diff --git a/dual_xarm6_moveit_config/CMakeLists.txt b/dual_xarm6_moveit_config/CMakeLists.txt
index bbe26718..3f4f41d9 100644
--- a/dual_xarm6_moveit_config/CMakeLists.txt
+++ b/dual_xarm6_moveit_config/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(dual_xarm6_moveit_config)
 
 find_package(catkin REQUIRED)
diff --git a/xarm_api/CMakeLists.txt b/xarm_api/CMakeLists.txt
index eabd436e..e97ca20e 100755
--- a/xarm_api/CMakeLists.txt
+++ b/xarm_api/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(xarm_api)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -34,7 +34,6 @@ catkin_package(
 ###########
 include_directories(
   include
-  ${xarm_cxx_sdk_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -43,7 +42,7 @@ add_library(xarm_ros_client
 )
 
 # Make sure xarm_msgs header files are generated before building xarm_ros_client
-add_dependencies(xarm_ros_client xarm_msgs_generate_messages_cpp xarm_cxx_sdk)
+# add_dependencies(xarm_ros_client xarm_msgs_generate_messages_cpp xarm_cxx_sdk)
 
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
@@ -53,7 +52,7 @@ add_executable(xarm_driver_node
   src/xarm_driver.cpp
   # src/xarm_driver_callback.cpp
 )
-add_dependencies(xarm_driver_node xarm_msgs_generate_messages_cpp xarm_cxx_sdk)
+# add_dependencies(xarm_driver_node xarm_msgs_generate_messages_cpp xarm_cxx_sdk)
 
 add_executable(example1_report_norm_node 
   test/example1_report_norm.cc 
@@ -97,22 +96,18 @@ add_executable(test_xarm_states
 ## Specify libraries to link a library or executable target against
 
 target_link_libraries(xarm_ros_client 
-  xarm_cxx_sdk
   ${catkin_LIBRARIES}
 )
 
 target_link_libraries(example1_report_norm_node 
-  xarm_cxx_sdk
   ${catkin_LIBRARIES}
 )
 
 target_link_libraries(xarm_driver_node 
-  xarm_cxx_sdk
   ${catkin_LIBRARIES}
 )
 
 target_link_libraries(move_test 
-  xarm_cxx_sdk
   ${catkin_LIBRARIES}
 )
 
@@ -122,7 +117,6 @@ target_link_libraries(test_tool_modbus
 )
 
 target_link_libraries(servo_cart_test 
-  xarm_cxx_sdk
   ${catkin_LIBRARIES}
 )
 
@@ -137,7 +131,6 @@ target_link_libraries(test_xarm_velo_move
 )
 
 target_link_libraries(test_xarm_states 
-  xarm_cxx_sdk
   ${catkin_LIBRARIES}
 )
 
@@ -149,16 +142,16 @@ target_link_libraries(test_xarm_states
 # )
 
 # ## Mark executables and/or libraries for installation
-# install(TARGETS xarm_api
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-#  )
+install(TARGETS xarm_ros_client xarm_driver_node example1_report_norm_node move_test test_tool_modbus servo_cart_test test_xarm_ros_client test_xarm_velo_move test_xarm_states
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 # ## Mark cpp header files for installation
-# install(DIRECTORY include/
-#   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+install(DIRECTORY include/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/..
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
 
diff --git a/xarm_bringup/CMakeLists.txt b/xarm_bringup/CMakeLists.txt
index 0bd197ea..d2d16eee 100755
--- a/xarm_bringup/CMakeLists.txt
+++ b/xarm_bringup/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(xarm_bringup)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -183,6 +183,8 @@ include_directories(
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 #############
 ## Testing ##
 #############
diff --git a/xarm_bringup/launch/xarm_driver_common.launch b/xarm_bringup/launch/xarm_driver_common.launch
index d3b0fbab..6420dde9 100755
--- a/xarm_bringup/launch/xarm_driver_common.launch
+++ b/xarm_bringup/launch/xarm_driver_common.launch
@@ -14,6 +14,6 @@
   </include>
 
   <!-- run xarm_traj_controller from HW interface, enable direct command to real robot arm -->  
-  <node if="$(arg use_moveit)" name="xarm_traj_controller" pkg="xarm_controller" type="xarm_traj_controller" args="ip=$(arg robot_ip)" ns="$(arg namespace)" respawn="false" output="screen" />
+  <node if="$(arg use_moveit)" name="xarm_traj_controller" pkg="xarm_controller" type="xarm_traj_controller" args="ip=$(arg robot_ip)" ns="$(arg namespace)" respawn="false" output="screen" required="true"/>
 
 </launch>
diff --git a/xarm_bringup/launch/xarm_robot.launch b/xarm_bringup/launch/xarm_robot.launch
index c1b89dfd..67ff9b82 100755
--- a/xarm_bringup/launch/xarm_robot.launch
+++ b/xarm_bringup/launch/xarm_robot.launch
@@ -7,7 +7,8 @@
 	<param name = "$(arg hw_ns)/xarm_robot_ip" type="str" value = "$(arg robot_ip)"/>
 	<param name = "$(arg hw_ns)/xarm_report_type" type="str" value = "$(arg report_type)"/>
 
-    <node name="robot_state_publisher" if="$(arg publish_tf)" pkg="robot_state_publisher" type="state_publisher" />
+	<node name="robot_state_publisher" if="$(arg publish_tf)" pkg="robot_state_publisher" type="state_publisher" required="true"/>
 
-	<node name="xarm_driver" pkg="xarm_api" ns="$(arg hw_ns)" type="xarm_driver_node" output="screen" />
+	<!-- <node name="xarm_driver" pkg="xarm_api" ns="$(arg hw_ns)" type="xarm_driver_node" output="screen" /> -->
+	<node name="xarm_driver" pkg="xarm_api" ns="$(arg hw_ns)" type="xarm_driver_node" output="screen" required="true" />
 </launch>
diff --git a/xarm_controller/CMakeLists.txt b/xarm_controller/CMakeLists.txt
index f4a41397..855cf934 100755
--- a/xarm_controller/CMakeLists.txt
+++ b/xarm_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(xarm_controller)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -195,15 +195,21 @@ install(TARGETS xarm_hw xarm_combined_hw
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
- )
+)
 
 ## Mark cpp header files for installation
 install(DIRECTORY include/
-  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/..
   FILES_MATCHING PATTERN "*.h"
   PATTERN ".svn" EXCLUDE
  )
 
+install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES xarm_hw_plugin.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 # install(FILES
 #   # myfile1
@@ -232,3 +238,9 @@ target_link_libraries(xarm_traj_controller xarm_hw ${catkin_LIBRARIES})
 
 add_executable(xarm_combined_traj_controller src/xarm_combined_control_node.cpp)
 target_link_libraries(xarm_combined_traj_controller xarm_combined_hw ${catkin_LIBRARIES})
+
+install(TARGETS sample_motion xarm_traj_controller xarm_combined_traj_controller
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
\ No newline at end of file
diff --git a/xarm_controller/config/xarm5_traj_controller.yaml b/xarm_controller/config/xarm5_traj_controller.yaml
index baab8756..72706d19 100644
--- a/xarm_controller/config/xarm5_traj_controller.yaml
+++ b/xarm_controller/config/xarm5_traj_controller.yaml
@@ -14,11 +14,11 @@ xarm:
     constraints:
         goal_time: 0.5
         stopped_velocity_tolerance: 0.05
-        joint1: {trajectory: 1, goal: 0.01}
-        joint2: {trajectory: 1, goal: 0.01}
-        joint3: {trajectory: 1, goal: 0.01}
-        joint4: {trajectory: 1, goal: 0.01}
-        joint5: {trajectory: 1, goal: 0.01}
+        joint1: {trajectory: 0.1, goal: 0.01}
+        joint2: {trajectory: 0.1, goal: 0.01}
+        joint3: {trajectory: 0.1, goal: 0.01}
+        joint4: {trajectory: 0.1, goal: 0.01}
+        joint5: {trajectory: 0.1, goal: 0.01}
     stop_trajectory_duration: 0.2
     state_publish_rate:  25
     action_monitor_rate: 10
diff --git a/xarm_description/CMakeLists.txt b/xarm_description/CMakeLists.txt
index b84f38c2..3a6d1e93 100755
--- a/xarm_description/CMakeLists.txt
+++ b/xarm_description/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(xarm_description)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -180,7 +180,9 @@ include_directories(
 #   # myfile2
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
-
+install(DIRECTORY launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 #############
 ## Testing ##
 #############
diff --git a/xarm_description/urdf/xarm5_robot_macro.xacro b/xarm_description/urdf/xarm5_robot_macro.xacro
index 2e847db2..2c63f721 100755
--- a/xarm_description/urdf/xarm5_robot_macro.xacro
+++ b/xarm_description/urdf/xarm5_robot_macro.xacro
@@ -27,7 +27,7 @@
 
     <xacro:if value="${limited}">
       <xacro:xarm5_urdf prefix="${prefix}"
-        joint1_lower_limit="${-pi*0.99}" joint1_upper_limit="${pi*0.99}"
+        joint1_lower_limit="${-pi*1.25*0.99}" joint1_upper_limit="${pi*0.75*0.99}"
         joint2_lower_limit="${-2.059}" joint2_upper_limit="${2.0944}"
         joint3_lower_limit="${-pi*0.99}" joint3_upper_limit="${0.19198}"
         joint4_lower_limit="${-1.69297}" joint4_upper_limit="${pi*0.99}"
diff --git a/xarm_device/CMakeLists.txt b/xarm_device/CMakeLists.txt
index bd725048..729a3f3a 100644
--- a/xarm_device/CMakeLists.txt
+++ b/xarm_device/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(xarm_device)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
diff --git a/xarm_gazebo/CMakeLists.txt b/xarm_gazebo/CMakeLists.txt
index 54fafdf8..7ea160dd 100755
--- a/xarm_gazebo/CMakeLists.txt
+++ b/xarm_gazebo/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(xarm_gazebo)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -181,6 +181,10 @@ include_directories(
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+install(DIRECTORY launch worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 #############
 ## Testing ##
 #############
diff --git a/xarm_gripper/CMakeLists.txt b/xarm_gripper/CMakeLists.txt
index 44fb6668..b9d54600 100755
--- a/xarm_gripper/CMakeLists.txt
+++ b/xarm_gripper/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 
 project(xarm_gripper)
 
diff --git a/xarm_msgs/CMakeLists.txt b/xarm_msgs/CMakeLists.txt
index 0f2bd77f..b29e57ed 100755
--- a/xarm_msgs/CMakeLists.txt
+++ b/xarm_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(xarm_msgs)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
diff --git a/xarm_planner/CMakeLists.txt b/xarm_planner/CMakeLists.txt
index 4ea98438..74e92004 100755
--- a/xarm_planner/CMakeLists.txt
+++ b/xarm_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(xarm_planner)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -222,4 +222,12 @@ target_link_libraries(xarm_simple_planner_test ${catkin_LIBRARIES})
 
 add_executable(xarm_gripper_planner src/xarm_gripper_planner.cpp)
 add_dependencies(xarm_gripper_planner ${${PROJECT_NAME}_EXPORTED_TARGETS})
-target_link_libraries(xarm_gripper_planner ${catkin_LIBRARIES})
\ No newline at end of file
+target_link_libraries(xarm_gripper_planner ${catkin_LIBRARIES})
+
+install(TARGETS xarm_simple_planner xarm_gripper_planner xarm_simple_planner_test
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
\ No newline at end of file
diff --git a/xarm_sdk/CMakeLists.txt b/xarm_sdk/CMakeLists.txt
index 521ee841..5518b033 100644
--- a/xarm_sdk/CMakeLists.txt
+++ b/xarm_sdk/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(xarm_sdk)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -78,7 +78,7 @@ add_library(xarm_cxx_sdk
   ${CXX_SDK_SRC_SERIAL}/impl/list_ports/list_ports_win.cc
 )
 
-add_dependencies(xarm_cxx_sdk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+#dd_dependencies(xarm_cxx_sdk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 if(MSVC)
   target_link_libraries(xarm_cxx_sdk 
@@ -86,3 +86,17 @@ if(MSVC)
     ${catkin_LIBRARIES}
   )
 endif()
+
+install(TARGETS xarm_cxx_sdk
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# this is a bit non-standard, but doing otherwise would require changes to the external cxx sdk - TODO: later
+install(DIRECTORY ${CXX_SDK_INC}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/..
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+