diff --git a/.github/workflows/industrialci.yml b/.github/workflows/industrialci.yml
new file mode 100644
index 0000000..2196f9b
--- /dev/null
+++ b/.github/workflows/industrialci.yml
@@ -0,0 +1,30 @@
+name: industrial_ci
+
+on:
+  push:
+    paths-ignore:
+      - '**.md'
+      - '**.jpg'
+      - '**.pdf'
+      - '**.png'
+  pull_request:
+    paths-ignore:
+      - '**.md'
+      - '**.jpg'
+      - '**.pdf'
+      - '**.png'
+  schedule:
+    - cron: "0 1 * * 2" # Weekly on Tuesdays at 01:00(GMT)
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - { ROS_DISTRO: melodic, ROS_REPO: main }
+          # - { ROS_DISTRO: noetic, ROS_REPO: main }
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: "ros-industrial/industrial_ci@master"
+        env: ${{ matrix.env }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b86e0e8..98ed77b 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -63,4 +63,7 @@ target_link_libraries(opencv_camera ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
 add_executable(camera_display src/camera_display)
 target_link_libraries(camera_display ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
 
-
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(launch)
+endif()
diff --git a/launch/run_benchmark_ompl.launch b/launch/run_benchmark_ompl.launch
index 066ed63..18d2446 100644
--- a/launch/run_benchmark_ompl.launch
+++ b/launch/run_benchmark_ompl.launch
@@ -1,7 +1,7 @@
 <launch>
 
   <!-- This argument must specify the list of .cfg files to process for benchmarking -->
-  <arg name="cfg" />
+  <arg name="cfg" default="" />
 
   <!-- Load URDF -->
   <include file="$(find mycobot_ros)/launch/planning_context.launch">
diff --git a/launch/warehouse.launch b/launch/warehouse.launch
index fbae8fb..aff99ab 100644
--- a/launch/warehouse.launch
+++ b/launch/warehouse.launch
@@ -1,7 +1,7 @@
 <launch>
 
   <!-- The path to the database must be specified -->
-  <arg name="moveit_warehouse_database_path" />
+  <arg name="moveit_warehouse_database_path" default="" />
 
   <!-- Load warehouse parameters -->
   <include file="$(find mycobot_ros)/launch/warehouse_settings.launch.xml" />
diff --git a/package.xml b/package.xml
index ac79a27..200781a 100644
--- a/package.xml
+++ b/package.xml
@@ -13,31 +13,37 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <exec_depend>moveit_ros_move_group</exec_depend>
-  <exec_depend>moveit_fake_controller_manager</exec_depend>
-  <exec_depend>moveit_kinematics</exec_depend>
-  <exec_depend>moveit_planners_ompl</exec_depend>
-  <exec_depend>moveit_ros_visualization</exec_depend>
-  <exec_depend>moveit_setup_assistant</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>xacro</exec_depend>
-
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>moveit_msgs</build_depend>
 
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>message_runtime</exec_depend>
-
-  <build_depend>actionlib</build_depend>
-  <build_depend>moveit_msgs</build_depend>
-
   <exec_depend>actionlib</exec_depend>
   <exec_depend>moveit_msgs</exec_depend>
+  <exec_depend>moveit_fake_controller_manager</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_benchmarks</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_ros_warehouse</exec_depend>
+  <exec_depend>moveit_setup_assistant</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>joy</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>warehouse_ros_mongo</exec_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>python-tk</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->