diff --git a/.travis.yml b/.travis.yml
index 8c2ddff7..7e3c01bd 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -15,12 +15,15 @@ env:
     - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
     - USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
     - USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+    - USE_DEB=true  ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - USE_DEB=true  ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
 matrix:
   allow_failures:
+    - env: USE_DEB=true  ROS_DISTRO="indigo"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+    - env: USE_DEB=true  ROS_DISTRO="indigo"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
     - env: USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
     - env: USE_DEB=true  ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script: 
   - source .ci_config/travis.sh
-#  - source ./travis.sh  # Enable this when you have a package-local script 
diff --git a/motoman_driver/launch/robot_interface_streaming_dx200.launch b/motoman_driver/launch/robot_interface_streaming_dx200.launch
new file mode 100644
index 00000000..f8f03c0a
--- /dev/null
+++ b/motoman_driver/launch/robot_interface_streaming_dx200.launch
@@ -0,0 +1,20 @@
+<!--
+  Contoller specific version of 'robot_interface.launch'.
+
+
+  Usage:
+    robot_interface_streaming_dx200.launch robot_ip:=<value>
+-->
+<launch>
+	<arg name="robot_ip" />
+	<arg name="use_bswap" default="false" />
+	<arg name="version0" default="true" />
+
+	<!--rosparam command="load" file="$(find motoman_config)/?" /-->
+
+	<include file="$(find motoman_driver)/launch/robot_interface_streaming.launch">
+		<arg name="robot_ip"   value="$(arg robot_ip)" />
+		<arg name="use_bswap"  value="$(arg use_bswap)" />
+		<arg name="version0"  value="$(arg version0)" />
+	</include>
+</launch>
diff --git a/motoman_driver/launch/robot_interface_streaming_yrc1000.launch b/motoman_driver/launch/robot_interface_streaming_yrc1000.launch
new file mode 100644
index 00000000..042d86fb
--- /dev/null
+++ b/motoman_driver/launch/robot_interface_streaming_yrc1000.launch
@@ -0,0 +1,20 @@
+<!--
+  Contoller specific version of 'robot_interface.launch'.
+
+
+  Usage:
+    robot_interface_streaming_yrc1000.launch robot_ip:=<value>
+-->
+<launch>
+	<arg name="robot_ip" />
+	<arg name="use_bswap" default="false" />
+	<arg name="version0" default="true" />
+
+	<!--rosparam command="load" file="$(find motoman_config)/?" /-->
+
+	<include file="$(find motoman_driver)/launch/robot_interface_streaming.launch">
+		<arg name="robot_ip"   value="$(arg robot_ip)" />
+		<arg name="use_bswap"  value="$(arg use_bswap)" />
+		<arg name="version0"  value="$(arg version0)" />
+	</include>
+</launch>
diff --git a/motoman_driver/launch/robot_multigroup_interface_streaming_dx200.launch b/motoman_driver/launch/robot_multigroup_interface_streaming_dx200.launch
new file mode 100644
index 00000000..439363a1
--- /dev/null
+++ b/motoman_driver/launch/robot_multigroup_interface_streaming_dx200.launch
@@ -0,0 +1,17 @@
+<!--
+  Multigroup, contoller specific version of 'robot_interface.launch'.
+
+
+  Usage:
+    robot_multigroup_interface_streaming_dx200.launch robot_ip:=<value>
+-->
+<launch>
+	<arg name="robot_ip" />
+	<arg name="use_bswap" default="false" />
+
+	<include file="$(find motoman_driver)/launch/robot_interface_streaming.launch">
+		<arg name="robot_ip"  value="$(arg robot_ip)" />
+		<arg name="use_bswap" value="$(arg use_bswap)" />
+		<arg name="version0"  value="false" />
+	</include>
+</launch>
diff --git a/motoman_driver/launch/robot_multigroup_interface_streaming_yrc1000.launch b/motoman_driver/launch/robot_multigroup_interface_streaming_yrc1000.launch
new file mode 100644
index 00000000..d6c0afac
--- /dev/null
+++ b/motoman_driver/launch/robot_multigroup_interface_streaming_yrc1000.launch
@@ -0,0 +1,17 @@
+<!--
+  Multigroup, contoller specific version of 'robot_interface.launch'.
+
+
+  Usage:
+    robot_multigroup_interface_streaming_yrc1000.launch robot_ip:=<value>
+-->
+<launch>
+	<arg name="robot_ip" />
+	<arg name="use_bswap" default="false" />
+
+	<include file="$(find motoman_driver)/launch/robot_interface_streaming.launch">
+		<arg name="robot_ip"  value="$(arg robot_ip)" />
+		<arg name="use_bswap" value="$(arg use_bswap)" />
+		<arg name="version0"  value="false" />
+	</include>
+</launch>
diff --git a/motoman_driver/launch/robot_state_dx200.launch b/motoman_driver/launch/robot_state_dx200.launch
new file mode 100644
index 00000000..c54887fd
--- /dev/null
+++ b/motoman_driver/launch/robot_state_dx200.launch
@@ -0,0 +1,18 @@
+<!--
+  Contoller specific version of 'robot_interface.launch'.
+
+
+  Usage:
+    robot_state_dx200.launch robot_ip:=<value>
+-->
+<launch>
+	<arg name="robot_ip" />
+	<arg name="use_bswap" value="false" />
+
+	<!--rosparam command="load" file="$(find motoman_config)/?" /-->
+
+	<include file="$(find motoman_driver)/launch/robot_state.launch">
+		<arg name="robot_ip"   value="$(arg robot_ip)" />
+		<arg name="use_bswap"  value="$(arg use_bswap)" />
+	</include>
+</launch>
diff --git a/motoman_driver/launch/robot_state_yrc1000.launch b/motoman_driver/launch/robot_state_yrc1000.launch
new file mode 100644
index 00000000..007c93d1
--- /dev/null
+++ b/motoman_driver/launch/robot_state_yrc1000.launch
@@ -0,0 +1,18 @@
+<!--
+  Contoller specific version of 'robot_interface.launch'.
+
+
+  Usage:
+    robot_state_yrc1000.launch robot_ip:=<value>
+-->
+<launch>
+	<arg name="robot_ip" />
+	<arg name="use_bswap" value="false" />
+
+	<!--rosparam command="load" file="$(find motoman_config)/?" /-->
+
+	<include file="$(find motoman_driver)/launch/robot_state.launch">
+		<arg name="robot_ip"   value="$(arg robot_ip)" />
+		<arg name="use_bswap"  value="$(arg use_bswap)" />
+	</include>
+</launch>
diff --git a/motoman_mh5_support/urdf/mh5.urdf b/motoman_mh5_support/urdf/mh5.urdf
index cfddc82a..6d7f8dcd 100644
--- a/motoman_mh5_support/urdf/mh5.urdf
+++ b/motoman_mh5_support/urdf/mh5.urdf
@@ -4,8 +4,10 @@
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <robot name="motoman_mh5" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!-- link list -->
   <link name="base_link">
     <visual>
+      <origin rpy="0 0 3.14159"/>
       <geometry>
         <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_BASE_AXIS.stl"/>
       </geometry>
@@ -14,6 +16,7 @@
       </material>
     </visual>
     <collision>
+      <origin rpy="0 0 3.14159"/>
       <geometry>
         <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_BASE_AXIS.stl"/>
       </geometry>
@@ -116,6 +119,8 @@
       <material name="yellow"/>
     </collision>
   </link>
+  <!-- end of link list -->
+  <!-- joint list -->
   <joint name="joint_s" type="revolute">
     <parent link="base_link"/>
     <child link="link_s"/>
@@ -135,7 +140,12 @@
     <child link="link_u"/>
     <origin rpy="0 0 0" xyz="0 0 0.3100"/>
     <axis xyz="0 -1 0"/>
-    <limit effort="100" lower="-2.3736" upper="4.4506" velocity="2.96"/>
+    <!-- Old limits: lower="-2.3736" upper="4.4506" The new limits
+           below were measured from an MH5F.  They ensure that link_r
+           won't hit link_l even when joint_r is at 45 degrees.  The
+           old limits were converted directly from the MH5 data sheet,
+           which was clearly way off. -->
+    <limit effort="100" lower="-1.0122" upper="3.2218" velocity="2.96"/>
   </joint>
   <joint name="joint_r" type="revolute">
     <parent link="link_u"/>
@@ -154,8 +164,9 @@
   <joint name="joint_t" type="revolute">
     <parent link="link_b"/>
     <child link="link_t"/>
-    <origin rpy="0 0 0" xyz="0.0510 0 0"/>
+    <origin rpy="0 0 0" xyz="0.0865 0 0"/>
     <axis xyz="-1 0 0"/>
     <limit effort="100" lower="-6.2831" upper="6.2831" velocity="6.97"/>
   </joint>
+  <!-- end of joint list -->
 </robot>
diff --git a/motoman_mh5_support/urdf/mh5_macro.xacro b/motoman_mh5_support/urdf/mh5_macro.xacro
index 6f33aa08..33581bf5 100644
--- a/motoman_mh5_support/urdf/mh5_macro.xacro
+++ b/motoman_mh5_support/urdf/mh5_macro.xacro
@@ -161,7 +161,7 @@
 		<joint name="${prefix}joint_t" type="revolute">
 			<parent link="${prefix}link_b"/>
 			<child link="${prefix}link_t"/>
-			<origin xyz="0.0510 0 0" rpy="0 0 0"/>
+			<origin xyz="0.0865 0 0" rpy="0 0 0"/>
 			<axis xyz="-1 0 0" />
 			<limit lower="-6.2831" upper="6.2831" effort="100" velocity="6.97" />
 		</joint>
diff --git a/motoman_sda10f_support/test/launch_test.xml b/motoman_sda10f_support/test/launch_test.xml
index 6931839d..983147e5 100644
--- a/motoman_sda10f_support/test/launch_test.xml
+++ b/motoman_sda10f_support/test/launch_test.xml
@@ -38,6 +38,11 @@
   <group ns="test_sda10f">
 	  <include file="$(find motoman_sda10f_support)/launch/test_sda10f.launch"/>
   </group>
+  
+  
+  <group ns="urdf_sda10f">
+	  <param name="robot_description" command="$(find xacro)/xacro.py '$(find motoman_sda10f_support)/test/sda10f_test.xacro'" />
+  </group>
 
 
   <group ns="robot_interface_streaming_sda10f">
diff --git a/motoman_sda10f_support/test/sda10f_test.xacro b/motoman_sda10f_support/test/sda10f_test.xacro
new file mode 100644
index 00000000..34427932
--- /dev/null
+++ b/motoman_sda10f_support/test/sda10f_test.xacro
@@ -0,0 +1,18 @@
+<?xml version="1.0" ?>
+
+<robot name="motoman_sda10f_test" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find motoman_sda10f_support)/urdf/sda10f_macro.xacro" />
+  <xacro:motoman_sda10f prefix=""/>
+  <!-- xacro below should not be used, use form above-->
+  <!--xacro:sda10f/-->
+  <xacro:motoman_sda10f prefix="my_prefix_"/>
+  
+  
+  <joint name="base_link_joint" type="fixed" >
+    <origin xyz="1.0 0 0"/>
+    <parent link="torso_base_link" />
+    <child link="my_prefix_torso_base_link" />
+  </joint>
+  
+</robot>
+
diff --git a/motoman_sda10f_support/urdf/arm_macro.xacro b/motoman_sda10f_support/urdf/arm_macro.xacro
index 1c7db6f6..9822cbc7 100644
--- a/motoman_sda10f_support/urdf/arm_macro.xacro
+++ b/motoman_sda10f_support/urdf/arm_macro.xacro
@@ -116,7 +116,7 @@
 	    <link name="${prefix}link_tool0" />
 		
 		<joint name="${prefix}joint_1_s" type="revolute">
-			<parent link="torso_link_b1"/>
+			<parent link="${parent}"/>
 			<child link="${prefix}link_1_s"/>
 			<origin xyz="0.09996 ${reflect*0.0275} 0.32214" rpy="1.57 0 ${(reflect-1)*1.57}"/>
 			<axis xyz="0 0 ${-reflect}" />
diff --git a/motoman_sda10f_support/urdf/common_torso_macro.xacro b/motoman_sda10f_support/urdf/common_torso_macro.xacro
index 7dab409c..a49ebba9 100644
--- a/motoman_sda10f_support/urdf/common_torso_macro.xacro
+++ b/motoman_sda10f_support/urdf/common_torso_macro.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 	<xacro:macro name="torso" params="name prefix">
 		<!-- link list -->
-		<link name="base_link">
+		<link name="${prefix}base_link">
 			<visual>
 				<geometry>
 					<mesh filename="package://motoman_sda10f_support/meshes/sda10f/visual/motoman_base.stl" />
@@ -58,14 +58,14 @@
 		</link>
 		<!-- joint list -->
 		<joint name="${prefix}joint_b1" type="revolute">
-			<parent link="base_link"/>
+			<parent link="${prefix}base_link"/>
 			<child link="${prefix}link_b1"/>
 			<origin xyz="0.09257 0 0.8835" rpy="0 0 0"/>
 			<axis xyz="0 0 1" />
 			<limit lower="-2.9570" upper="2.9570" effort="100" velocity="2.26" />
 		</joint>
 		<joint name="${prefix}joint_b2" type="revolute">
-			<parent link="base_link"/>
+			<parent link="${prefix}base_link"/>
 			<child link="${prefix}link_b2"/>
 			<origin xyz="0.09257 0 0.8835" rpy="0 0 0"/>
 			<axis xyz="0 0 1" />
diff --git a/motoman_sda10f_support/urdf/sda10f_macro.xacro b/motoman_sda10f_support/urdf/sda10f_macro.xacro
index 3a914f4c..f57dd84b 100644
--- a/motoman_sda10f_support/urdf/sda10f_macro.xacro
+++ b/motoman_sda10f_support/urdf/sda10f_macro.xacro
@@ -1,17 +1,25 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
-    name="sda10f">	
-        <xacro:include filename="$(find motoman_sda10f_support)/urdf/common_torso_macro.xacro" />
-        <xacro:include filename="$(find motoman_sda10f_support)/urdf/arm_macro.xacro" />
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+     <xacro:include filename="$(find motoman_sda10f_support)/urdf/common_torso_macro.xacro" />
+     <xacro:include filename="$(find motoman_sda10f_support)/urdf/arm_macro.xacro" />
+     <xacro:macro name="motoman_sda10f" params="prefix">	
         
-        <xacro:torso name="torso" prefix="torso_"/>
+        <xacro:torso name="${prefix}torso" prefix="${prefix}torso_"/>
 
         
-        <xacro:motoman_arm name="arm_left" prefix="arm_left_" parent="torso_link_b1" reflect="1">
+        <xacro:motoman_arm name="${prefix}arm_left" prefix="${prefix}arm_left_" parent="${prefix}torso_link_b1" reflect="1">
             <origin xyz="0.09996 0.0275 0.32214" rpy="1.57 0 0" />
         </xacro:motoman_arm>      
         
-        <xacro:motoman_arm name="arm_right" prefix="arm_right_" parent="torso_link_b1" reflect="-1">
+        <xacro:motoman_arm name="${prefix}arm_right" prefix="${prefix}arm_right_" parent="${prefix}torso_link_b1" reflect="-1">
             <origin xyz="0.09996 -0.0275 0.32214" rpy="1.57 0 0" />
-        </xacro:motoman_arm>       
+        </xacro:motoman_arm>
+     </xacro:macro>
+            
+<!-- The following xacro is kept for backwards compatibility, it should not be used -->
+<!-- see: https://github.com/ros-industrial/motoman/issues/166 -->
+     <xacro:macro name="sda10f">
+          <xacro:motoman_sda10f prefix=""/> 
+     </xacro:macro>
+
 </robot>