diff --git a/lbr_bringup/lbr_bringup/moveit.py b/lbr_bringup/lbr_bringup/moveit.py
index f2a69fbf..5cc120ae 100644
--- a/lbr_bringup/lbr_bringup/moveit.py
+++ b/lbr_bringup/lbr_bringup/moveit.py
@@ -67,7 +67,10 @@ def moveit_configs_builder(
                     f"urdf/{robot_name}/{robot_name}.xacro",
                 ),
             )
-            .planning_pipelines(default_planning_pipeline="ompl")
+            .planning_pipelines(
+                default_planning_pipeline="ompl",
+                pipelines=["chomp", "pilz_industrial_motion_planner", "stomp", "ompl"],
+            )
         )
 
     @staticmethod
diff --git a/lbr_bringup/package.xml b/lbr_bringup/package.xml
index d6905e26..4cf72c0e 100644
--- a/lbr_bringup/package.xml
+++ b/lbr_bringup/package.xml
@@ -17,6 +17,9 @@
   <exec_depend>lbr_description</exec_depend>
   <exec_depend>lbr_fri_ros2</exec_depend>
   <exec_depend>lbr_ros2_control</exec_depend>
+  <exec_depend>moveit_planners_chomp</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_planners_stomp</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_servo</exec_depend>
   <exec_depend>rclpy</exec_depend>
diff --git a/lbr_moveit_config/iiwa14_moveit_config/.setup_assistant b/lbr_moveit_config/iiwa14_moveit_config/.setup_assistant
index 55161cd3..ab4fdddb 100644
--- a/lbr_moveit_config/iiwa14_moveit_config/.setup_assistant
+++ b/lbr_moveit_config/iiwa14_moveit_config/.setup_assistant
@@ -7,7 +7,7 @@ moveit_setup_assistant_config:
   package_settings:
     author_name: mhubii
     author_email: m.huber_1994@hotmail.de
-    generated_timestamp: 1690640386
+    generated_timestamp: 1729340960
   control_xacro:
     command:
       - position
diff --git a/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml
index 57d65c17..15869edc 100644
--- a/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml
+++ b/lbr_moveit_config/iiwa14_moveit_config/config/moveit_controllers.yaml
@@ -8,8 +8,6 @@ moveit_simple_controller_manager:
 
   joint_trajectory_controller:
     type: FollowJointTrajectory
-    action_ns: follow_joint_trajectory
-    default: true
     joints:
       - A1
       - A2
@@ -17,4 +15,6 @@ moveit_simple_controller_manager:
       - A4
       - A5
       - A6
-      - A7
\ No newline at end of file
+      - A7
+    action_ns: follow_joint_trajectory
+    default: true
\ No newline at end of file
diff --git a/lbr_moveit_config/iiwa14_moveit_config/package.xml b/lbr_moveit_config/iiwa14_moveit_config/package.xml
index 5f3d20c0..30458809 100644
--- a/lbr_moveit_config/iiwa14_moveit_config/package.xml
+++ b/lbr_moveit_config/iiwa14_moveit_config/package.xml
@@ -8,11 +8,11 @@
   </description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
 
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <url type="website">http://moveit.ros.org/</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
-  <url type="repository">https://github.com/ros-planning/moveit2</url>
+  <url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
+  <url type="repository">https://github.com/moveit/moveit2</url>
 
   <author email="m.huber_1994@hotmail.de">mhubii</author>
 
diff --git a/lbr_moveit_config/iiwa7_moveit_config/.setup_assistant b/lbr_moveit_config/iiwa7_moveit_config/.setup_assistant
index 1b331588..70b59fa7 100644
--- a/lbr_moveit_config/iiwa7_moveit_config/.setup_assistant
+++ b/lbr_moveit_config/iiwa7_moveit_config/.setup_assistant
@@ -7,7 +7,7 @@ moveit_setup_assistant_config:
   package_settings:
     author_name: mhubii
     author_email: m.huber_1994@hotmail.de
-    generated_timestamp: 1690638243
+    generated_timestamp: 1729340852
   control_xacro:
     command:
       - position
diff --git a/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml
index 57d65c17..15869edc 100644
--- a/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml
+++ b/lbr_moveit_config/iiwa7_moveit_config/config/moveit_controllers.yaml
@@ -8,8 +8,6 @@ moveit_simple_controller_manager:
 
   joint_trajectory_controller:
     type: FollowJointTrajectory
-    action_ns: follow_joint_trajectory
-    default: true
     joints:
       - A1
       - A2
@@ -17,4 +15,6 @@ moveit_simple_controller_manager:
       - A4
       - A5
       - A6
-      - A7
\ No newline at end of file
+      - A7
+    action_ns: follow_joint_trajectory
+    default: true
\ No newline at end of file
diff --git a/lbr_moveit_config/iiwa7_moveit_config/package.xml b/lbr_moveit_config/iiwa7_moveit_config/package.xml
index e42c1af2..c009235d 100644
--- a/lbr_moveit_config/iiwa7_moveit_config/package.xml
+++ b/lbr_moveit_config/iiwa7_moveit_config/package.xml
@@ -8,11 +8,11 @@
   </description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
 
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <url type="website">http://moveit.ros.org/</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
-  <url type="repository">https://github.com/ros-planning/moveit2</url>
+  <url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
+  <url type="repository">https://github.com/moveit/moveit2</url>
 
   <author email="m.huber_1994@hotmail.de">mhubii</author>
 
diff --git a/lbr_moveit_config/med14_moveit_config/.setup_assistant b/lbr_moveit_config/med14_moveit_config/.setup_assistant
index a9a44cf4..1d225ccc 100644
--- a/lbr_moveit_config/med14_moveit_config/.setup_assistant
+++ b/lbr_moveit_config/med14_moveit_config/.setup_assistant
@@ -7,7 +7,7 @@ moveit_setup_assistant_config:
   package_settings:
     author_name: mhubii
     author_email: m.huber_1994@hotmail.de
-    generated_timestamp: 1690640936
+    generated_timestamp: 1729341043
   control_xacro:
     command:
       - position
diff --git a/lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml
index 57d65c17..15869edc 100644
--- a/lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml
+++ b/lbr_moveit_config/med14_moveit_config/config/moveit_controllers.yaml
@@ -8,8 +8,6 @@ moveit_simple_controller_manager:
 
   joint_trajectory_controller:
     type: FollowJointTrajectory
-    action_ns: follow_joint_trajectory
-    default: true
     joints:
       - A1
       - A2
@@ -17,4 +15,6 @@ moveit_simple_controller_manager:
       - A4
       - A5
       - A6
-      - A7
\ No newline at end of file
+      - A7
+    action_ns: follow_joint_trajectory
+    default: true
\ No newline at end of file
diff --git a/lbr_moveit_config/med14_moveit_config/package.xml b/lbr_moveit_config/med14_moveit_config/package.xml
index a6a6a8ce..ce1e9a0e 100644
--- a/lbr_moveit_config/med14_moveit_config/package.xml
+++ b/lbr_moveit_config/med14_moveit_config/package.xml
@@ -8,11 +8,11 @@
   </description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
 
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <url type="website">http://moveit.ros.org/</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
-  <url type="repository">https://github.com/ros-planning/moveit2</url>
+  <url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
+  <url type="repository">https://github.com/moveit/moveit2</url>
 
   <author email="m.huber_1994@hotmail.de">mhubii</author>
 
diff --git a/lbr_moveit_config/med7_moveit_config/.setup_assistant b/lbr_moveit_config/med7_moveit_config/.setup_assistant
index d788c22c..48ab6236 100644
--- a/lbr_moveit_config/med7_moveit_config/.setup_assistant
+++ b/lbr_moveit_config/med7_moveit_config/.setup_assistant
@@ -7,7 +7,7 @@ moveit_setup_assistant_config:
   package_settings:
     author_name: mhubii
     author_email: m.huber_1994@hotmail.de
-    generated_timestamp: 1690640668
+    generated_timestamp: 1729340711
   control_xacro:
     command:
       - position
diff --git a/lbr_moveit_config/med7_moveit_config/config/moveit_controllers.yaml b/lbr_moveit_config/med7_moveit_config/config/moveit_controllers.yaml
index 57d65c17..15869edc 100644
--- a/lbr_moveit_config/med7_moveit_config/config/moveit_controllers.yaml
+++ b/lbr_moveit_config/med7_moveit_config/config/moveit_controllers.yaml
@@ -8,8 +8,6 @@ moveit_simple_controller_manager:
 
   joint_trajectory_controller:
     type: FollowJointTrajectory
-    action_ns: follow_joint_trajectory
-    default: true
     joints:
       - A1
       - A2
@@ -17,4 +15,6 @@ moveit_simple_controller_manager:
       - A4
       - A5
       - A6
-      - A7
\ No newline at end of file
+      - A7
+    action_ns: follow_joint_trajectory
+    default: true
\ No newline at end of file
diff --git a/lbr_moveit_config/med7_moveit_config/package.xml b/lbr_moveit_config/med7_moveit_config/package.xml
index dd007600..a391df42 100644
--- a/lbr_moveit_config/med7_moveit_config/package.xml
+++ b/lbr_moveit_config/med7_moveit_config/package.xml
@@ -8,11 +8,11 @@
   </description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
 
-  <license>BSD</license>
+  <license>BSD-3-Clause</license>
 
   <url type="website">http://moveit.ros.org/</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
-  <url type="repository">https://github.com/ros-planning/moveit2</url>
+  <url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
+  <url type="repository">https://github.com/moveit/moveit2</url>
 
   <author email="m.huber_1994@hotmail.de">mhubii</author>