diff --git a/abb_irb1600_6_12_moveit_config/.setup_assistant b/abb_irb1600_6_12_moveit_config/.setup_assistant
new file mode 100644
index 0000000000000000000000000000000000000000..f65b2c056b87d0142519766a48aba8f3fd697f40
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/.setup_assistant
@@ -0,0 +1,10 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: abb_irb1600_support
+    relative_path: urdf/irb1600_6_12.xacro
+  SRDF:
+    relative_path: config/abb_irb1600_6_12.srdf
+  CONFIG:
+    author_name: Keerthana Manivannan
+    author_email: keerthana.manivannan@gmail.com
+    generated_timestamp: 1499477269
\ No newline at end of file
diff --git a/abb_irb1600_6_12_moveit_config/CMakeLists.txt b/abb_irb1600_6_12_moveit_config/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5bcd369f0bbc5b14159bb59de51af0bb073c9b12
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(abb_irb1600_6_12_moveit_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/abb_irb1600_6_12_moveit_config/config/abb_irb1600_6_12.srdf b/abb_irb1600_6_12_moveit_config/config/abb_irb1600_6_12.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..1144a3557e13397beac3598023521a7e147295bb
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/config/abb_irb1600_6_12.srdf
@@ -0,0 +1,39 @@
+<?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="abb_irb1600_6_12">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="manipulator">
+        <chain base_link="base_link" tip_link="tool0" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="all_zero" group="manipulator">
+        <joint name="joint_1" value="0" />
+        <joint name="joint_2" value="0" />
+        <joint name="joint_3" value="0" />
+        <joint name="joint_4" value="0" />
+        <joint name="joint_5" value="0" />
+        <joint name="joint_6" value="0" />
+    </group_state>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="FixedBase" type="fixed" parent_frame="world" child_link="base_link" />
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base_link" link2="link_1" reason="Adjacent" />
+    <disable_collisions link1="base_link" link2="link_2" reason="Never" />
+    <disable_collisions link1="link_1" link2="link_2" reason="Adjacent" />
+    <disable_collisions link1="link_2" link2="link_3" reason="Adjacent" />
+    <disable_collisions link1="link_2" link2="link_4" reason="Never" />
+    <disable_collisions link1="link_2" link2="link_5" reason="Never" />
+    <disable_collisions link1="link_2" link2="link_6" reason="Never" />
+    <disable_collisions link1="link_3" link2="link_4" reason="Adjacent" />
+    <disable_collisions link1="link_3" link2="link_5" reason="Never" />
+    <disable_collisions link1="link_3" link2="link_6" reason="Never" />
+    <disable_collisions link1="link_4" link2="link_5" reason="Adjacent" />
+    <disable_collisions link1="link_5" link2="link_6" reason="Adjacent" />
+</robot>
diff --git a/abb_irb1600_6_12_moveit_config/config/controllers.yaml b/abb_irb1600_6_12_moveit_config/config/controllers.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..fda75c3a5462327bda383fddbe7ecbb4c378a205
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/config/controllers.yaml
@@ -0,0 +1,5 @@
+controller_list:
+  - name: ""
+    action_ns: joint_trajectory_action
+    type: FollowJointTrajectory
+    joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
diff --git a/abb_irb1600_6_12_moveit_config/config/fake_controllers.yaml b/abb_irb1600_6_12_moveit_config/config/fake_controllers.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e0c78ef824750847e90f9f3fd2db74ffc3404162
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/config/fake_controllers.yaml
@@ -0,0 +1,9 @@
+controller_list:
+  - name: fake_manipulator_controller
+    joints:
+      - joint_1
+      - joint_2
+      - joint_3
+      - joint_4
+      - joint_5
+      - joint_6
\ No newline at end of file
diff --git a/abb_irb1600_6_12_moveit_config/config/joint_limits.yaml b/abb_irb1600_6_12_moveit_config/config/joint_limits.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a4d7ff388d5401d1ba1bfc3d2c73ec16daa995cb
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/config/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:
+  joint_1:
+    has_velocity_limits: true
+    max_velocity: 2.618
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_2:
+    has_velocity_limits: true
+    max_velocity: 2.7925
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_3:
+    has_velocity_limits: true
+    max_velocity: 2.967
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_4:
+    has_velocity_limits: true
+    max_velocity: 5.585
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_5:
+    has_velocity_limits: true
+    max_velocity: 6.9813
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint_6:
+    has_velocity_limits: true
+    max_velocity: 7.854
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/abb_irb1600_6_12_moveit_config/config/kinematics.yaml b/abb_irb1600_6_12_moveit_config/config/kinematics.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ebd1089b4c083696921040a40235ab944131ddb9
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/config/kinematics.yaml
@@ -0,0 +1,6 @@
+manipulator:
+  #kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  kinematics_solver_attempts: 3
\ No newline at end of file
diff --git a/abb_irb1600_6_12_moveit_config/config/ompl_planning.yaml b/abb_irb1600_6_12_moveit_config/config/ompl_planning.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d86c9c6af7a4bb7f73f081a42fffdfdc81a779ea
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/config/ompl_planning.yaml
@@ -0,0 +1,150 @@
+planner_configs:
+  SBLkConfigDefault:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ESTkConfigDefault:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECEkConfigDefault:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECEkConfigDefault:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECEkConfigDefault:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05 
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRTkConfigDefault:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnectkConfigDefault:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstarkConfigDefault:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRTkConfigDefault:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() 
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRMkConfigDefault:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstarkConfigDefault:
+    type: geometric::PRMstar
+  FMTkConfigDefault:
+    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
+  BFMTkConfigDefault:
+    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
+  PDSTkConfigDefault:
+    type: geometric::PDST
+  STRIDEkConfigDefault:
+    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
+  BiTRRTkConfigDefault:
+    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
+  LBTRRTkConfigDefault:
+    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
+  BiESTkConfigDefault:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjESTkConfigDefault:
+    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 
+  LazyPRMkConfigDefault:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstarkConfigDefault:
+    type: geometric::LazyPRMstar
+  SPARSkConfigDefault:
+    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
+  SPARStwokConfigDefault:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+manipulator:
+  default_planner_config: RRTConnectkConfigDefault
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+    - FMTkConfigDefault
+    - BFMTkConfigDefault
+    - PDSTkConfigDefault
+    - STRIDEkConfigDefault
+    - BiTRRTkConfigDefault
+    - LBTRRTkConfigDefault
+    - BiESTkConfigDefault
+    - ProjESTkConfigDefault
+    - LazyPRMkConfigDefault
+    - LazyPRMstarkConfigDefault
+    - SPARSkConfigDefault
+    - SPARStwokConfigDefault
+  projection_evaluator: joints(joint_1,joint_2)
+  longest_valid_segment_fraction: 0.005
\ No newline at end of file
diff --git a/abb_irb1600_6_12_moveit_config/launch/abb_irb1600_6_12_moveit_controller_manager.launch.xml b/abb_irb1600_6_12_moveit_config/launch/abb_irb1600_6_12_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a8b53dc8feb4eb94c18e7587ee4009c04fd96b3c
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/abb_irb1600_6_12_moveit_controller_manager.launch.xml
@@ -0,0 +1,8 @@
+<launch>
+
+  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
+  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+
+  <rosparam file="$(find abb_irb1600_6_12_moveit_config)/config/controllers.yaml"/>
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/abb_irb1600_6_12_moveit_sensor_manager.launch.xml b/abb_irb1600_6_12_moveit_config/launch/abb_irb1600_6_12_moveit_sensor_manager.launch.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5d02698d7b05f6356110c54ddd75cfbc5ed7084b
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/abb_irb1600_6_12_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/default_warehouse_db.launch b/abb_irb1600_6_12_moveit_config/launch/default_warehouse_db.launch
new file mode 100644
index 0000000000000000000000000000000000000000..76131075337dde8bbd10eb21b3c0490a09b70d36
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/default_warehouse_db.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find abb_irb1600_6_12_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/demo.launch b/abb_irb1600_6_12_moveit_config/launch/demo.launch
new file mode 100644
index 0000000000000000000000000000000000000000..405727523ec92827c1ee40216b47d01e60065eae
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/demo.launch
@@ -0,0 +1,47 @@
+<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="$(find abb_irb1600_6_12_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find abb_irb1600_6_12_moveit_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="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/abb_irb1600_6_12_moveit_config/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b275bb2efd1385879716a9183d7898177a278cd6
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,9 @@
+<launch>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find abb_irb1600_6_12_moveit_config)/config/fake_controllers.yaml"/>
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/joystick_control.launch b/abb_irb1600_6_12_moveit_config/launch/joystick_control.launch
new file mode 100644
index 0000000000000000000000000000000000000000..f74173527576362e10090e81568dceec0fd4f3f8
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_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="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+        
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/move_group.launch b/abb_irb1600_6_12_moveit_config/launch/move_group.launch
new file mode 100644
index 0000000000000000000000000000000000000000..4dab121f500f1df876bd2672f4e3e0a0903636e0
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/move_group.launch
@@ -0,0 +1,72 @@
+<launch>
+
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/planning_context.launch" />
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+	   value="gdb -x $(find abb_irb1600_6_12_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(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"/>
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find abb_irb1600_6_12_moveit_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="ompl" />
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find abb_irb1600_6_12_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="abb_irb1600_6_12" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(find abb_irb1600_6_12_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="abb_irb1600_6_12" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(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="$(arg jiggle_fraction)" />
+
+    <!-- load these non-default MoveGroup capabilities -->
+    <!--
+    <param name="capabilities" value="
+                  a_package/AwsomeMotionPlanningCapability
+                  another_package/GraspPlanningPipeline
+                  " />
+    -->
+
+    <!-- inhibit these default MoveGroup capabilities -->
+    <!--
+    <param name="disable_capabilities" value="
+                  move_group/MoveGroupKinematicsService
+                  move_group/ClearOctomapService
+                  " />
+    -->
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <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/abb_irb1600_6_12_moveit_config/launch/moveit.rviz b/abb_irb1600_6_12_moveit_config/launch/moveit.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..9d4b3edcc55cdacd4d4099a394a41dfdcfb31398
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/moveit.rviz
@@ -0,0 +1,339 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+        - /MotionPlanning1/Scene Robot1
+      Splitter Ratio: 0.48214301466941833
+    Tree Height: 191
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Acceleration_Scaling_Factor: 1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Goal_Tolerance: 0
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 1
+          Y: 1
+          Z: 1
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          flange:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          link_1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link_2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link_3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link_4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link_5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link_6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: move_group/display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      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: manipulator
+        Query Goal State: false
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: move_group/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.30000001192092896
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.20000000298023224
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          flange:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          link_1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link_2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link_3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link_4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link_5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link_6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: false
+      Value: true
+      Velocity_Scaling_Factor: 1
+    - Attached Body Color: 150; 50; 150
+      Class: moveit_rviz_plugin/RobotState
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        flange:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotState
+      Robot Alpha: 1
+      Robot Description: robot_description
+      Robot State Topic: display_robot_state
+      Show All Links: true
+      Show Highlights: true
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 3.144291639328003
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0.010521173477172852
+        Y: -0.021921634674072266
+        Z: -4.91737750962784e-07
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.13479697704315186
+      Target Frame: base_link
+      Yaw: 1.1567760705947876
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: true
+  Height: 836
+  Help:
+    collapsed: false
+  Hide Left Dock: true
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: true
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd000000010000000000000279000002eafc0200000008fb000000100044006900730070006c006100790073000000003d00000150000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb0000002e004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d00200053006c00690064006500720000000000ffffffff0000000000000000fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000193000001940000018900fffffffb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100ffffff000003c0000002ea00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 960
+  X: 640
+  Y: 27
diff --git a/abb_irb1600_6_12_moveit_config/launch/moveit_planning_execution.launch b/abb_irb1600_6_12_moveit_config/launch/moveit_planning_execution.launch
new file mode 100644
index 0000000000000000000000000000000000000000..054de0a0f7822da7a23efe7b509c3b496bc93ea5
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/moveit_planning_execution.launch
@@ -0,0 +1,57 @@
+<launch>
+  <!-- The planning and execution components of MoveIt! configured to run -->
+  <!-- using the ROS-Industrial interface. -->
+ 
+  <!-- Non-standard joint names:
+       - Create a file [robot_moveit_config]/config/joint_names.yaml
+           controller_joint_names: [joint_1, joint_2, ... joint_N] 
+       - Update with joint names for your robot (in order expected by rbt controller)
+       - and uncomment the following line: -->
+  <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />
+ 
+  <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
+  <!--  - if sim=false, a robot_ip argument is required -->
+  <arg name="sim" default="true" />
+  <arg name="robot_ip" unless="$(arg sim)" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find abb_irb1600_6_12_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- load the robot_description parameter before launching ROS-I nodes -->
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/planning_context.launch" >
+    <arg name="load_robot_description" value="true" />
+  </include>
+
+  <!-- run the robot simulator and action interface nodes -->
+  <group if="$(arg sim)">
+    <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
+  </group>
+
+  <!-- run the "real robot" interface nodes -->
+  <!--   - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
+  <!--   - replace these calls with appropriate robot-specific calls or launch files -->
+  <group unless="$(arg sim)">
+    <include file="$(find abb_irb1600_support)/launch/robot_interface_download_irb1600_6_12.launch" >
+      <arg name="robot_ip" value="$(arg robot_ip)"/>
+    </include>
+  </group>
+
+  <!-- publish the robot state (tf transforms) -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/move_group.launch">
+    <arg name="publish_monitored_planning_scene" value="true" />
+  </include>
+
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+  </include>
+  
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/moveit_planning_execution_egm.launch b/abb_irb1600_6_12_moveit_config/launch/moveit_planning_execution_egm.launch
new file mode 100644
index 0000000000000000000000000000000000000000..8e41534d10e978ad95c70de256327bb50a212e60
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/moveit_planning_execution_egm.launch
@@ -0,0 +1,55 @@
+<launch>
+  <!-- The planning and execution components of MoveIt! configured to run -->
+  <!-- using the ROS-Industrial interface. -->
+ 
+  <!-- Non-standard joint names:
+       - Create a file [robot_moveit_config]/config/joint_names.yaml
+           controller_joint_names: [joint_1, joint_2, ... joint_N] 
+       - Update with joint names for your robot (in order expected by rbt controller)
+       - and uncomment the following line: -->
+  <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />
+ 
+  <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
+  <!--  - if sim=false, a robot_ip argument is required -->
+  <arg name="sim" default="false" />
+
+  <!-- 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="$(find abb_irb1600_6_12_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- load the robot_description parameter before launching ROS-I nodes -->
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/planning_context.launch" >
+    <arg name="load_robot_description" value="true" />
+  </include>
+
+  <!-- run the robot simulator and action interface nodes -->
+  <group if="$(arg sim)">
+    <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
+  </group>
+
+  <!-- run the "real robot" interface nodes -->
+  <!--   - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
+  <!--   - replace these calls with appropriate robot-specific calls or launch files -->
+  <group unless="$(arg sim)">
+    <include file="$(find abb_irb1600_support)/launch/robot_interface_download_irb1600_6_12_egm.launch" >
+    </include>
+  </group>
+
+  <!-- publish the robot state (tf transforms) -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/move_group.launch">
+    <arg name="publish_monitored_planning_scene" value="true" />
+  </include>
+
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+  </include>
+  
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/moveit_rviz.launch b/abb_irb1600_6_12_moveit_config/launch/moveit_rviz.launch
new file mode 100644
index 0000000000000000000000000000000000000000..a07bd7c36da38125b161f091e8b0ecebaa271759
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(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 $(find abb_irb1600_6_12_moveit_config)/launch/moveit.rviz" />
+  
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find abb_irb1600_6_12_moveit_config)/config/kinematics.yaml"/>
+  </node>
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/ompl_planning_pipeline.launch.xml b/abb_irb1600_6_12_moveit_config/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6f584e536855b84b61ec123a6de1fa7ff0f36c99
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+
+  <!-- The request adapters (plugins) used when planning with OMPL. 
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find abb_irb1600_6_12_moveit_config)/config/ompl_planning.yaml"/>
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/planning_context.launch b/abb_irb1600_6_12_moveit_config/launch/planning_context.launch
new file mode 100644
index 0000000000000000000000000000000000000000..6dbc631f0e8b90ee13a7bad4a29ae64883513120
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/planning_context.launch
@@ -0,0 +1,24 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find abb_irb1600_support)/urdf/irb1600_6_12.xacro'"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find abb_irb1600_6_12_moveit_config)/config/abb_irb1600_6_12.srdf" />
+  
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find abb_irb1600_6_12_moveit_config)/config/joint_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find abb_irb1600_6_12_moveit_config)/config/kinematics.yaml"/>
+  </group>
+  
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/planning_pipeline.launch.xml b/abb_irb1600_6_12_moveit_config/launch/planning_pipeline.launch.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5bff7af725808899771b50a1ac61f675227676e3
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines; 
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->  
+
+  <arg name="pipeline" default="ompl" />
+
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/run_benchmark_ompl.launch b/abb_irb1600_6_12_moveit_config/launch/run_benchmark_ompl.launch
new file mode 100644
index 0000000000000000000000000000000000000000..ef863da94fc2f82af803904f41494fad624a744c
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>  
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
+    <rosparam command="load" file="$(find abb_irb1600_6_12_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find abb_irb1600_6_12_moveit_config)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/sensor_manager.launch.xml b/abb_irb1600_6_12_moveit_config/launch/sensor_manager.launch.xml
new file mode 100644
index 0000000000000000000000000000000000000000..68de8941927c614ea36f151e935bfd6088091928
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/sensor_manager.launch.xml
@@ -0,0 +1,14 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->  
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="abb_irb1600_6_12" />
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+  
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/setup_assistant.launch b/abb_irb1600_6_12_moveit_config/launch/setup_assistant.launch
new file mode 100644
index 0000000000000000000000000000000000000000..ac6d9e95d0818b430ea937542c82afd72c43970b
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" 
+	args="--config_pkg=abb_irb1600_6_12_moveit_config"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/trajectory_execution.launch.xml b/abb_irb1600_6_12_moveit_config/launch/trajectory_execution.launch.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ed3bffc4ba3b6b5c3a867f7dc54f17bfb42c9e14
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/trajectory_execution.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->  
+
+  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+  <!--<param name="trajectory_execution/execution_duration_monitoring" value="false" />-->
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="2.0"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="3.0"/> <!-- default 0.5 -->
+  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
+  
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="abb_irb1600_6_12" />
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+  
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/warehouse.launch b/abb_irb1600_6_12_moveit_config/launch/warehouse.launch
new file mode 100644
index 0000000000000000000000000000000000000000..de03df90d15af63e1cef48d00f55235b99c3b2d0
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+  
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->  
+  <include file="$(find abb_irb1600_6_12_moveit_config)/launch/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/abb_irb1600_6_12_moveit_config/launch/warehouse_settings.launch.xml b/abb_irb1600_6_12_moveit_config/launch/warehouse_settings.launch.xml
new file mode 100644
index 0000000000000000000000000000000000000000..967e0ff4d7ad078d77b8bc0e0d1145ce6252fb86
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_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/abb_irb1600_6_12_moveit_config/package.xml b/abb_irb1600_6_12_moveit_config/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3f0107ae40692bcc0e4b9ba8ad8e74c493116fba
--- /dev/null
+++ b/abb_irb1600_6_12_moveit_config/package.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>abb_irb1600_6_12_moveit_config</name>
+  <version>0.2.0</version>
+  <description>
+    <p>
+      MoveIt package for the ABB IRB 1600-6/1.2.
+    </p>
+    <p>
+      An automatically generated package with all the configuration and launch
+      files for using the ABB IRB 1600-6/1.2 with the MoveIt Motion Planning
+      Framework.
+    </p>
+  </description>
+  <author email="assistant@moveit.ros.org">MoveIt Setup Assistant</author>
+  <maintainer email="keerthana.manivannan@gmail.com">Keerthana Manivannan</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/abb_irb1600_6_12_moveit_config</url>
+  <url type="bugtracker">https://github.com/ros-industrial/abb_experimental/issues</url>
+  <url type="repository">https://github.com/ros-industrial/abb_experimental</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>abb_irb1600_support</exec_depend>
+  <exec_depend>industrial_robot_simulator</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>moveit_fake_controller_manager</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>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent />
+  </export>
+</package>
diff --git a/abb_irb1600_support/CMakeLists.txt b/abb_irb1600_support/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..20b887d6ccccaa660ca35967a6fc7a2b7e7cd605
--- /dev/null
+++ b/abb_irb1600_support/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(abb_irb1600_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(tests/roslaunch_test.xml)
+endif()
+
+foreach(dir config launch meshes urdf)
+   install(DIRECTORY ${dir}/
+      DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach()
diff --git a/abb_irb1600_support/config/joint_names_irb1600_6_12.yaml b/abb_irb1600_support/config/joint_names_irb1600_6_12.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b02f7ba359c69ec8a0e1dad192ec172139b5ebd2
--- /dev/null
+++ b/abb_irb1600_support/config/joint_names_irb1600_6_12.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
diff --git a/abb_irb1600_support/launch/load_irb1600_6_12.launch b/abb_irb1600_support/launch/load_irb1600_6_12.launch
new file mode 100644
index 0000000000000000000000000000000000000000..b4f8dc010e1960cf52da59b1b3b358ef9ea73d1c
--- /dev/null
+++ b/abb_irb1600_support/launch/load_irb1600_6_12.launch
@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find abb_irb1600_support)/urdf/irb1600_6_12.xacro'" />
+</launch>
diff --git a/abb_irb1600_support/launch/robot_interface_download_irb1600_6_12.launch b/abb_irb1600_support/launch/robot_interface_download_irb1600_6_12.launch
new file mode 100644
index 0000000000000000000000000000000000000000..4a428cd5624559b2fd21b8f72adeca4f6485f106
--- /dev/null
+++ b/abb_irb1600_support/launch/robot_interface_download_irb1600_6_12.launch
@@ -0,0 +1,20 @@
+<!--
+  Manipulator specific version of abb_driver's 'robot_interface.launch'.
+
+  Defaults provided for IRB 1600:
+   - J23_coupled = true
+
+  Usage:
+    robot_interface_download_irb1600.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+
+  <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />
+
+  <include file="$(find abb_driver)/launch/robot_interface.launch">
+    <arg name="robot_ip"    value="$(arg robot_ip)" />
+    <arg name="J23_coupled" value="$(arg J23_coupled)" />
+  </include>
+</launch>
diff --git a/abb_irb1600_support/launch/robot_interface_download_irb1600_6_12_egm.launch b/abb_irb1600_support/launch/robot_interface_download_irb1600_6_12_egm.launch
new file mode 100644
index 0000000000000000000000000000000000000000..a7027499e4fcce68ce0256f4a04f5f21cbd8322d
--- /dev/null
+++ b/abb_irb1600_support/launch/robot_interface_download_irb1600_6_12_egm.launch
@@ -0,0 +1,22 @@
+<!--
+  Manipulator specific version of abb_driver's 'robot_interface.launch'.
+
+  Defaults provided for IRB 1600:
+   - J23_coupled = true
+
+  Usage:
+    robot_interface_download_irb1600.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="egm_port" value="6511" doc="Port of EGM-Server. The same port must be specified in Robot Studio (Controller -> Configuration -> Communication -> Transmisson Protocoll -> UDPUC Device)" />
+  <arg name="rws_ip_address" value="10.128.41.9" doc="IP address of IRC5 robot controller" />
+  <arg name="J23_coupled" default="false" doc="If true, compensate for J2-J3 parallel linkage" />
+
+  <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />
+
+  <include file="$(find abb_egm_driver)/launch/robot_interface.launch">
+    <arg name="egm_port"    value="$(arg egm_port)" />
+    <arg name="J23_coupled" value="$(arg J23_coupled)" />
+    <arg name="rws_ip_address" value="$(arg rws_ip_address)" />
+  </include>
+</launch>
diff --git a/abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12.launch b/abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12.launch
new file mode 100644
index 0000000000000000000000000000000000000000..c6e923322ce50a3d17741a5d7a84e1fb15fd52be
--- /dev/null
+++ b/abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12.launch
@@ -0,0 +1,26 @@
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for IRB 2400:
+   - J23_coupled = true
+
+  Usage:
+    robot_state_visualize_irb2400.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+
+  <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />
+
+  <include file="$(find abb_driver)/launch/robot_interface.launch">
+    <arg name="robot_ip"    value="$(arg robot_ip)" />
+    <arg name="J23_coupled" value="$(arg J23_coupled)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" 
+    type="robot_state_publisher" />
+  <include file="$(find abb_irb1600_support)/launch/load_irb1600_6_12.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12_egm.launch b/abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12_egm.launch
new file mode 100644
index 0000000000000000000000000000000000000000..bf807472b6b1327016a10a134f1cfe5ecb71bae5
--- /dev/null
+++ b/abb_irb1600_support/launch/robot_state_visualize_irb1600_6_12_egm.launch
@@ -0,0 +1,26 @@
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for IRB 2400:
+   - J23_coupled = true
+
+  Usage:
+    robot_state_visualize_irb2400.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="egm_port" value="6511" doc="EGM server port" />
+  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+
+  <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_6_12.yaml" />
+
+  <include file="$(find abb_egm_driver)/launch/robot_interface.launch">
+    <arg name="egm_port"    value="$(arg egm_port)" />
+    <arg name="J23_coupled" value="$(arg J23_coupled)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" 
+    type="robot_state_publisher" />
+  <include file="$(find abb_irb1600_support)/launch/load_irb1600_6_12.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/abb_irb1600_support/launch/test_irb1600_6_12.launch b/abb_irb1600_support/launch/test_irb1600_6_12.launch
new file mode 100644
index 0000000000000000000000000000000000000000..cccbde67d1a70c6d61113fc6fde7c9772d20ff43
--- /dev/null
+++ b/abb_irb1600_support/launch/test_irb1600_6_12.launch
@@ -0,0 +1,9 @@
+<launch>
+  <include file="$(find abb_irb1600_support)/launch/load_irb1600_6_12.launch" />
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/abb_irb1600_support/meshes/irb1600/collision/base_link.stl b/abb_irb1600_support/meshes/irb1600/collision/base_link.stl
new file mode 100644
index 0000000000000000000000000000000000000000..80af745b172b252ba37a76a05f05b8ed3d4eb541
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diff --git a/abb_irb1600_support/meshes/irb1600/collision/link_1.stl b/abb_irb1600_support/meshes/irb1600/collision/link_1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..e13f2b19a1608e7c5d1af435cd88b356ea3a087f
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diff --git a/abb_irb1600_support/meshes/irb1600/collision/link_3.stl b/abb_irb1600_support/meshes/irb1600/collision/link_3.stl
new file mode 100644
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diff --git a/abb_irb1600_support/meshes/irb1600/collision/link_4.stl b/abb_irb1600_support/meshes/irb1600/collision/link_4.stl
new file mode 100644
index 0000000000000000000000000000000000000000..23c38e2e46dd1c52ae0c5a3e0b32600374d4dd41
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diff --git a/abb_irb1600_support/meshes/irb1600/collision/link_5.stl b/abb_irb1600_support/meshes/irb1600/collision/link_5.stl
new file mode 100644
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diff --git a/abb_irb1600_support/meshes/irb1600_6_12/collision/link_2.stl b/abb_irb1600_support/meshes/irb1600_6_12/collision/link_2.stl
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diff --git a/abb_irb1600_support/meshes/irb1600_6_12/visual/link_2.stl b/abb_irb1600_support/meshes/irb1600_6_12/visual/link_2.stl
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diff --git a/abb_irb1600_support/package.xml b/abb_irb1600_support/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4de673ad6d7ac9c4c717668a935a9558e53136c3
--- /dev/null
+++ b/abb_irb1600_support/package.xml
@@ -0,0 +1,47 @@
+<package format="2">
+  <name>abb_irb1600_support</name>
+  <version>0.0.0</version>
+  <description>
+    <p>
+      ROS-Industrial support for the ABB IRB 1600 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for ABB IRB 1600 manipulators. This package includes the 6kg 1.2m
+      version.  Package based on ABB Document ID: 3HAC023604-001, Rev M.
+    </p>
+    <p>
+      Joint limits and max joint velocities are based on the information in
+      the ABB data sheets.  All URDFs / XACROs are based on the
+      default motion and joint velocity limits, unless noted otherwise (ie:
+      no support for high speed joints, extended / limited motion ranges or
+      other options).
+    </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="aabdelmawgoud@swri.org">Ahmed Abdelmawgoud (Southwest Research Institute)</author>
+  <maintainer email="aderic@swri.org">Austin Deric (Southwest Research Institute)</maintainer>
+  <maintainer email="levi.armstrong@swri.org">Levi Armstrong (Southwest Research Institute)</maintainer>
+  <license>Apache2</license>
+
+  <url type="website">http://wiki.ros.org/abb_irb1600_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/abb_experimental/issues</url>
+  <url type="repository">https://github.com/ros-industrial/abb_experimental</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>abb_egm_driver</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
+</package>
diff --git a/abb_irb1600_support/tests/roslaunch_test.xml b/abb_irb1600_support/tests/roslaunch_test.xml
new file mode 100644
index 0000000000000000000000000000000000000000..38b6b7fa775802048cb0fa915cfd17a24e2c028a
--- /dev/null
+++ b/abb_irb1600_support/tests/roslaunch_test.xml
@@ -0,0 +1,23 @@
+<launch>
+  <arg name="ip_str" value="127.0.0.1" />
+
+  <group ns="load_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/load_irb1600_6_12.launch"/>
+  </group>
+
+  <group ns="test_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/test_irb1600_6_12.launch"/>
+  </group>
+
+  <group ns="robot_interface_download_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/robot_interface_download_irb1600_6_12.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+    </include>
+  </group>
+
+  <group ns="robot_state_visualize_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/robot_state_visualize_irb1600_6_12.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+    </include>
+  </group>
+</launch>
diff --git a/abb_irb1600_support/urdf/irb1600_6_12.xacro b/abb_irb1600_support/urdf/irb1600_6_12.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..4d94699fb48a5d7057f370d1f443f58e77e9a700
--- /dev/null
+++ b/abb_irb1600_support/urdf/irb1600_6_12.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="abb_irb1600_6_12" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find abb_irb1600_support)/urdf/irb1600_6_12_macro.xacro"/>
+  <xacro:abb_irb1600_6_12 prefix=""/>
+</robot>
diff --git a/abb_irb1600_support/urdf/irb1600_6_12_macro.xacro b/abb_irb1600_support/urdf/irb1600_6_12_macro.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..3495410601cd1e1510bf974d3c9d400214022022
--- /dev/null
+++ b/abb_irb1600_support/urdf/irb1600_6_12_macro.xacro
@@ -0,0 +1,192 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="irb1600_6_12">
+<xacro:macro name="abb_irb1600_6_12" params="prefix">
+  <!-- link list -->
+  <link name="${prefix}base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/base_link.stl"/>
+      </geometry>
+      <material name="abb_orange">
+        <color rgba="1 0.43 0 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/base_link.stl"/>
+      </geometry>
+      <material name="yellow">
+        <color rgba="0 1 1 1"/>
+      </material>
+    </collision>
+  </link>
+  <link name="${prefix}link_1">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/link_1.stl"/>
+      </geometry>
+      <material name="abb_orange"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/link_1.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <link name="${prefix}link_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600_6_12/visual/link_2.stl"/>
+      </geometry>
+      <material name="abb_orange"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600_6_12/collision/link_2.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <link name="${prefix}link_3">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/link_3.stl"/>
+      </geometry>
+      <material name="abb_orange"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/link_3.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <link name="${prefix}link_4">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/link_4.stl"/>
+      </geometry>
+      <material name="abb_orange"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/link_4.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <link name="${prefix}link_5">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/link_5.stl"/>
+      </geometry>
+      <material name="abb_orange"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/link_5.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <link name="${prefix}link_6">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/link_6.stl"/>
+      </geometry>
+      <material name="abb_orange"/>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/link_6.stl"/>
+      </geometry>
+      <material name="yellow"/>
+    </collision>
+  </link>
+  <!-- end of link list -->
+  <!-- joint list -->
+  <joint name="${prefix}joint_1" type="revolute">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="${prefix}base_link"/>
+    <child link="${prefix}link_1"/>
+    <axis xyz="0 0 1"/>
+    <!--<limit lower="-${pi}" upper="${pi}" effort="0" velocity="2.618"/>-->
+    <limit lower="-3.0" upper="3.0" effort="0" velocity="2.618"/>
+  </joint>
+  <joint name="${prefix}joint_2" type="revolute">
+    <origin xyz="0.15 0 0.4865" rpy="0 0 0"/>
+    <parent link="${prefix}link_1"/>
+    <child link="${prefix}link_2"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-1.0995" upper="1.9198" effort="0" velocity="2.7925"/>
+  </joint>
+  <joint name="${prefix}joint_3" type="revolute">
+    <origin xyz="0 0 0.475" rpy="0 0 0"/>
+    <parent link="${prefix}link_2"/>
+    <child link="${prefix}link_3"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-4.1015" upper="0.9599" effort="0" velocity="2.9670"/>
+  </joint>
+  <joint name="${prefix}joint_4" type="revolute">
+    <origin xyz="0.300 0 0" rpy="0 0 0"/>
+    <parent link="${prefix}link_3"/>
+    <child link="${prefix}link_4"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-3.4906" upper="3.4906" effort="0" velocity="5.5850"/>
+  </joint>
+  <joint name="${prefix}joint_5" type="revolute">
+    <origin xyz="0.300 0 0" rpy="0 0 0"/>
+    <parent link="${prefix}link_4"/>
+    <child link="${prefix}link_5"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-2.0071" upper="2.0071" effort="0" velocity="6.9813"/>
+  </joint>
+  <joint name="${prefix}joint_6" type="revolute">
+    <origin xyz="0.065 0 0" rpy="0 0 0"/>
+    <parent link="${prefix}link_5"/>
+    <child link="${prefix}link_6"/>
+    <axis xyz="1 0 0"/>
+    <limit lower="-6.9813" upper="6.9813" effort="0" velocity="7.854"/>
+  </joint>
+  <!-- end of joint list -->
+
+  <!-- ROS-Industrial 'base' frame: base_link to ABB World Coordinates transform -->
+  <link name="${prefix}base" />
+  <joint name="${prefix}base_link-base" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="${prefix}base_link"/>
+    <child link="${prefix}base"/>
+  </joint>
+
+  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+  <link name="${prefix}flange"/>
+  <joint type="fixed" name="${prefix}joint_6-flange">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="${prefix}link_6"/>
+    <child link="${prefix}flange"/>
+  </joint>
+
+  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+  <link name="${prefix}tool0" />
+  <joint name="${prefix}link_6-tool0" type="fixed">
+    <origin xyz="0 0 0" rpy="0 ${radians(90)} 0" />
+    <parent link="${prefix}flange" />
+    <child link="${prefix}tool0" />
+  </joint>
+  </xacro:macro>
+</robot>
+