diff --git a/doc/perception_pipeline/CMakeLists.txt b/doc/perception_pipeline/CMakeLists.txt
index 567c22d68..1173229f8 100644
--- a/doc/perception_pipeline/CMakeLists.txt
+++ b/doc/perception_pipeline/CMakeLists.txt
@@ -20,6 +20,4 @@ TARGETS
     pcd_publisher
 DESTINATION lib/${PROJECT_NAME}/)
 
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY data DESTINATION share/${PROJECT_NAME})
-install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY bags config data launch DESTINATION share/${PROJECT_NAME})
diff --git a/doc/perception_pipeline/bags/perception_tutorial.bag b/doc/perception_pipeline/bags/perception_tutorial.bag
deleted file mode 100644
index d52936a1c..000000000
Binary files a/doc/perception_pipeline/bags/perception_tutorial.bag and /dev/null differ
diff --git a/doc/perception_pipeline/bags/perception_tutorial.bag/metadata.yaml b/doc/perception_pipeline/bags/perception_tutorial.bag/metadata.yaml
new file mode 100644
index 000000000..7d259b116
--- /dev/null
+++ b/doc/perception_pipeline/bags/perception_tutorial.bag/metadata.yaml
@@ -0,0 +1,27 @@
+rosbag2_bagfile_information:
+  compression_format: ''
+  compression_mode: ''
+  custom_data: {}
+  duration:
+    nanoseconds: 0
+  files:
+  - duration:
+      nanoseconds: 0
+    message_count: 1
+    path: perception_tutorial.db3
+    starting_time:
+      nanoseconds_since_epoch: 1530016169214859695
+  message_count: 1
+  relative_file_paths:
+  - perception_tutorial.db3
+  starting_time:
+    nanoseconds_since_epoch: 1530016169214859695
+  storage_identifier: sqlite3
+  topics_with_message_count:
+  - message_count: 1
+    topic_metadata:
+      name: /camera/depth_registered/points
+      offered_qos_profiles: ''
+      serialization_format: cdr
+      type: sensor_msgs/msg/PointCloud2
+  version: 6
diff --git a/doc/perception_pipeline/bags/perception_tutorial.bag/perception_tutorial.db3 b/doc/perception_pipeline/bags/perception_tutorial.bag/perception_tutorial.db3
new file mode 100644
index 000000000..c419b8811
Binary files /dev/null and b/doc/perception_pipeline/bags/perception_tutorial.bag/perception_tutorial.db3 differ
diff --git a/doc/perception_pipeline/config/sensors_3d.yaml b/doc/perception_pipeline/config/sensors_3d.yaml
index d9e058527..865052a55 100644
--- a/doc/perception_pipeline/config/sensors_3d.yaml
+++ b/doc/perception_pipeline/config/sensors_3d.yaml
@@ -3,6 +3,7 @@ sensor1:
     sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
     point_cloud_topic: /camera/depth_registered/points
     max_range: 5.0
+    ns: kinect
     point_subsample: 1
     padding_offset: 0.1
     padding_scale: 1.0
@@ -18,6 +19,7 @@ sensor2:
     padding_scale: 4.0
     padding_offset: 0.03
     max_update_rate: 1.0
+    ns: kinect
     skip_vertical_pixels: 4
     skip_horizontal_pixels: 6
     filtered_cloud_topic: filtered_cloud
\ No newline at end of file
diff --git a/doc/perception_pipeline/launch/obstacle_avoidance_demo.launch b/doc/perception_pipeline/launch/obstacle_avoidance_demo.launch
index 567038136..67207775a 100644
--- a/doc/perception_pipeline/launch/obstacle_avoidance_demo.launch
+++ b/doc/perception_pipeline/launch/obstacle_avoidance_demo.launch
@@ -1,11 +1,12 @@
 <launch>
-  <include file="$(find panda_moveit_config)/launch/demo.launch" />
-
   <!-- Play the rosbag that contains the pointcloud data -->
-  <node pkg="moveit_tutorials" type="bag_publisher_maintain_time" name="point_clouds" />
+  <arg name="bagfile" default="$(find-pkg-share moveit_tutorials)/bags/perception_tutorial.bag" />
+  <executable cmd="ros2 bag play -l $(var bagfile)" output="screen" />
+
+  <include file="$(find-pkg-share moveit_resources_panda_moveit_config)/launch/demo.launch.py" />
 
   <!-- If needed, broadcast static tf for robot root -->
-  <node pkg="tf2_ros" type="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
-  <node pkg="tf2_ros" type="static_transform_publisher" name="to_camera" args="0.115 0.427 0.570 0 0.2 1.92 camera_rgb_optical_frame world" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_panda" args="0 0 0 0 0 0  world panda_link0" />
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="to_camera" args="0.115 0.427 0.570 0 0.2 1.92 camera_rgb_optical_frame world" />
 
 </launch>
diff --git a/package.xml b/package.xml
index 53ba7949d..d28a32aa9 100644
--- a/package.xml
+++ b/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>moveit_tutorials</name>
   <version>0.1.0</version>
-  <description>The moveit_tutorials package</description>
+  <description>The moveit2_tutorials package</description>
   <license>BSD</license>
 
   <author email="sachinc@willowgarage.com">Sachin Chitta</author>
@@ -12,67 +12,66 @@
   <maintainer email="dave@picknik.ai">Dave Coleman</maintainer>
   <maintainer email="mike@picknik.ai">Mike Lautman</maintainer>
 
-  <url type="website">https://ros-planning.github.io/moveit_tutorials</url>
-  <url type="repository">https://github.com/ros-planning/moveit_tutorials</url>
-  <url type="bugtracker">https://github.com/ros-planning/moveit_tutorials/issues</url>
+  <url type="website">https://moveit.picknik.ai</url>
+  <url type="repository">https://github.com/ros-planning/moveit2_tutorials</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit2_tutorials/issues</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>rclcpp</build_depend>
-  <!-- <build_depend>pluginlib</build_depend> -->
+  <depend>control_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>interactive_markers</depend>
+  <depend>moveit_core</depend>
+  <depend>moveit_ros_perception</depend>
+  <depend>moveit_ros_planning_interface</depend>
+  <depend>moveit_servo</depend>
+  <depend>moveit_hybrid_planning</depend>
+  <depend>moveit_visual_tools</depend>
+  <depend>moveit_msgs</depend>
+  <depend>pcl_conversions</depend>
+  <depend>pcl_ros</depend>
+  <depend>pluginlib</depend>
+  <!-- <depend>rosbag</depend> -->
+  <depend>rviz_visual_tools</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf2_eigen</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>moveit_task_constructor_core</depend>
+  <depend>pick_ik</depend>
+
   <build_depend>eigen</build_depend>
-  <build_depend>moveit_common</build_depend>
-  <!-- <build_depend>moveit_core</build_depend> -->
-  <!-- <build_depend>moveit_ros_planning</build_depend> -->
-  <build_depend>moveit_ros_planning_interface</build_depend>
-  <build_depend>moveit_ros_perception</build_depend>
-  <!-- <build_depend>interactive_markers</build_depend> -->
   <build_depend>geometric_shapes</build_depend>
-  <!-- <build_depend>moveit_visual_tools</build_depend> -->
-  <!-- <build_depend>rviz_visual_tools</build_depend> -->
-  <!-- <build_depend>pcl_ros</build_depend> -->
-  <build_depend>pcl_conversions</build_depend>
-  <!-- <build_depend>rosbag2</build_depend> -->
-  <build_depend>tf2_ros</build_depend>
-  <!-- <build_depend>tf2_eigen</build_depend> -->
-  <!-- <build_depend>tf2_geometry_msgs</build_depend> -->
+  <build_depend>moveit_common</build_depend>
+  <build_depend>moveit_ros_planning</build_depend>
 
-  <run_depend>panda_moveit_config</run_depend>
-  <run_depend>franka_description</run_depend>
-  <!-- <run_depend>pluginlib</run_depend> -->
-  <!-- <run_depend>moveit_core</run_depend> -->
-  <!-- <run_depend>moveit_commander</run_depend> -->
-  <!-- <run_depend>moveit_fake_controller_manager</run_depend> -->
-  <run_depend>moveit_ros_planning_interface</run_depend>
-  <run_depend>moveit_ros_perception</run_depend>
-  <!-- <run_depend>interactive_markers</run_depend> -->
-  <!-- <run_depend>moveit_visual_tools</run_depend> -->
-  <!-- <run_depend>rviz_visual_tools</run_depend> -->
-  <run_depend>joint_state_publisher</run_depend>
-  <run_depend>robot_state_publisher</run_depend>
-  <!-- <run_depend>joy</run_depend> -->
-  <!-- <run_depend>pcl_ros</run_depend> -->
-  <run_depend>pcl_conversions</run_depend>
-  <run_depend>rosbag2</run_depend>
-  <run_depend>rviz2</run_depend>
-  <run_depend>tf2_ros</run_depend>
-  <!-- <run_depend>tf2_eigen</run_depend> -->
-  <!-- <run_depend>tf2_geometry_msgs</run_depend> -->
-  <run_depend>xacro</run_depend>
+  <!-- <exec_depend>moveit_commander</exec_depend> -->
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>gripper_controllers</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
+  <exec_depend>joy</exec_depend>
+  <exec_depend>jupyter-notebook</exec_depend>
+  <exec_depend>moveit</exec_depend>
+  <exec_depend>moveit_resources_panda_moveit_config</exec_depend>
+  <exec_depend>moveit_configs_utils</exec_depend>
+  <exec_depend>moveit_py</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>ros2_control</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
-  <!-- <test_depend>moveit_resources_panda_moveit_config</test_depend> -->
-  <!-- <test_depend>rosunit</test_depend> -->
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ros_testing</test_depend>
 
   <export>
-
     <build_type>ament_cmake</build_type>
-
     <!-- An example controller manager plugin for MoveIt. This is not functional code. -->
-    <!-- <moveit_core plugin="${prefix}/doc/controller_configuration/moveit_controller_manager_example_plugin_description.xml"/> -->
+    <moveit_core plugin="${prefix}/doc/controller_configuration/moveit_controller_manager_example_plugin_description.xml"/>
 
     <!-- An example of planner plugin for MoveIt -->
-    <!-- <moveit_core plugin="${prefix}/doc/creating_moveit_plugins/lerp_motion_planner/lerp_interface_plugin_description.xml"/> -->
-
+    <moveit_core plugin="${prefix}/doc/creating_moveit_plugins/lerp_motion_planner/lerp_interface_plugin_description.xml"/>
   </export>
 
 </package>