diff --git a/fetch_ikfast_plugin/package.xml b/fetch_ikfast_plugin/package.xml
index 8644f12a..d9ea55d8 100644
--- a/fetch_ikfast_plugin/package.xml
+++ b/fetch_ikfast_plugin/package.xml
@@ -1,49 +1,29 @@
 <?xml version='1.0' encoding='ASCII'?>
 <package>
   <name>fetch_ikfast_plugin</name>
-  <version>0.0.0</version>
-  <description>The fetch_ikfast_plugin package</description>
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="hanhong@todo.todo">hanhong</maintainer>
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/fetch_ikfast_plugin</url> -->
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
+  <version>0.7.9</version>
+  <description>
+    Kinematics plugin for Fetch robot, generated through IKFast
+  </description>
+  <maintainer email="mferguson@fetchrobotics.com">Michael Ferguson</maintainer>
+  <license>Apache2</license>
+
   <buildtool_depend>catkin</buildtool_depend>
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-    <moveit_core plugin="${prefix}/fetch_arm_moveit_ikfast_plugin_description.xml"/>
-  </export>
+
   <build_depend>moveit_core</build_depend>
   <build_depend>liblapack-dev</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>tf_conversions</build_depend>
   <build_depend>pluginlib</build_depend>
+
   <run_depend>moveit_core</run_depend>
   <run_depend>liblapack-dev</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>tf_conversions</run_depend>
   <run_depend>pluginlib</run_depend>
+
+  <export>
+    <moveit_core plugin="${prefix}/fetch_arm_moveit_ikfast_plugin_description.xml"/>
+  </export>
+
 </package>
diff --git a/fetch_moveit_config/package.xml b/fetch_moveit_config/package.xml
index acddc109..78e3dcf5 100644
--- a/fetch_moveit_config/package.xml
+++ b/fetch_moveit_config/package.xml
@@ -19,6 +19,7 @@
   <build_depend>fetch_description</build_depend>
 
   <run_depend>fetch_description</run_depend>
+  <run_depend>fetch_ikfast_plugin</run_depend>
   <run_depend>joint_state_publisher</run_depend>
   <run_depend>moveit_fake_controller_manager</run_depend>
   <run_depend>moveit_ros_move_group</run_depend>