diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index f286706e..8b26cb8f 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -11,6 +11,8 @@ Jazzy v2.x (TBD)
 
   * Replace ``ament_target_dependencies`` with ``target_link_libraries``.
   * ``lbr_moveit``: Add missing ``pynput`` dependency and fix dataclasses.
+  * ``lbr_dual_arm``: Adds dual-arm integration demo package.
+  * ``lbr_dual_arm_moveit_config``: Adds dual-arm moveit configuration package.
 * ``lbr_description``:
 
   * Removes ``lbr_description`` from this folder in favor of external descriptions:
@@ -38,6 +40,7 @@ Jazzy v2.x (TBD)
 * Related pull requests:
 
   * MoveIt fix: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/379
+  * Dual-arm: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/393 (kenichi-maeda)
   * Namespace argument: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/344, https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/353
   * Effort limits: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/357
   * URDF de-coupling: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/359, https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/389
diff --git a/lbr_demos/doc/lbr_demos.rst b/lbr_demos/doc/lbr_demos.rst
index 8a8b431f..59ca6b57 100644
--- a/lbr_demos/doc/lbr_demos.rst
+++ b/lbr_demos/doc/lbr_demos.rst
@@ -32,6 +32,10 @@ MoveIt
     lbr_moveit <../lbr_moveit/doc/lbr_moveit.rst>
     lbr_moveit_cpp <../lbr_moveit_cpp/doc/lbr_moveit_cpp.rst>
 
+
 Integration
 -----------
-TODO system integration demos
+.. toctree::
+    :titlesonly:
+
+    lbr_dual_arm <../lbr_dual_arm/lbr_dual_arm/doc/lbr_dual_arm.rst>
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/CMakeLists.txt b/lbr_demos/lbr_dual_arm/lbr_dual_arm/CMakeLists.txt
new file mode 100644
index 00000000..41ae0a97
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.22)
+project(lbr_dual_arm)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY config launch urdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/dual_arm_controllers.yaml b/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/dual_arm_controllers.yaml
new file mode 100644
index 00000000..e1a949e9
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/dual_arm_controllers.yaml
@@ -0,0 +1,41 @@
+# Use of /** so that the configurations hold for controller
+# managers regardless of their namespace. Usefull in multi-robot setups.
+/**/controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    # ROS 2 control broadcasters
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    # ROS 2 control controllers
+    joint_trajectory_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+# ROS 2 control controllers
+/**/joint_trajectory_controller:
+  ros__parameters:
+    joints:
+      # robot one
+      - lbr_one_A1
+      - lbr_one_A2
+      - lbr_one_A3
+      - lbr_one_A4
+      - lbr_one_A5
+      - lbr_one_A6
+      - lbr_one_A7
+      # robot two
+      - lbr_two_A1
+      - lbr_two_A2
+      - lbr_two_A3
+      - lbr_two_A4
+      - lbr_two_A5
+      - lbr_two_A6
+      - lbr_two_A7
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+    state_publish_rate: 50.0
+    action_monitor_rate: 20.0
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/initial_joint_positions.yaml b/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/initial_joint_positions.yaml
new file mode 100644
index 00000000..a4846b46
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/initial_joint_positions.yaml
@@ -0,0 +1,8 @@
+# initial joint positions [degrees]
+A1: 0.0
+A2: 25.0
+A3: 0.0
+A4: 90.0
+A5: 0.0
+A6: 0.0
+A7: 0.0
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/joint_limits.yaml b/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/joint_limits.yaml
new file mode 100644
index 00000000..2f942bc5
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/joint_limits.yaml
@@ -0,0 +1,49 @@
+A1:
+  lower: -169 # each lower / upper limit is 1 degree stricter to avoid hard limits
+  upper: 169
+  velocity: 98
+  effort: 200
+  safety_position_margin: 5 # inside the URDF, we compute k_position=velocity/safety_position_margin
+  k_velocity: 10
+A2:
+  lower: -119
+  upper: 119
+  velocity: 98
+  effort: 200
+  safety_position_margin: 5
+  k_velocity: 10
+A3:
+  lower: -169
+  upper: 169
+  velocity: 100
+  effort: 200
+  safety_position_margin: 5
+  k_velocity: 10
+A4:
+  lower: -119
+  upper: 119
+  velocity: 130
+  effort: 200
+  safety_position_margin: 5
+  k_velocity: 10
+A5:
+  lower: -169
+  upper: 169
+  velocity: 140
+  effort: 200
+  safety_position_margin: 5
+  k_velocity: 10
+A6:
+  lower: -119
+  upper: 119
+  velocity: 180
+  effort: 200
+  safety_position_margin: 5
+  k_velocity: 10
+A7:
+  lower: -174
+  upper: 174
+  velocity: 180
+  effort: 200
+  safety_position_margin: 5
+  k_velocity: 10
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_one_system_config.yaml b/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_one_system_config.yaml
new file mode 100644
index 00000000..522829eb
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_one_system_config.yaml
@@ -0,0 +1,32 @@
+# these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
+fri_client_sdk: # the fri_client_sdk version is used to create the correct state interfaces lbr_system_interface.xacro
+  major_version: 1
+  minor_version: 15
+client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
+port_id: 30200 # port id for the UDP communication. Useful in multi-robot setups
+remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection
+rt_prio: 80 # real-time priority for the control loop
+# exponential moving average time constant for joint position commands [s]:
+#   set tau > robot sample time for more smoothing on the commands
+#   set tau << robot sample time for no smoothing on the commands
+joint_position_tau: 0.04
+command_guard:
+  # if requested position / velocities beyond limits, CommandGuard will be triggered and the command will be overriden with the current state instead
+  # available: [default, safe_stop]
+  variant: default
+state_guard:
+  # enable / disable the load data safety check in compliant control modes [CARTESIAN_IMPEDANCE, IMPEDANCE]
+  # in POSITION control mode, safety check is not performed
+  external_torque_safety_check: true
+  external_torque_limit: 2.0 # maximum allowed external joint torque on activation of compliant control modes [Nm]
+# exponential moving average time constant for external joint torque measurements [s]:
+#   set tau > robot sample time for more smoothing on the external torque measurements
+#   set tau << robot sample time for no smoothing on the external torque measurements
+external_torque_tau: 0.01
+# exponential moving average time constant for joint torque measurements [s]:
+#   set tau > robot sample time for more smoothing on the raw torque measurements
+#   set tau << robot sample time for no smoothing on the raw torque measurements
+measured_torque_tau: 0.01
+# for position control, LBR works best in open_loop control mode
+# note that open_loop is overridden to false if LBR is in impedance or Cartesian impedance control mode
+open_loop: true
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_two_system_config.yaml b/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_two_system_config.yaml
new file mode 100644
index 00000000..4dc5200e
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_two_system_config.yaml
@@ -0,0 +1,32 @@
+# these parameters are read by the lbr_system_interface.xacro and configure the lbr_ros2_control::SystemInterface
+fri_client_sdk: # the fri_client_sdk version is used to create the correct state interfaces lbr_system_interface.xacro
+  major_version: 1
+  minor_version: 15
+client_command_mode: position # the command mode specifies the user-sent commands. Available: [position, torque, wrench]
+port_id: 30201 # port id for the UDP communication. Useful in multi-robot setups
+remote_host: INADDR_ANY # the expected robot IP address. INADDR_ANY will accept any incoming connection
+rt_prio: 80 # real-time priority for the control loop
+# exponential moving average time constant for joint position commands [s]:
+#   set tau > robot sample time for more smoothing on the commands
+#   set tau << robot sample time for no smoothing on the commands
+joint_position_tau: 0.04
+command_guard:
+  # if requested position / velocities beyond limits, CommandGuard will be triggered and the command will be overriden with the current state instead
+  # available: [default, safe_stop]
+  variant: default
+state_guard:
+  # enable / disable the load data safety check in compliant control modes [CARTESIAN_IMPEDANCE, IMPEDANCE]
+  # in POSITION control mode, safety check is not performed
+  external_torque_safety_check: true
+  external_torque_limit: 2.0 # maximum allowed external joint torque on activation of compliant control modes [Nm]
+# exponential moving average time constant for external joint torque measurements [s]:
+#   set tau > robot sample time for more smoothing on the external torque measurements
+#   set tau << robot sample time for no smoothing on the external torque measurements
+external_torque_tau: 0.01
+# exponential moving average time constant for joint torque measurements [s]:
+#   set tau > robot sample time for more smoothing on the raw torque measurements
+#   set tau << robot sample time for no smoothing on the raw torque measurements
+measured_torque_tau: 0.01
+# for position control, LBR works best in open_loop control mode
+# note that open_loop is overridden to false if LBR is in impedance or Cartesian impedance control mode
+open_loop: true
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/doc/lbr_dual_arm.rst b/lbr_demos/lbr_dual_arm/lbr_dual_arm/doc/lbr_dual_arm.rst
new file mode 100644
index 00000000..b072dc31
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/doc/lbr_dual_arm.rst
@@ -0,0 +1,52 @@
+lbr_dual_arm
+============
+Dual-arm ``iiwa7`` integration demo, including: launch files, description file, and ``ros2_control`` configurations.
+
+.. contents:: Table of Contents
+   :depth: 2
+   :local:
+   :backlinks: none
+
+Quick Start
+-----------
+Open a terminal, then run:
+
+.. code-block:: bash
+
+    ros2 launch lbr_dual_arm mock.launch.py \
+        moveit:=true
+
+.. note::
+    For hardware, run ``hardware.launch.py`` (follow :doc:`Hardware Setup <../../../../lbr_fri_ros2_stack/doc/hardware_setup>` first).
+
+.. note::
+    To configure position / orientation, launch with ``lbr_one_x:=<value>`` etc. (list all arguments via ``ros2 launch lbr_dual_arm mock.launch.py -s``)
+
+Description File
+----------------
+Custom description files can be generated via ``xacro``, see  `lbr_dual_arm.xacro <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/jazzy/lbr_demos/lbr_dual_arm/lbr_dual_arm/urdf/lbr_dual_arm.xacro>`_:octicon:`link-external`.
+
+#. Include macros:
+
+    .. code-block:: xml
+
+        <xacro:include filename="$(find lbr_iiwa7_r800_description)/urdf/lbr_iiwa7_r800_macro.xacro" />
+        <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
+
+#. Instantiate macros (``ros2_control`` plugin and robot description)
+
+    .. code-block:: xml
+
+        <xacro:lbr_system_interface ... />
+        <xacro:lbr_iiwa7_r800 ... />
+
+Done! The controller manager will load appropriate plugins when reading the robot description from the robot state publisher.
+
+Customize Hardware Network Settings
+-----------------------------------
+#. Open `lbr_one_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/jazzy/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_one_system_config.yaml>`_:octicon:`link-external` and `lbr_two_system_config.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/jazzy/lbr_demos/lbr_dual_arm/lbr_dual_arm/config/lbr_two_system_config.yaml>`_:octicon:`link-external`.
+#. Set unique ``port_id`` values for each arm.
+#. Set ``remote_host`` per arm according to your network setup.
+
+.. note::
+    ``port_id`` must be different for both arms.
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/launch/hardware.launch.py b/lbr_demos/lbr_dual_arm/lbr_dual_arm/launch/hardware.launch.py
new file mode 100644
index 00000000..91883a91
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/launch/hardware.launch.py
@@ -0,0 +1,193 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathSubstitution,
+)
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description() -> LaunchDescription:
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                name="moveit",
+                default_value="false",
+                description="Launch with MoveIt and RViz.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_x",
+                default_value="0.0",
+                description="X position of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_y",
+                default_value="0.5",
+                description="Y position of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_z",
+                default_value="0.0",
+                description="Z position of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_roll",
+                default_value="0.0",
+                description="Roll orientation of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_pitch",
+                default_value="0.0",
+                description="Pitch orientation of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_yaw",
+                default_value="0.0",
+                description="Yaw orientation of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_x",
+                default_value="0.0",
+                description="X position of the second robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_y",
+                default_value="-0.5",
+                description="Y position of the second robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_z",
+                default_value="0.0",
+                description="Z position of the second robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_roll",
+                default_value="0.0",
+                description="Roll orientation of the second robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_pitch",
+                default_value="0.0",
+                description="Pitch orientation of the second robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_yaw",
+                default_value="0.0",
+                description="Yaw orientation of the second robot.",
+            ),
+            Node(
+                package="robot_state_publisher",
+                executable="robot_state_publisher",
+                output="screen",
+                parameters=[
+                    {
+                        "robot_description": Command(
+                            [
+                                FindExecutable(name="xacro"),
+                                " ",
+                                PathSubstitution(FindPackageShare("lbr_dual_arm"))
+                                / "urdf"
+                                / "lbr_dual_arm.xacro",
+                                " mode:=hardware",
+                                " lbr_one_x:=",
+                                LaunchConfiguration("lbr_one_x"),
+                                " lbr_one_y:=",
+                                LaunchConfiguration("lbr_one_y"),
+                                " lbr_one_z:=",
+                                LaunchConfiguration("lbr_one_z"),
+                                " lbr_one_roll:=",
+                                LaunchConfiguration("lbr_one_roll"),
+                                " lbr_one_pitch:=",
+                                LaunchConfiguration("lbr_one_pitch"),
+                                " lbr_one_yaw:=",
+                                LaunchConfiguration("lbr_one_yaw"),
+                                " lbr_two_x:=",
+                                LaunchConfiguration("lbr_two_x"),
+                                " lbr_two_y:=",
+                                LaunchConfiguration("lbr_two_y"),
+                                " lbr_two_z:=",
+                                LaunchConfiguration("lbr_two_z"),
+                                " lbr_two_roll:=",
+                                LaunchConfiguration("lbr_two_roll"),
+                                " lbr_two_pitch:=",
+                                LaunchConfiguration("lbr_two_pitch"),
+                                " lbr_two_yaw:=",
+                                LaunchConfiguration("lbr_two_yaw"),
+                            ]
+                        )
+                    },
+                    {"use_sim_time": False},
+                ],
+            ),
+            Node(
+                package="controller_manager",
+                executable="ros2_control_node",
+                parameters=[
+                    {"use_sim_time": False},
+                    PathSubstitution(FindPackageShare("lbr_dual_arm"))
+                    / "config"
+                    / "dual_arm_controllers.yaml",
+                ],
+            ),
+            Node(
+                package="controller_manager",
+                executable="spawner",
+                output="screen",
+                arguments=[
+                    "--controller-manager",
+                    "controller_manager",
+                    "joint_state_broadcaster",
+                    "joint_trajectory_controller",
+                ],
+            ),
+            IncludeLaunchDescription(
+                PathSubstitution(
+                    FindPackageShare("lbr_dual_arm_moveit_config")
+                    / "launch"
+                    / "move_group.launch.py"
+                ),
+                launch_arguments=[
+                    ("lbr_one_x", LaunchConfiguration("lbr_one_x")),
+                    ("lbr_one_y", LaunchConfiguration("lbr_one_y")),
+                    ("lbr_one_z", LaunchConfiguration("lbr_one_z")),
+                    ("lbr_one_roll", LaunchConfiguration("lbr_one_roll")),
+                    ("lbr_one_pitch", LaunchConfiguration("lbr_one_pitch")),
+                    ("lbr_one_yaw", LaunchConfiguration("lbr_one_yaw")),
+                    ("lbr_two_x", LaunchConfiguration("lbr_two_x")),
+                    ("lbr_two_y", LaunchConfiguration("lbr_two_y")),
+                    ("lbr_two_z", LaunchConfiguration("lbr_two_z")),
+                    ("lbr_two_roll", LaunchConfiguration("lbr_two_roll")),
+                    ("lbr_two_pitch", LaunchConfiguration("lbr_two_pitch")),
+                    ("lbr_two_yaw", LaunchConfiguration("lbr_two_yaw")),
+                ],
+                condition=IfCondition(LaunchConfiguration("moveit")),
+            ),
+            IncludeLaunchDescription(
+                PathSubstitution(
+                    FindPackageShare("lbr_dual_arm_moveit_config")
+                    / "launch"
+                    / "moveit_rviz.launch.py"
+                ),
+                launch_arguments=[
+                    ("mode", "hardware"),
+                    ("lbr_one_x", LaunchConfiguration("lbr_one_x")),
+                    ("lbr_one_y", LaunchConfiguration("lbr_one_y")),
+                    ("lbr_one_z", LaunchConfiguration("lbr_one_z")),
+                    ("lbr_one_roll", LaunchConfiguration("lbr_one_roll")),
+                    ("lbr_one_pitch", LaunchConfiguration("lbr_one_pitch")),
+                    ("lbr_one_yaw", LaunchConfiguration("lbr_one_yaw")),
+                    ("lbr_two_x", LaunchConfiguration("lbr_two_x")),
+                    ("lbr_two_y", LaunchConfiguration("lbr_two_y")),
+                    ("lbr_two_z", LaunchConfiguration("lbr_two_z")),
+                    ("lbr_two_roll", LaunchConfiguration("lbr_two_roll")),
+                    ("lbr_two_pitch", LaunchConfiguration("lbr_two_pitch")),
+                    ("lbr_two_yaw", LaunchConfiguration("lbr_two_yaw")),
+                ],
+                condition=IfCondition(LaunchConfiguration("moveit")),
+            ),
+        ]
+    )
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/launch/mock.launch.py b/lbr_demos/lbr_dual_arm/lbr_dual_arm/launch/mock.launch.py
new file mode 100644
index 00000000..21a0373c
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/launch/mock.launch.py
@@ -0,0 +1,193 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.conditions import IfCondition
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathSubstitution,
+)
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description() -> LaunchDescription:
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                name="moveit",
+                default_value="false",
+                description="Launch with MoveIt and RViz.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_x",
+                default_value="0.0",
+                description="X position of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_y",
+                default_value="0.5",
+                description="Y position of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_z",
+                default_value="0.0",
+                description="Z position of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_roll",
+                default_value="0.0",
+                description="Roll orientation of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_pitch",
+                default_value="0.0",
+                description="Pitch orientation of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_one_yaw",
+                default_value="0.0",
+                description="Yaw orientation of the first robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_x",
+                default_value="0.0",
+                description="X position of the second robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_y",
+                default_value="-0.5",
+                description="Y position of the second robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_z",
+                default_value="0.0",
+                description="Z position of the second robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_roll",
+                default_value="0.0",
+                description="Roll orientation of the second robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_pitch",
+                default_value="0.0",
+                description="Pitch orientation of the second robot.",
+            ),
+            DeclareLaunchArgument(
+                name="lbr_two_yaw",
+                default_value="0.0",
+                description="Yaw orientation of the second robot.",
+            ),
+            Node(
+                package="robot_state_publisher",
+                executable="robot_state_publisher",
+                output="screen",
+                parameters=[
+                    {
+                        "robot_description": Command(
+                            [
+                                FindExecutable(name="xacro"),
+                                " ",
+                                PathSubstitution(FindPackageShare("lbr_dual_arm"))
+                                / "urdf"
+                                / "lbr_dual_arm.xacro",
+                                " mode:=mock",
+                                " lbr_one_x:=",
+                                LaunchConfiguration("lbr_one_x"),
+                                " lbr_one_y:=",
+                                LaunchConfiguration("lbr_one_y"),
+                                " lbr_one_z:=",
+                                LaunchConfiguration("lbr_one_z"),
+                                " lbr_one_roll:=",
+                                LaunchConfiguration("lbr_one_roll"),
+                                " lbr_one_pitch:=",
+                                LaunchConfiguration("lbr_one_pitch"),
+                                " lbr_one_yaw:=",
+                                LaunchConfiguration("lbr_one_yaw"),
+                                " lbr_two_x:=",
+                                LaunchConfiguration("lbr_two_x"),
+                                " lbr_two_y:=",
+                                LaunchConfiguration("lbr_two_y"),
+                                " lbr_two_z:=",
+                                LaunchConfiguration("lbr_two_z"),
+                                " lbr_two_roll:=",
+                                LaunchConfiguration("lbr_two_roll"),
+                                " lbr_two_pitch:=",
+                                LaunchConfiguration("lbr_two_pitch"),
+                                " lbr_two_yaw:=",
+                                LaunchConfiguration("lbr_two_yaw"),
+                            ]
+                        )
+                    },
+                    {"use_sim_time": False},
+                ],
+            ),
+            Node(
+                package="controller_manager",
+                executable="ros2_control_node",
+                parameters=[
+                    {"use_sim_time": False},
+                    PathSubstitution(FindPackageShare("lbr_dual_arm"))
+                    / "config"
+                    / "dual_arm_controllers.yaml",
+                ],
+            ),
+            Node(
+                package="controller_manager",
+                executable="spawner",
+                output="screen",
+                arguments=[
+                    "--controller-manager",
+                    "controller_manager",
+                    "joint_state_broadcaster",
+                    "joint_trajectory_controller",
+                ],
+            ),
+            IncludeLaunchDescription(
+                PathSubstitution(
+                    FindPackageShare("lbr_dual_arm_moveit_config")
+                    / "launch"
+                    / "move_group.launch.py"
+                ),
+                launch_arguments=[
+                    ("mode", "mock"),
+                    ("lbr_one_x", LaunchConfiguration("lbr_one_x")),
+                    ("lbr_one_y", LaunchConfiguration("lbr_one_y")),
+                    ("lbr_one_z", LaunchConfiguration("lbr_one_z")),
+                    ("lbr_one_roll", LaunchConfiguration("lbr_one_roll")),
+                    ("lbr_one_pitch", LaunchConfiguration("lbr_one_pitch")),
+                    ("lbr_one_yaw", LaunchConfiguration("lbr_one_yaw")),
+                    ("lbr_two_x", LaunchConfiguration("lbr_two_x")),
+                    ("lbr_two_y", LaunchConfiguration("lbr_two_y")),
+                    ("lbr_two_z", LaunchConfiguration("lbr_two_z")),
+                    ("lbr_two_roll", LaunchConfiguration("lbr_two_roll")),
+                    ("lbr_two_pitch", LaunchConfiguration("lbr_two_pitch")),
+                    ("lbr_two_yaw", LaunchConfiguration("lbr_two_yaw")),
+                ],
+                condition=IfCondition(LaunchConfiguration("moveit")),
+            ),
+            IncludeLaunchDescription(
+                PathSubstitution(
+                    FindPackageShare("lbr_dual_arm_moveit_config")
+                    / "launch"
+                    / "moveit_rviz.launch.py"
+                ),
+                launch_arguments=[
+                    ("lbr_one_x", LaunchConfiguration("lbr_one_x")),
+                    ("lbr_one_y", LaunchConfiguration("lbr_one_y")),
+                    ("lbr_one_z", LaunchConfiguration("lbr_one_z")),
+                    ("lbr_one_roll", LaunchConfiguration("lbr_one_roll")),
+                    ("lbr_one_pitch", LaunchConfiguration("lbr_one_pitch")),
+                    ("lbr_one_yaw", LaunchConfiguration("lbr_one_yaw")),
+                    ("lbr_two_x", LaunchConfiguration("lbr_two_x")),
+                    ("lbr_two_y", LaunchConfiguration("lbr_two_y")),
+                    ("lbr_two_z", LaunchConfiguration("lbr_two_z")),
+                    ("lbr_two_roll", LaunchConfiguration("lbr_two_roll")),
+                    ("lbr_two_pitch", LaunchConfiguration("lbr_two_pitch")),
+                    ("lbr_two_yaw", LaunchConfiguration("lbr_two_yaw")),
+                ],
+                condition=IfCondition(LaunchConfiguration("moveit")),
+            ),
+        ]
+    )
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/package.xml b/lbr_demos/lbr_dual_arm/lbr_dual_arm/package.xml
new file mode 100644
index 00000000..101a72f0
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/package.xml
@@ -0,0 +1,28 @@
+<?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>lbr_dual_arm</name>
+  <version>2.4.3</version>
+  <description>Dual-arm integration demo.</description>
+  <maintainer email="kenichi.maeda121@gmail.com">kenichi-maeda</maintainer>
+  <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
+  <exec_depend>lbr_ros2_control</exec_depend>
+  <exec_depend>lbr_dual_arm_moveit_config</exec_depend>
+  <exec_depend>lbr_iiwa7_r800_description</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
\ No newline at end of file
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm/urdf/lbr_dual_arm.xacro b/lbr_demos/lbr_dual_arm/lbr_dual_arm/urdf/lbr_dual_arm.xacro
new file mode 100644
index 00000000..45948e08
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm/urdf/lbr_dual_arm.xacro
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+
+<robot name="lbr_dual_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <!-- include macros -->
+    <xacro:include filename="$(find lbr_iiwa7_r800_description)/urdf/lbr_iiwa7_r800_macro.xacro" />
+    <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
+
+    <!-- arguments -->
+    <xacro:arg name="mode" default="mock" />
+    <xacro:arg name="lbr_one_x" default="0" />
+    <xacro:arg name="lbr_one_y" default="0.5" />
+    <xacro:arg name="lbr_one_z" default="0" />
+    <xacro:arg name="lbr_one_roll" default="0" />
+    <xacro:arg name="lbr_one_pitch" default="0.0" />
+    <xacro:arg name="lbr_one_yaw" default="0" />
+    <xacro:arg name="lbr_two_x" default="0" />
+    <xacro:arg name="lbr_two_y" default="-0.5" />
+    <xacro:arg name="lbr_two_z" default="0" />
+    <xacro:arg name="lbr_two_roll" default="0" />
+    <xacro:arg name="lbr_two_pitch" default="0.0" />
+    <xacro:arg name="lbr_two_yaw" default="0" />
+
+    <!-- add a base / floating link -->
+    <link name="world" />
+
+    <!-- add joints that connect the robots -->
+    <joint name="lbr_one_base_joint" type="fixed">
+        <origin xyz="$(arg lbr_one_x) $(arg lbr_one_y) $(arg lbr_one_z)"
+            rpy="$(arg lbr_one_roll) $(arg lbr_one_pitch) $(arg lbr_one_yaw)" />
+        <parent link="world" />
+        <child link="lbr_one_link_0" />
+    </joint>
+
+    <joint name="lbr_two_base_joint" type="fixed">
+        <origin xyz="$(arg lbr_two_x) $(arg lbr_two_y) $(arg lbr_two_z)"
+            rpy="$(arg lbr_two_roll) $(arg lbr_two_pitch) $(arg lbr_two_yaw)" />
+        <parent link="world" />
+        <child link="lbr_two_link_0" />
+    </joint>
+
+    <!-- add robot 1 via macros -->
+    <!-- note: for hardware, different system configurations are used to configure port IDs -->
+    <xacro:lbr_system_interface
+        robot_name="lbr_one"
+        mode="$(arg mode)"
+        system_config_path="$(find lbr_dual_arm)/config/lbr_one_system_config.yaml"
+        initial_joint_positions_path="$(find lbr_dual_arm)/config/initial_joint_positions.yaml" />
+    <xacro:lbr_iiwa7_r800
+        robot_name="lbr_one"
+        joint_limits_path="$(find lbr_dual_arm)/config/joint_limits.yaml" />
+
+    <!-- add robot 2 via macros -->
+    <xacro:lbr_system_interface
+        robot_name="lbr_two"
+        mode="$(arg mode)"
+        system_config_path="$(find lbr_dual_arm)/config/lbr_two_system_config.yaml"
+        initial_joint_positions_path="$(find lbr_dual_arm)/config/initial_joint_positions.yaml" />
+    <xacro:lbr_iiwa7_r800
+        robot_name="lbr_two"
+        joint_limits_path="$(find lbr_dual_arm)/config/joint_limits.yaml" />
+</robot>
\ No newline at end of file
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/.setup_assistant b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/.setup_assistant
new file mode 100644
index 00000000..a49dc9ed
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/.setup_assistant
@@ -0,0 +1,25 @@
+moveit_setup_assistant_config:
+  urdf:
+    package: lbr_dual_arm
+    relative_path: urdf/lbr_dual_arm.xacro
+  srdf:
+    relative_path: config/lbr_dual_arm.srdf
+  package_settings:
+    author_name: kenichi-maeda
+    author_email: kenichi.maeda121@gmail.com
+    generated_timestamp: 1774816000
+  control_xacro:
+    command:
+      - position
+    state:
+      - position
+      - velocity
+  modified_urdf:
+    xacros:
+      - control_xacro
+  control_xacro:
+    command:
+      - position
+    state:
+      - position
+      - velocity
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/CMakeLists.txt b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/CMakeLists.txt
new file mode 100644
index 00000000..077c8789
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.22)
+project(lbr_dual_arm_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/joint_limits.yaml b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/joint_limits.yaml
new file mode 100644
index 00000000..399ab3e8
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/joint_limits.yaml
@@ -0,0 +1,80 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# 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:
+  lbr_one_A1:
+    has_velocity_limits: true
+    max_velocity: 1.7104226669544429
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_one_A2:
+    has_velocity_limits: true
+    max_velocity: 1.7104226669544429
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_one_A3:
+    has_velocity_limits: true
+    max_velocity: 1.7453292519943295
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_one_A4:
+    has_velocity_limits: true
+    max_velocity: 2.2689280275926285
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_one_A5:
+    has_velocity_limits: true
+    max_velocity: 2.4434609527920612
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_one_A6:
+    has_velocity_limits: true
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_one_A7:
+    has_velocity_limits: true
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_two_A1:
+    has_velocity_limits: true
+    max_velocity: 1.7104226669544429
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_two_A2:
+    has_velocity_limits: true
+    max_velocity: 1.7104226669544429
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_two_A3:
+    has_velocity_limits: true
+    max_velocity: 1.7453292519943295
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_two_A4:
+    has_velocity_limits: true
+    max_velocity: 2.2689280275926285
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_two_A5:
+    has_velocity_limits: true
+    max_velocity: 2.4434609527920612
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_two_A6:
+    has_velocity_limits: true
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: true
+    max_acceleration: 10.0
+  lbr_two_A7:
+    has_velocity_limits: true
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: true
+    max_acceleration: 10.0
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/kinematics.yaml b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/kinematics.yaml
new file mode 100644
index 00000000..80e3a0e0
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/kinematics.yaml
@@ -0,0 +1,8 @@
+arm_one:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001
+arm_two:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/lbr_dual_arm.srdf b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/lbr_dual_arm.srdf
new file mode 100644
index 00000000..c899e87b
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/lbr_dual_arm.srdf
@@ -0,0 +1,134 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<robot name="lbr_dual_arm">
+    <group name="arm_one">
+        <chain base_link="lbr_one_link_0" tip_link="lbr_one_link_ee"/>
+    </group>
+    <group name="arm_two">
+        <chain base_link="lbr_two_link_0" tip_link="lbr_two_link_ee"/>
+    </group>
+    <group name="both_arms">
+        <group name="arm_one"/>
+        <group name="arm_two"/>
+    </group>
+
+    <group_state name="zero" group="arm_one">
+        <joint name="lbr_one_A1" value="0"/>
+        <joint name="lbr_one_A2" value="0"/>
+        <joint name="lbr_one_A3" value="0"/>
+        <joint name="lbr_one_A4" value="0"/>
+        <joint name="lbr_one_A5" value="0"/>
+        <joint name="lbr_one_A6" value="0"/>
+        <joint name="lbr_one_A7" value="0"/>
+    </group_state>
+    <group_state name="zero" group="arm_two">
+        <joint name="lbr_two_A1" value="0"/>
+        <joint name="lbr_two_A2" value="0"/>
+        <joint name="lbr_two_A3" value="0"/>
+        <joint name="lbr_two_A4" value="0"/>
+        <joint name="lbr_two_A5" value="0"/>
+        <joint name="lbr_two_A6" value="0"/>
+        <joint name="lbr_two_A7" value="0"/>
+    </group_state>
+    <group_state name="zero" group="both_arms">
+        <joint name="lbr_one_A1" value="0"/>
+        <joint name="lbr_one_A2" value="0"/>
+        <joint name="lbr_one_A3" value="0"/>
+        <joint name="lbr_one_A4" value="0"/>
+        <joint name="lbr_one_A5" value="0"/>
+        <joint name="lbr_one_A6" value="0"/>
+        <joint name="lbr_one_A7" value="0"/>
+        <joint name="lbr_two_A1" value="0"/>
+        <joint name="lbr_two_A2" value="0"/>
+        <joint name="lbr_two_A3" value="0"/>
+        <joint name="lbr_two_A4" value="0"/>
+        <joint name="lbr_two_A5" value="0"/>
+        <joint name="lbr_two_A6" value="0"/>
+        <joint name="lbr_two_A7" value="0"/>
+    </group_state>
+    <group_state name="transport" group="arm_one">
+        <joint name="lbr_one_A1" value="0"/>
+        <joint name="lbr_one_A2" value="0.4363"/>
+        <joint name="lbr_one_A3" value="0"/>
+        <joint name="lbr_one_A4" value="1.5707"/>
+        <joint name="lbr_one_A5" value="0"/>
+        <joint name="lbr_one_A6" value="0"/>
+        <joint name="lbr_one_A7" value="0"/>
+    </group_state>
+    <group_state name="transport" group="arm_two">
+        <joint name="lbr_two_A1" value="0"/>
+        <joint name="lbr_two_A2" value="0.4363"/>
+        <joint name="lbr_two_A3" value="0"/>
+        <joint name="lbr_two_A4" value="1.5707"/>
+        <joint name="lbr_two_A5" value="0"/>
+        <joint name="lbr_two_A6" value="0"/>
+        <joint name="lbr_two_A7" value="0"/>
+    </group_state>
+    <group_state name="transport" group="both_arms">
+        <joint name="lbr_one_A1" value="0"/>
+        <joint name="lbr_one_A2" value="0.4363"/>
+        <joint name="lbr_one_A3" value="0"/>
+        <joint name="lbr_one_A4" value="1.5707"/>
+        <joint name="lbr_one_A5" value="0"/>
+        <joint name="lbr_one_A6" value="0"/>
+        <joint name="lbr_one_A7" value="0"/>
+        <joint name="lbr_two_A1" value="0"/>
+        <joint name="lbr_two_A2" value="0.4363"/>
+        <joint name="lbr_two_A3" value="0"/>
+        <joint name="lbr_two_A4" value="1.5707"/>
+        <joint name="lbr_two_A5" value="0"/>
+        <joint name="lbr_two_A6" value="0"/>
+        <joint name="lbr_two_A7" value="0"/>
+    </group_state>
+
+    <disable_collisions link1="lbr_one_link_0" link2="lbr_one_link_1" reason="Adjacent"/>
+    <disable_collisions link1="lbr_one_link_0" link2="lbr_one_link_2" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_0" link2="lbr_one_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_0" link2="lbr_one_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_1" link2="lbr_one_link_2" reason="Adjacent"/>
+    <disable_collisions link1="lbr_one_link_1" link2="lbr_one_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_1" link2="lbr_one_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_1" link2="lbr_one_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_1" link2="lbr_one_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_1" link2="lbr_one_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_2" link2="lbr_one_link_3" reason="Adjacent"/>
+    <disable_collisions link1="lbr_one_link_2" link2="lbr_one_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_2" link2="lbr_one_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_2" link2="lbr_one_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_2" link2="lbr_one_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_3" link2="lbr_one_link_4" reason="Adjacent"/>
+    <disable_collisions link1="lbr_one_link_3" link2="lbr_one_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_3" link2="lbr_one_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_3" link2="lbr_one_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_4" link2="lbr_one_link_5" reason="Adjacent"/>
+    <disable_collisions link1="lbr_one_link_4" link2="lbr_one_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_4" link2="lbr_one_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_5" link2="lbr_one_link_6" reason="Adjacent"/>
+    <disable_collisions link1="lbr_one_link_5" link2="lbr_one_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_one_link_6" link2="lbr_one_link_7" reason="Adjacent"/>
+
+    <disable_collisions link1="lbr_two_link_0" link2="lbr_two_link_1" reason="Adjacent"/>
+    <disable_collisions link1="lbr_two_link_0" link2="lbr_two_link_2" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_0" link2="lbr_two_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_0" link2="lbr_two_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_1" link2="lbr_two_link_2" reason="Adjacent"/>
+    <disable_collisions link1="lbr_two_link_1" link2="lbr_two_link_3" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_1" link2="lbr_two_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_1" link2="lbr_two_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_1" link2="lbr_two_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_1" link2="lbr_two_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_2" link2="lbr_two_link_3" reason="Adjacent"/>
+    <disable_collisions link1="lbr_two_link_2" link2="lbr_two_link_4" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_2" link2="lbr_two_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_2" link2="lbr_two_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_2" link2="lbr_two_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_3" link2="lbr_two_link_4" reason="Adjacent"/>
+    <disable_collisions link1="lbr_two_link_3" link2="lbr_two_link_5" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_3" link2="lbr_two_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_3" link2="lbr_two_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_4" link2="lbr_two_link_5" reason="Adjacent"/>
+    <disable_collisions link1="lbr_two_link_4" link2="lbr_two_link_6" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_4" link2="lbr_two_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_5" link2="lbr_two_link_6" reason="Adjacent"/>
+    <disable_collisions link1="lbr_two_link_5" link2="lbr_two_link_7" reason="Never"/>
+    <disable_collisions link1="lbr_two_link_6" link2="lbr_two_link_7" reason="Adjacent"/>
+</robot>
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/moveit.rviz b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/moveit.rviz
new file mode 100644
index 00000000..51cf5047
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/moveit.rviz
@@ -0,0 +1,361 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 70
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /MotionPlanning1
+      Splitter Ratio: 0.5
+    Tree Height: 329
+  - Class: rviz_common/Help
+    Name: Help
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 34; 141; 255
+      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
+    - Acceleration_Scaling_Factor: 0.1
+      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_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      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
+          lbr_one_link_0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_ee:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          lbr_two_link_0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_ee:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Loop Animation: true
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: true
+        Show Robot Visual: false
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: display_planned_path
+        Use Sim Time: false
+      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: both_arms
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        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
+          lbr_one_link_0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_one_link_ee:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          lbr_two_link_0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          lbr_two_link_ee:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.02
+  Enabled: true
+  Global Options:
+    Background Color: 21; 21; 26
+    Fixed Frame: world
+    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
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.449727773666382
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.4753984808921814
+      Target Frame: base_link
+      Value: Orbit (rviz_default_plugins)
+      Yaw: 3.1254067420959473
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1011
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000002000000000000022e00000395fc0200000004fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004400fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000003f000001c00000019600fffffffb000000100044006900730070006c0061007900730100000205000001cf000000cc00fffffffb0000000800480065006c007000000002b80000006f0000006f00ffffff00000001000001c900000395fc0200000001fb0000000a00560069006500770073010000003f00000395000000a900ffffff0000033b0000039500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1854
+  X: 66
+  Y: 32
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/moveit_controllers.yaml b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/moveit_controllers.yaml
new file mode 100644
index 00000000..eff400c9
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/moveit_controllers.yaml
@@ -0,0 +1,27 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - joint_trajectory_controller
+
+  joint_trajectory_controller:
+    type: FollowJointTrajectory
+    joints:
+      - lbr_one_A1
+      - lbr_one_A2
+      - lbr_one_A3
+      - lbr_one_A4
+      - lbr_one_A5
+      - lbr_one_A6
+      - lbr_one_A7
+      - lbr_two_A1
+      - lbr_two_A2
+      - lbr_two_A3
+      - lbr_two_A4
+      - lbr_two_A5
+      - lbr_two_A6
+      - lbr_two_A7
+    action_ns: follow_joint_trajectory
+    default: true
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/pilz_cartesian_limits.yaml b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/pilz_cartesian_limits.yaml
new file mode 100644
index 00000000..b2997caf
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/launch/move_group.launch.py b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/launch/move_group.launch.py
new file mode 100644
index 00000000..1ac2d3e8
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/launch/move_group.launch.py
@@ -0,0 +1,115 @@
+from pathlib import Path
+
+from ament_index_python import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_move_group_launch
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+    ld.add_action(DeclareLaunchArgument("mode", default_value="mock"))
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_x",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_y",
+            default_value="0.5",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_z",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_roll",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_pitch",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_yaw",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_x",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_y",
+            default_value="-0.5",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_z",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_roll",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_pitch",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_yaw",
+            default_value="0.0",
+        )
+    )
+
+    moveit_config = (
+        MoveItConfigsBuilder(
+            "lbr_dual_arm",
+            package_name="lbr_dual_arm_moveit_config",
+        )
+        .robot_description(
+            Path(get_package_share_directory("lbr_dual_arm"))
+            / "urdf"
+            / "lbr_dual_arm.xacro",
+            mappings={
+                "mode": LaunchConfiguration("mode"),
+                # manual pose setting until load from robot description topic properly supported: https://github.com/moveit/moveit2/issues/2291#issuecomment-4769692822
+                "lbr_one_x": LaunchConfiguration("lbr_one_x"),
+                "lbr_one_y": LaunchConfiguration("lbr_one_y"),
+                "lbr_one_z": LaunchConfiguration("lbr_one_z"),
+                "lbr_one_roll": LaunchConfiguration("lbr_one_roll"),
+                "lbr_one_pitch": LaunchConfiguration("lbr_one_pitch"),
+                "lbr_one_yaw": LaunchConfiguration("lbr_one_yaw"),
+                "lbr_two_x": LaunchConfiguration("lbr_two_x"),
+                "lbr_two_y": LaunchConfiguration("lbr_two_y"),
+                "lbr_two_z": LaunchConfiguration("lbr_two_z"),
+                "lbr_two_roll": LaunchConfiguration("lbr_two_roll"),
+                "lbr_two_pitch": LaunchConfiguration("lbr_two_pitch"),
+                "lbr_two_yaw": LaunchConfiguration("lbr_two_yaw"),
+            },
+        )
+        .to_moveit_configs()
+    )
+    return generate_move_group_launch(moveit_config)
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/launch/moveit_rviz.launch.py b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/launch/moveit_rviz.launch.py
new file mode 100644
index 00000000..4da69fe0
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/launch/moveit_rviz.launch.py
@@ -0,0 +1,115 @@
+from pathlib import Path
+
+from ament_index_python import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_moveit_rviz_launch
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+    ld.add_action(DeclareLaunchArgument("mode", default_value="mock"))
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_x",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_y",
+            default_value="0.5",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_z",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_roll",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_pitch",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_one_yaw",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_x",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_y",
+            default_value="-0.5",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_z",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_roll",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_pitch",
+            default_value="0.0",
+        )
+    )
+    ld.add_action(
+        DeclareLaunchArgument(
+            name="lbr_two_yaw",
+            default_value="0.0",
+        )
+    )
+
+    moveit_config = (
+        MoveItConfigsBuilder(
+            "lbr_dual_arm",
+            package_name="lbr_dual_arm_moveit_config",
+        )
+        .robot_description(
+            Path(get_package_share_directory("lbr_dual_arm"))
+            / "urdf"
+            / "lbr_dual_arm.xacro",
+            mappings={
+                "mode": LaunchConfiguration("mode"),
+                # manual pose setting until load from robot description topic properly supported: https://github.com/moveit/moveit2/issues/2291#issuecomment-4769692822
+                "lbr_one_x": LaunchConfiguration("lbr_one_x"),
+                "lbr_one_y": LaunchConfiguration("lbr_one_y"),
+                "lbr_one_z": LaunchConfiguration("lbr_one_z"),
+                "lbr_one_roll": LaunchConfiguration("lbr_one_roll"),
+                "lbr_one_pitch": LaunchConfiguration("lbr_one_pitch"),
+                "lbr_one_yaw": LaunchConfiguration("lbr_one_yaw"),
+                "lbr_two_x": LaunchConfiguration("lbr_two_x"),
+                "lbr_two_y": LaunchConfiguration("lbr_two_y"),
+                "lbr_two_z": LaunchConfiguration("lbr_two_z"),
+                "lbr_two_roll": LaunchConfiguration("lbr_two_roll"),
+                "lbr_two_pitch": LaunchConfiguration("lbr_two_pitch"),
+                "lbr_two_yaw": LaunchConfiguration("lbr_two_yaw"),
+            },
+        )
+        .to_moveit_configs()
+    )
+    return generate_moveit_rviz_launch(moveit_config)
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/launch/setup_assistant.launch.py b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/launch/setup_assistant.launch.py
new file mode 100644
index 00000000..e5d96795
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/launch/setup_assistant.launch.py
@@ -0,0 +1,5 @@
+from moveit_configs_utils.launches import generate_setup_assistant_launch
+
+
+def generate_launch_description():
+    return generate_setup_assistant_launch()
diff --git a/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/package.xml b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/package.xml
new file mode 100644
index 00000000..645dffd4
--- /dev/null
+++ b/lbr_demos/lbr_dual_arm/lbr_dual_arm_moveit_config/package.xml
@@ -0,0 +1,39 @@
+<?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>lbr_dual_arm_moveit_config</name>
+  <version>0.3.0</version>
+  <description>MoveIt configuration for the dual-arm LBR demo </description>
+  <maintainer email="kenichi.maeda121@gmail.com">kenichi-maeda</maintainer>
+  <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
+
+  <license>BSD-3-Clause</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/moveit/moveit2/issues</url>
+  <url type="repository">https://github.com/moveit/moveit2</url>
+
+  <author email="kenichi.maeda121@gmail.com">kenichi-maeda</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>lbr_iiwa7_r800_description</exec_depend>
+  <exec_depend>moveit_configs_utils</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_setup_assistant</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>rviz_common</exec_depend>
+  <exec_depend>rviz_default_plugins</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
\ No newline at end of file
diff --git a/lbr_ros2_control/system_integration/iiwa14/iiwa14.xacro b/lbr_ros2_control/system_integration/iiwa14/iiwa14.xacro
index 9e74f763..36928c40 100644
--- a/lbr_ros2_control/system_integration/iiwa14/iiwa14.xacro
+++ b/lbr_ros2_control/system_integration/iiwa14/iiwa14.xacro
@@ -3,7 +3,7 @@
 <!-- top level -->
 <robot name="iiwa14" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <!-- include the iiwa macro and controller -->
+    <!-- include macros -->
     <xacro:include filename="$(find lbr_iiwa14_r820_description)/urdf/lbr_iiwa14_r820_macro.xacro" />
     <xacro:include filename="$(find lbr_ros2_control)/config/lbr_gazebo.xacro" />
     <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
diff --git a/lbr_ros2_control/system_integration/med14/med14.xacro b/lbr_ros2_control/system_integration/med14/med14.xacro
index bfccb23c..f393111d 100644
--- a/lbr_ros2_control/system_integration/med14/med14.xacro
+++ b/lbr_ros2_control/system_integration/med14/med14.xacro
@@ -3,7 +3,7 @@
 <!-- top level -->
 <robot name="med14" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <!-- include the med macro and controller -->
+    <!-- include macros -->
     <xacro:include filename="$(find lbr_med14_r820_description)/urdf/lbr_med14_r820_macro.xacro" />
     <xacro:include filename="$(find lbr_ros2_control)/config/lbr_gazebo.xacro" />
     <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />
diff --git a/lbr_ros2_control/system_integration/med7/med7.xacro b/lbr_ros2_control/system_integration/med7/med7.xacro
index ec19d3e7..1b35f0dd 100644
--- a/lbr_ros2_control/system_integration/med7/med7.xacro
+++ b/lbr_ros2_control/system_integration/med7/med7.xacro
@@ -3,7 +3,7 @@
 <!-- top level -->
 <robot name="med7" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <!-- include the med macro and controller -->
+    <!-- include macros -->
     <xacro:include filename="$(find lbr_med7_r800_description)/urdf/lbr_med7_r800_macro.xacro" />
     <xacro:include filename="$(find lbr_ros2_control)/config/lbr_gazebo.xacro" />
     <xacro:include filename="$(find lbr_ros2_control)/config/lbr_system_interface.xacro" />