- a/motoman_sda10f_support/CMakeLists.txt
+++ b/motoman_sda10f_support/CMakeLists.txt
@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 2.8.3)
 
 project(motoman_sda10f_support)
diff --git a/motoman_sda10f_support/package.xml b/motoman_sda10f_support/package.xml
index 1e30981a..c79bf3af 100644
--- a/motoman_sda10f_support/package.xml
+++ b/motoman_sda10f_support/package.xml
@@ -1,48 +1,53 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
- <name>motoman_sda10f_support</name>
- <version>0.3.5</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman sda10f (and variants).
-    </p>
-  <p>
+  <name>motoman_sda10f_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman SDA10F (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman sda10f manipulators.
+      for Motoman SDA10F manipulators.
+    </p>
+    <p>
+      <b>Specifications</b>
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>sda10f - Default</li>
-  </ul>
-  <p>
+    <ul>
+      <li>SDA10F - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       http://www.motoman.com/datasheets/sda10f.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author email="tdf@ipa.fhg.de">Thiago de Freitas</author>
- <maintainer email="tdf@ipa.fhg.de">Thiago de Freitas</maintainer>
- <license>BSD</license>
- <url type="website">http://wiki.ros.org/motoman_sda10f_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <test_depend>roslaunch</test_depend>
- <exec_depend>joint_state_publisher</exec_depend>
- <exec_depend>motoman_driver</exec_depend>
- <exec_depend>robot_state_publisher</exec_depend>
- <exec_depend>rviz</exec_depend>
- <exec_depend>xacro</exec_depend>
- <export>
-  <architecture_independent/>
- </export>
+  </description>
+  <author>Thiago de Freitas</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_sda10f_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
 </package>
diff --git a/motoman_sia10d_support/CMakeLists.txt b/motoman_sia10d_support/CMakeLists.txt
index d049a074..8e45b2f5 100644
--- a/motoman_sia10d_support/CMakeLists.txt
+++ b/motoman_sia10d_support/CMakeLists.txt
@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 2.8.3)
 
 project(motoman_sia10d_support)
diff --git a/motoman_sia10d_support/package.xml b/motoman_sia10d_support/package.xml
index 3ec002da..f4a2f187 100644
--- a/motoman_sia10d_support/package.xml
+++ b/motoman_sia10d_support/package.xml
@@ -1,53 +1,58 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
- <name>motoman_sia10d_support</name>
- <version>0.3.5</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman sia10d (and variants).
-    </p>
-  <p>
+  <name>motoman_sia10d_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman SIA10D (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman sia10d manipulators.
+      for Motoman SIA10D manipulators.
+    </p>
+    <p>
+      <b>Specifications</b>
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>sia10d - Default</li>
-  </ul>
-  <p>
+    <ul>
+      <li>SIA10D - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       http://www.motoman.com/datasheets/sia10d.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author>Shaun Edwards</author>
- <maintainer email="shaun.edwards@gmail.com"/>
- <license>BSD</license>
- <url type="website">http://wiki.ros.org/motoman_sia10d_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <test_depend>roslaunch</test_depend>
- <exec_depend>joint_state_publisher</exec_depend>
- <exec_depend>motoman_driver</exec_depend>
- <exec_depend>robot_state_publisher</exec_depend>
- <exec_depend>rviz</exec_depend>
- <exec_depend>xacro</exec_depend>
- <export>
-  <architecture_independent/>
-  <deprecated>
-    This package will be removed in ROS Kinetic. The configuration data and
-    models included in this package can now be found in the motoman_sia_support
-    package in ROS Jade.
-  </deprecated>
- </export>
+  </description>
+  <author>Shaun Edwards</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_sia10d_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+    <deprecated>
+      This package will be removed in ROS Kinetic. The configuration data and
+      models included in this package can now be found in the motoman_sia_support
+      package in ROS Jade.
+    </deprecated>
+  </export>
 </package>
diff --git a/motoman_sia10f_support/CMakeLists.txt b/motoman_sia10f_support/CMakeLists.txt
index abff8031..9d734229 100644
--- a/motoman_sia10f_support/CMakeLists.txt
+++ b/motoman_sia10f_support/CMakeLists.txt
@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 2.8.3)
 
 project(motoman_sia10f_support)
diff --git a/motoman_sia10f_support/package.xml b/motoman_sia10f_support/package.xml
index bbcd011f..1d2df694 100644
--- a/motoman_sia10f_support/package.xml
+++ b/motoman_sia10f_support/package.xml
@@ -1,53 +1,58 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
- <name>motoman_sia10f_support</name>
- <version>0.3.5</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman sia10f (and variants).
-    </p>
-  <p>
+  <name>motoman_sia10f_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman SIA10F (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman sia10f manipulators.
+      for Motoman SIA10F manipulators.
+    </p>
+    <p>
+      <b>Specifications</b>
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>sia10f - Default</li>
-  </ul>
-  <p>
+    <ul>
+      <li>SIA10F - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       http://www.motoman.com/datasheets/sia10f.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author email="tdf@ipa.fhg.de">Thiago de Freitas</author>
- <maintainer email="tdf@ipa.fhg.de">Thiago de Freitas</maintainer>
- <license>BSD</license>
- <url type="website">http://ros.org/wiki/motoman_sia10f_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <test_depend>roslaunch</test_depend>
- <exec_depend>joint_state_publisher</exec_depend>
- <exec_depend>motoman_driver</exec_depend>
- <exec_depend>robot_state_publisher</exec_depend>
- <exec_depend>rviz</exec_depend>
- <exec_depend>xacro</exec_depend>
- <export>
-  <architecture_independent/>
-  <deprecated>
-    This package will be removed in ROS Kinetic. The configuration data and
-    models included in this package can now be found in the motoman_sia_support
-    package in ROS Jade.
-  </deprecated>
- </export>
+  </description>
+  <author>Thiago de Freitas</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_sia10f_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+    <deprecated>
+      This package will be removed in ROS Kinetic. The configuration data and
+      models included in this package can now be found in the motoman_sia_support
+      package in ROS Jade.
+    </deprecated>
+  </export>
 </package>
diff --git a/motoman_sia20d_moveit_config/package.xml b/motoman_sia20d_moveit_config/package.xml
index 0282c4da..e4c50aaf 100644
--- a/motoman_sia20d_moveit_config/package.xml
+++ b/motoman_sia20d_moveit_config/package.xml
@@ -1,29 +1,33 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>motoman_sia20d_moveit_config</name>
   <version>0.3.5</version>
   <description>
-     An automatically generated package with all the configuration and launch files for using the motoman_sia20d with the MoveIt Motion Planning Framework
+    <p>MoveIt package for the Motoman SIA20D.</p>
+    <p>
+      An automatically generated package with all the configuration and launch files for using the Motoman SIA20D with the MoveIt Motion Planning Framework.
+    </p>
   </description>
-  <author email="assistant@moveit.ros.org">MoveIt Setup Assistant</author>
-  <maintainer email="assistant@moveit.ros.org">MoveIt Setup Assistant</maintainer>
-
+  <author>MoveIt Setup Assistant</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>BSD</license>
 
-  <url type="website">http://moveit.ros.org/</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
-  <url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
+  <url type="website">http://wiki.ros.org/motoman_sia20d_moveit_config</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
 
-  <exec_depend>moveit_ros_move_group</exec_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>industrial_robot_simulator</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_sia20d_support</exec_depend>
   <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>xacro</exec_depend>
-  <exec_depend>industrial_robot_simulator</exec_depend>
-  <exec_depend>motoman_sia20d_support</exec_depend>
-
-  <buildtool_depend>catkin</buildtool_depend>
 
   <export>
     <architecture_independent/>
diff --git a/motoman_sia20d_support/CMakeLists.txt b/motoman_sia20d_support/CMakeLists.txt
index 238ed1ef..b4ebf531 100644
--- a/motoman_sia20d_support/CMakeLists.txt
+++ b/motoman_sia20d_support/CMakeLists.txt
@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 2.8.3)
 
 project(motoman_sia20d_support)
diff --git a/motoman_sia20d_support/package.xml b/motoman_sia20d_support/package.xml
index 3643c03b..85353a1c 100644
--- a/motoman_sia20d_support/package.xml
+++ b/motoman_sia20d_support/package.xml
@@ -1,53 +1,58 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
- <name>motoman_sia20d_support</name>
- <version>0.3.5</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman sia20d (and variants).
-    </p>
-  <p>
+  <name>motoman_sia20d_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman SIA20D (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman sia20d manipulators.
+      for Motoman SIA20D manipulators.
+    </p>
+    <p>
+      <b>Specifications</b>
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>sia20d - Default</li>
-  </ul>
-  <p>
+    <ul>
+      <li>SIA20D - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       http://www.motoman.com/datasheets/sia20d.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author>Shaun Edwards</author>
- <maintainer email="shaun.edwards@gmail.com"/>
- <license>BSD</license>
- <url type="website">http://ros.org/wiki/motoman_sia20d_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <test_depend>roslaunch</test_depend>
- <exec_depend>joint_state_publisher</exec_depend>
- <exec_depend>motoman_driver</exec_depend>
- <exec_depend>robot_state_publisher</exec_depend>
- <exec_depend>rviz</exec_depend>
- <exec_depend>xacro</exec_depend>
- <export>
-  <architecture_independent/>
-  <deprecated>
-    This package will be removed in ROS Kinetic. The configuration data and
-    models included in this package can now be found in the motoman_sia_support
-    package in ROS Jade.
-  </deprecated>
- </export>
+  </description>
+  <author>Shaun Edwards</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_sia20d_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+    <deprecated>
+      This package will be removed in ROS Kinetic. The configuration data and
+      models included in this package can now be found in the motoman_sia_support
+      package in ROS Jade.
+    </deprecated>
+  </export>
 </package>
diff --git a/motoman_sia5d_support/CMakeLists.txt b/motoman_sia5d_support/CMakeLists.txt
index cc7dd62d..f9fc0e25 100644
--- a/motoman_sia5d_support/CMakeLists.txt
+++ b/motoman_sia5d_support/CMakeLists.txt
@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 2.8.3)
 
 project(motoman_sia5d_support)
diff --git a/motoman_sia5d_support/package.xml b/motoman_sia5d_support/package.xml
index 2d716cc0..a5af0cdf 100644
--- a/motoman_sia5d_support/package.xml
+++ b/motoman_sia5d_support/package.xml
@@ -1,53 +1,58 @@
 <?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
- <name>motoman_sia5d_support</name>
- <version>0.3.5</version>
- <description>
-  <p>
-      ROS Industrial support for the Motoman sia5d (and variants).
-    </p>
-  <p>
+  <name>motoman_sia5d_support</name>
+  <version>0.3.5</version>
+  <description>
+    <p>ROS-Industrial support for the Motoman SIA5D (and variants).</p>
+    <p>
       This package contains configuration data, 3D models and launch files
-      for Motoman sia5d manipulators.
+      for Motoman SIA5D manipulators.
+    </p>
+    <p>
+      <b>Specifications</b>
     </p>
-  <p>
-   <b>Specifications</b>
-  </p>
-  <ul>
-   <li>sia5d - Default</li>
-  </ul>
-  <p>
+    <ul>
+      <li>SIA5D - Default</li>
+    </ul>
+    <p>
       Joint limits and maximum joint velocities are based on the information 
       found in the online 
       http://www.motoman.com/datasheets/sia5d.pdf
       All urdfs are based on the default motion and joint velocity limits, 
       unless noted otherwise.
     </p>
-  <p>
+    <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
- </description>
- <author>Shaun Edwards</author>
- <maintainer email="shaun.edwards@gmail.com"/>
- <license>BSD</license>
- <url type="website">http://wiki.ros.org/motoman_sia5d_support</url>
- <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
- <url type="repository">https://github.com/ros-industrial/motoman</url>
- <buildtool_depend>catkin</buildtool_depend>
- <test_depend>roslaunch</test_depend>
- <exec_depend>joint_state_publisher</exec_depend>
- <exec_depend>motoman_driver</exec_depend>
- <exec_depend>robot_state_publisher</exec_depend>
- <exec_depend>rviz</exec_depend>
- <exec_depend>xacro</exec_depend>
- <export>
-  <architecture_independent/>
-  <deprecated>
-    This package will be removed in ROS Kinetic. The configuration data and
-    models included in this package can now be found in the motoman_sia_support
-    package in ROS Jade.
-  </deprecated>
- </export>
+  </description>
+  <author>Shaun Edwards</author>
+  <maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/motoman_sia5d_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/motoman/issues</url>
+  <url type="repository">https://github.com/ros-industrial/motoman</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>motoman_driver</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+    <deprecated>
+      This package will be removed in ROS Kinetic. The configuration data and
+      models included in this package can now be found in the motoman_sia_support
+      package in ROS Jade.
+    </deprecated>
+  </export>
 </package>