diff --git a/baxter_gazebo/CMakeLists.txt b/baxter_gazebo/CMakeLists.txt
index e36bc21..360deaa 100644
--- a/baxter_gazebo/CMakeLists.txt
+++ b/baxter_gazebo/CMakeLists.txt
@@ -17,11 +17,11 @@ find_package(gazebo REQUIRED)
 catkin_package(
   CATKIN_DEPENDS
   baxter_core_msgs
+  gazebo_ros
   gazebo_ros_control
   roscpp
   controller_manager_msgs
   DEPENDS
-  gazebo
 )
 
 link_directories(
diff --git a/baxter_gazebo/launch/baxter_world.launch b/baxter_gazebo/launch/baxter_world.launch
index ac43ae6..62c45c9 100644
--- a/baxter_gazebo/launch/baxter_world.launch
+++ b/baxter_gazebo/launch/baxter_world.launch
@@ -19,7 +19,7 @@
              to launching baxter_world -->
   <arg name="load_robot_description" default="true"/>
   <param if="$(arg load_robot_description)" name="robot_description"
-      command="$(find xacro)/xacro.py --inorder $(find baxter_description)/urdf/baxter.urdf.xacro gazebo:=true"/>
+      command="$(find xacro)/xacro $(find baxter_description)/urdf/baxter.urdf.xacro gazebo:=true"/>
 
   <!-- We resume the logic in empty_world.launch, changing the name of the world to be launched -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
diff --git a/baxter_gazebo/package.xml b/baxter_gazebo/package.xml
index 421dcfe..dff03bf 100644
--- a/baxter_gazebo/package.xml
+++ b/baxter_gazebo/package.xml
@@ -26,6 +26,7 @@
   <build_depend>baxter_core_msgs</build_depend>
   <build_depend>gazebo_ros_control</build_depend>
   <build_depend>controller_manager_msgs</build_depend>
+  <build_depend>gazebo_ros</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>tf2_ros</run_depend>
diff --git a/baxter_sim_controllers/CMakeLists.txt b/baxter_sim_controllers/CMakeLists.txt
index 5cb65bd..db892b2 100644
--- a/baxter_sim_controllers/CMakeLists.txt
+++ b/baxter_sim_controllers/CMakeLists.txt
@@ -28,7 +28,7 @@ catkin_package(
   control_toolbox
   effort_controllers
   baxter_core_msgs
-  DEPENDS yaml-cpp
+  DEPENDS
   INCLUDE_DIRS include
   LIBRARIES ${PROJECT_NAME}
 )
diff --git a/baxter_sim_hardware/CMakeLists.txt b/baxter_sim_hardware/CMakeLists.txt
index 0bb9264..7231f64 100644
--- a/baxter_sim_hardware/CMakeLists.txt
+++ b/baxter_sim_hardware/CMakeLists.txt
@@ -16,7 +16,7 @@ find_package(Boost REQUIRED COMPONENTS system)
 find_package(cmake_modules REQUIRED)
 find_package(OpenCV REQUIRED)
 
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
 catkin_package(
   INCLUDE_DIRS include
   CATKIN_DEPENDS
diff --git a/baxter_sim_hardware/src/baxter_emulator.cpp b/baxter_sim_hardware/src/baxter_emulator.cpp
index 4b51f47..c402e6b 100644
--- a/baxter_sim_hardware/src/baxter_emulator.cpp
+++ b/baxter_sim_hardware/src/baxter_emulator.cpp
@@ -318,7 +318,7 @@ void baxter_emulator::publish(const std::string &img_path) {
   // Read OpenCV Mat image and convert it to ROS message
   cv_bridge::CvImagePtr cv_ptr(new cv_bridge::CvImage);
   try {
-    cv_ptr->image = cv::imread(img_path, CV_LOAD_IMAGE_UNCHANGED);
+    cv_ptr->image = cv::imread(img_path, cv::IMREAD_UNCHANGED);
     if (cv_ptr->image.data) {
       cv_ptr->encoding = sensor_msgs::image_encodings::BGR8;
       sleep(IMG_LOAD_ON_STARTUP_DELAY);  // Wait for the model to load
diff --git a/baxter_sim_io/CMakeLists.txt b/baxter_sim_io/CMakeLists.txt
index ac596f7..2b79be8 100644
--- a/baxter_sim_io/CMakeLists.txt
+++ b/baxter_sim_io/CMakeLists.txt
@@ -12,7 +12,9 @@ project(baxter_sim_io)
 # qt_build provides the qt cmake glue, roscpp the comms for a default talker
 #find_package(catkin REQUIRED COMPONENTS qt_build roscpp baxter_core_msgs)
 find_package(catkin REQUIRED COMPONENTS roscpp baxter_core_msgs)
-find_package(Qt4 REQUIRED COMPONENTS QtCore QtGui)
+# find_package(Qt4 REQUIRED COMPONENTS QtCore QtGui)
+find_package(Qt5 REQUIRED COMPONENTS Core Gui UiTools Widgets)
+ADD_DEFINITIONS(-DQT_NO_KEYWORDS)
 include_directories(${catkin_INCLUDE_DIRS})
 # Use this to define what the package will export (e.g. libs, headers).
 # Since the default here is to produce only a binary, we don't worry about
@@ -38,16 +40,17 @@ include_directories(include
 ##############################################################################
 # Sections
 ##############################################################################
-include(${QT_USE_FILE})
+# MESSAGE(NOTICE ${QT5_USE_FILE})
+# include(${QT_USE_FILE})
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
 file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
 file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/baxter_sim_io/*.hpp)
 
-QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
-QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
-QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
+QT5_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
+qt5_wrap_ui(QT_FORMS_HPP ${QT_FORMS})
+qt5_wrap_cpp(QT_MOC_HPP ${QT_MOC})
 
 ##############################################################################
 # Sources
@@ -60,7 +63,7 @@ file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINK
 ##############################################################################
 
 add_executable(baxter_sim_io ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
-target_link_libraries(baxter_sim_io ${QT_LIBRARIES} ${ROS_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(baxter_sim_io  ${Qt5Core_LIBRARIES} ${Qt5Gui_LIBRARIES} ${Qt5UiTools_LIBRARIES} ${Qt5Widgets_LIBRARIES} ${ROS_LIBRARIES} ${catkin_LIBRARIES})
 
 add_dependencies(baxter_sim_io baxter_core_msgs_gencpp)
 
diff --git a/baxter_sim_io/include/baxter_sim_io/baxter_io.hpp b/baxter_sim_io/include/baxter_sim_io/baxter_io.hpp
index 5e72d24..63e1705 100644
--- a/baxter_sim_io/include/baxter_sim_io/baxter_io.hpp
+++ b/baxter_sim_io/include/baxter_sim_io/baxter_io.hpp
@@ -35,7 +35,8 @@
 #ifndef BAXTER_SIM_IO_BAXTER_IO_H
 #define BAXTER_SIM_IO_BAXTER_IO_H
 
-#include <QtGui/QMainWindow>
+// #include <QtGui/QMainWindow>
+#include <QtWidgets/QMainWindow>
 #include <QBitmap>
 #include <QPushButton>
 #include "ui_baxter_io.h"
diff --git a/baxter_sim_io/include/baxter_sim_io/qnode.hpp b/baxter_sim_io/include/baxter_sim_io/qnode.hpp
index 24696b6..f67f02a 100644
--- a/baxter_sim_io/include/baxter_sim_io/qnode.hpp
+++ b/baxter_sim_io/include/baxter_sim_io/qnode.hpp
@@ -34,12 +34,15 @@
 #ifndef baxter_sim_io_QNODE_HPP_
 #define baxter_sim_io_QNODE_HPP_
 
+#ifndef Q_MOC_RUN
 #include <ros/ros.h>
+#include <baxter_core_msgs/NavigatorState.h>
+#include <baxter_core_msgs/DigitalIOState.h>
+#endif
+
 #include <string>
 #include <QThread>
 #include <QStringListModel>
-#include <baxter_core_msgs/NavigatorState.h>
-#include <baxter_core_msgs/DigitalIOState.h>
 
 namespace baxter_sim_io {
 
diff --git a/baxter_sim_io/package.xml b/baxter_sim_io/package.xml
index 6937b2c..373a530 100644
--- a/baxter_sim_io/package.xml
+++ b/baxter_sim_io/package.xml
@@ -13,11 +13,16 @@
   <buildtool_depend>catkin</buildtool_depend>
   <!--build_depend>qt_build</build_depend-->
   <build_depend>roscpp</build_depend>
-  <build_depend>libqt4-dev</build_depend>
+  <!-- <build_depend>libqt4-dev</build_depend> -->
   <build_depend>baxter_core_msgs</build_depend>
   <!--run_depend>qt_build</run_depend-->
+  <build_depend>qt_gui</build_depend>
+  <run_depend>libqt5-core</run_depend>
+  <run_depend>libqt5-gui</run_depend>
+  <run_depend>libqt5-widgets</run_depend>
+  <run_depend>qt_gui</run_depend>
   <run_depend>roscpp</run_depend>
-  <run_depend>libqt4-dev</run_depend>
+  <!-- <run_depend>libqt4-dev</run_depend> -->
   <run_depend>baxter_core_msgs</run_depend>
  
 </package>
diff --git a/baxter_sim_kinematics/CMakeLists.txt b/baxter_sim_kinematics/CMakeLists.txt
index b9b59e9..be733e1 100644
--- a/baxter_sim_kinematics/CMakeLists.txt
+++ b/baxter_sim_kinematics/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(catkin
 )
 
 find_package(cmake_modules REQUIRED)
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
diff --git a/baxter_sim_kinematics/src/arm_kinematics.cpp b/baxter_sim_kinematics/src/arm_kinematics.cpp
index 24d7b0d..92e85c0 100644
--- a/baxter_sim_kinematics/src/arm_kinematics.cpp
+++ b/baxter_sim_kinematics/src/arm_kinematics.cpp
@@ -34,6 +34,9 @@
 #include <cstring>
 #include <ros/ros.h>
 #include <baxter_sim_kinematics/arm_kinematics.h>
+#if ROS_VERSION_MINIMUM(1, 14, 0)  //Melodic
+#include <memory>
+#endif
 
 namespace arm_kinematics {
 
@@ -245,8 +248,13 @@ bool Kinematics::loadModel(const std::string xml) {
  */
 bool Kinematics::readJoints(urdf::Model &robot_model) {
   num_joints = 0;
+  #if ROS_VERSION_MINIMUM(1, 14, 0)  // Melodic
+  std::shared_ptr<const urdf::Link> link = robot_model.getLink(tip_name);
+  std::shared_ptr<const urdf::Joint> joint;
+  #else
   boost::shared_ptr<const urdf::Link> link = robot_model.getLink(tip_name);
   boost::shared_ptr<const urdf::Joint> joint;
+  #endif
   for (int i = 0; i < chain.getNrOfSegments(); i++)
     while (link && link->name != root_name) {
       if (!(link->parent_joint)) {