diff --git a/kuka_kr16_support/CMakeLists.txt b/kuka_kr16_support/CMakeLists.txt
index 2e76269e4..770599dc6 100644
--- a/kuka_kr16_support/CMakeLists.txt
+++ b/kuka_kr16_support/CMakeLists.txt
@@ -1,17 +1,16 @@
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.5)
 
-project(kuka_kr16_support LANGUAGES CXX)
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
-  add_compile_options(-Wall -Wextra)
-endif()
+project(kuka_kr16_support)
 
 find_package(ament_cmake REQUIRED)
 
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/roslaunch_test.xml)
+endif()
 
-install(
-  DIRECTORY config launch meshes urdf
+install(DIRECTORY config launch meshes urdf
   DESTINATION share/${PROJECT_NAME}
-  )
+)
 
-  ament_package()
+ament_package()
\ No newline at end of file
diff --git a/kuka_kr16_support/config/rviz/view_robot_kr16_2.rviz b/kuka_kr16_support/config/rviz/view_robot_kr16_2.rviz
new file mode 100644
index 000000000..77b895b52
--- /dev/null
+++ b/kuka_kr16_support/config/rviz/view_robot_kr16_2.rviz
@@ -0,0 +1,249 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 745
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base:
+          Value: true
+        base_link:
+          Value: true
+        flange:
+          Value: true
+        link_1:
+          Value: true
+        link_2:
+          Value: true
+        link_3:
+          Value: true
+        link_4:
+          Value: true
+        link_5:
+          Value: true
+        link_6:
+          Value: true
+        tool0:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        base_link:
+          base:
+            {}
+          link_1:
+            link_2:
+              link_3:
+                link_4:
+                  link_5:
+                    link_6:
+                      flange:
+                        tool0:
+                          {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      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
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 4.382266521453857
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.4607224464416504
+        Y: 0.24497589468955994
+        Z: 0.1281789243221283
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.155398428440094
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.303589820861816
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1036
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000372fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000372000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000372fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000372000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077c0000003efc0100000002fb0000000800540069006d006501000000000000077c0000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050b0000037200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1916
+  X: 0
+  Y: 20
diff --git a/kuka_kr16_support/launch/load_kr16_2.launch b/kuka_kr16_support/launch/load_kr16_2.launch
new file mode 100644
index 000000000..7a7b82d04
--- /dev/null
+++ b/kuka_kr16_support/launch/load_kr16_2.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Load robot description to parameter server -->
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr16_support)/urdf/kr16_2.xacro'"/>
+</launch>
diff --git a/kuka_kr16_support/launch/test_kr16_2.launch b/kuka_kr16_support/launch/test_kr16_2.launch
new file mode 100644
index 000000000..44260a938
--- /dev/null
+++ b/kuka_kr16_support/launch/test_kr16_2.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr16_support)/launch/load_kr16_2.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/kuka_kr16_support/launch/view_kr16_2.launch.py b/kuka_kr16_support/launch/view_kr16_2.launch.py
new file mode 100644
index 000000000..7ef0cb4eb
--- /dev/null
+++ b/kuka_kr16_support/launch/view_kr16_2.launch.py
@@ -0,0 +1,71 @@
+# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.actions import RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    # Get URDF via xacro
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [FindPackageShare("kuka_kr16_support"), "urdf",
+                 "kr16_2.xacro"]
+            ),
+        ]
+    )
+
+    robot_description = {"robot_description": robot_description_content}
+
+    joint_state_publisher_node = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+    )
+
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare("kuka_kr16_support"), "config/rviz",
+         "view_robot_kr16_2.rviz"]
+    )
+
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_config_file]
+    )
+
+    nodes = [
+        joint_state_publisher_node,
+        robot_state_publisher_node,
+        rviz_node
+    ]
+
+    return LaunchDescription(nodes)
diff --git a/kuka_kr16_support/package.xml b/kuka_kr16_support/package.xml
index 7cae6bd27..fcf9a147c 100644
--- a/kuka_kr16_support/package.xml
+++ b/kuka_kr16_support/package.xml
@@ -1,5 +1,4 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>kuka_kr16_support</name>
   <version>0.1.0</version>
@@ -40,14 +39,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <test_depend>roslaunch</test_depend>
-
-  <exec_depend>industrial_robot_client</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>kuka_resources</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>rviz</exec_depend>
-  <exec_depend>xacro</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/kuka_kr16_support/urdf/kr16_2.xacro b/kuka_kr16_support/urdf/kr16_2.xacro
index 8a7d6f66a..893a73044 100644
--- a/kuka_kr16_support/urdf/kr16_2.xacro
+++ b/kuka_kr16_support/urdf/kr16_2.xacro
@@ -1,13 +1,6 @@
 <?xml version="1.0"?>
 <!--Generates a urdf from the macro in kr16_2_macro.xacro -->
 <robot name="kuka_kr16_2" xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:arg name="prefix" default="" />
-  <xacro:arg name="use_mock_hardware" default="false" />
-
   <xacro:include filename="$(find kuka_kr16_support)/urdf/kr16_2_macro.xacro" />
-  <xacro:include filename="$(find kuka_resources)/urdf/common_macro.ros2_control.xacro"/>
-
-  <xacro:kuka_common_ros2_control_macro name="kr16_2_mock" prefix="$(arg prefix)" use_mock_hardware="$(arg use_mock_hardware)"/>
-
   <xacro:kuka_kr16_2 prefix=""/>
 </robot>