diff --git a/iiwa_description/CMakeLists.txt b/iiwa_description/CMakeLists.txt
index dfe2677d..d0a5401b 100644
--- a/iiwa_description/CMakeLists.txt
+++ b/iiwa_description/CMakeLists.txt
@@ -3,3 +3,10 @@ project(iiwa_description)
 
 find_package(catkin REQUIRED)
 catkin_package()
+
+# Generate urdfs from xacro data that are required for the MoveIt! setup assistant
+message(STATUS "Generating ${PROJECT_SOURCE_DIR}/urdf/generated/iiwa7.urdf ...")
+execute_process(COMMAND rosrun xacro xacro ${PROJECT_SOURCE_DIR}/urdf/iiwa7.urdf.xacro --inorder -o ${PROJECT_SOURCE_DIR}/urdf/generated/iiwa7.urdf OUTPUT_QUIET)
+
+message(STATUS "Generating ${PROJECT_SOURCE_DIR}/urdf/generated/iiwa14.urdf ...")
+execute_process(COMMAND rosrun xacro xacro ${PROJECT_SOURCE_DIR}/urdf/iiwa14.urdf.xacro --inorder -o ${PROJECT_SOURCE_DIR}/urdf/generated/iiwa14.urdf OUTPUT_QUIET)
diff --git a/iiwa_description/package.xml b/iiwa_description/package.xml
index 212c99de..31534842 100644
--- a/iiwa_description/package.xml
+++ b/iiwa_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>iiwa_description</name>
-  <version>1.4.0</version>
+  <version>1.4.1</version>
   <description>This package contains the URDF of the KUKA LBR IIWA robot</description>
   <author email="salvo.virga@tum.de">Salvo Virga</author>
   <maintainer email="salvo.virga@tum.de">Salvo Virga</maintainer>
@@ -10,5 +10,6 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <depend>force_torque_sensor_controller</depend>
+  <depend>xacro</depend>
 
 </package>
diff --git a/iiwa_description/urdf/generated/.gitignore b/iiwa_description/urdf/generated/.gitignore
new file mode 100755
index 00000000..35bc8010
--- /dev/null
+++ b/iiwa_description/urdf/generated/.gitignore
@@ -0,0 +1,4 @@
+# ignore all files in this dir...
+*
+# ... except for this one.
+!.gitignore
diff --git a/iiwa_moveit/.setup_assistant b/iiwa_moveit/.setup_assistant
index 1c3156f6..8dc8d6c1 100644
--- a/iiwa_moveit/.setup_assistant
+++ b/iiwa_moveit/.setup_assistant
@@ -1,7 +1,7 @@
 moveit_setup_assistant_config:
   URDF:
     package: iiwa_description
-    relative_path: urdf/iiwa14.urdf
+    relative_path: urdf/generated/iiwa14.urdf
   SRDF:
     relative_path: config/iiwa14.srdf
   CONFIG:
diff --git a/iiwa_moveit/launch/demo.launch b/iiwa_moveit/launch/demo.launch
index 3bb4ae50..3d23a4eb 100644
--- a/iiwa_moveit/launch/demo.launch
+++ b/iiwa_moveit/launch/demo.launch
@@ -43,7 +43,7 @@
         
         <!-- Run Rviz and load the default config to see the state of the move_group node -->
         <include if="$(arg rviz)" file="$(find iiwa_moveit)/launch/moveit_rviz.launch">
-            <arg name="config" value="true"/>
+            <arg name="rviz_config" value="$(find iiwa_moveit)/launch/moveit.rviz"/>
             <arg name="debug" value="$(arg debug)"/>
         </include>
         
@@ -51,6 +51,4 @@
         <include file="$(find iiwa_moveit)/launch/default_warehouse_db.launch" if="$(arg db)"/>
     </group>
     
-    
-    
 </launch>
diff --git a/iiwa_moveit/launch/moveit_planning_execution.launch b/iiwa_moveit/launch/moveit_planning_execution.launch
index 15bb5cf1..e0ec9403 100644
--- a/iiwa_moveit/launch/moveit_planning_execution.launch
+++ b/iiwa_moveit/launch/moveit_planning_execution.launch
@@ -58,7 +58,7 @@
         </include>
         
         <include if="$(arg rviz)" file="$(find iiwa_moveit)/launch/moveit_rviz.launch">
-            <arg name="config" value="true"/>
+            <arg name="rviz_config" value="$(find iiwa_moveit)/launch/moveit.rviz"/>
         </include>
     </group>
     
diff --git a/iiwa_moveit/launch/moveit_rviz.launch b/iiwa_moveit/launch/moveit_rviz.launch
index 6615c666..08b2cc2e 100644
--- a/iiwa_moveit/launch/moveit_rviz.launch
+++ b/iiwa_moveit/launch/moveit_rviz.launch
@@ -1,14 +1,13 @@
-<?xml version="1.0"?>
 <launch>
 
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="config" default="false" />
-  <arg unless="$(arg config)" name="command_args" value="" />
-  <arg     if="$(arg config)" name="command_args" value="-d $(find iiwa_moveit)/launch/moveit.rviz" />
-  
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
 	args="$(arg command_args)" output="screen">
     <rosparam command="load" file="$(find iiwa_moveit)/config/kinematics.yaml"/>
diff --git a/iiwa_moveit/package.xml b/iiwa_moveit/package.xml
index 5420661c..375a1bc1 100644
--- a/iiwa_moveit/package.xml
+++ b/iiwa_moveit/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>iiwa_moveit</name>
-  <version>1.4.0</version>
+  <version>1.4.1</version>
   <description>
 	  A package with all the configuration and launch files for using the KUKA LBR IIWA with the MoveIt Motion Planning Framework
   </description>