diff --git a/config/gz_kinova_remappings.yaml b/config/gz_kinova_remappings.yaml
new file mode 100644
index 0000000..77d0510
--- /dev/null
+++ b/config/gz_kinova_remappings.yaml
@@ -0,0 +1,20 @@
+---
+  - topic_name: <robot_namespace><device_namespace>/wrist_mounted_camera/camera_info
+    ros_type_name: sensor_msgs/msg/CameraInfo
+    gz_type_name: ignition.msgs.CameraInfo
+    lazy: true
+
+  - topic_name: <robot_namespace><device_namespace>/wrist_mounted_camera/image
+    ros_type_name: sensor_msgs/msg/Image
+    gz_type_name: ignition.msgs.Image
+    lazy: true
+
+  - topic_name: <robot_namespace><device_namespace>/wrist_mounted_camera/depth_image
+    ros_type_name: sensor_msgs/msg/Image
+    gz_type_name: ignition.msgs.Image
+    lazy: true
+
+  - ros_topic_name: <robot_namespace><device_namespace>/wrist_mounted_camera/points
+    ros_type_name: sensor_msgs/msg/PointCloud2
+    gz_type_name: ignition.msgs.PointCloudPacked
+    lazy: true
diff --git a/config/kinova_controllers.yaml b/config/kinova_controllers.yaml
new file mode 100644
index 0000000..af4e110
--- /dev/null
+++ b/config/kinova_controllers.yaml
@@ -0,0 +1,39 @@
+/**:
+  joint_trajectory_controller:
+    ros__parameters:
+      joints:
+        - joint_1
+        - joint_2
+        - joint_3
+        - joint_4
+        - joint_5
+        - joint_6
+        - joint_7
+      command_interfaces:
+        - position
+      state_interfaces:
+        - position
+        - velocity
+      state_publish_rate: 100.0
+      action_monitor_rate: 20.0
+      allow_partial_joints_goal: false
+      constraints:
+        stopped_velocity_tolerance: 0.0
+        goal_time: 0.0
+
+  twist_controller:
+    ros__parameters:
+      joint: tcp
+      interface_names:
+        - twist.linear.x
+        - twist.linear.y
+        - twist.linear.z
+        - twist.angular.x
+        - twist.angular.y
+        - twist.angular.z
+
+  robotiq_gripper_controller:
+    ros__parameters:
+      default: true
+      joint: robotiq_85_left_knuckle_joint
+      allow_stalling: true
diff --git a/launch/gz_components.launch.py b/launch/gz_components.launch.py
index d5a2e85..6d22b30 100644
--- a/launch/gz_components.launch.py
+++ b/launch/gz_components.launch.py
@@ -67,11 +67,17 @@ def get_launch_descriptions_from_yaml_node(
         if component["type"] == "CAM01":
             actions.append(get_launch_description("orbbec_astra", package, namespace, component))
 
-        if component["type"] == "MAN01":
+        if component["type"] == "MAN01" or component["type"] == "MAN02":
             actions.append(get_launch_description("ur", package, namespace, component))
 
-        if component["type"] == "MAN02":
-            actions.append(get_launch_description("ur", package, namespace, component))
+        if (
+            component["type"] == "MAN04"
+            # or component["type"] == "MAN03" # sim_isaac error
+            or component["type"] == "MAN05"
+            or component["type"] == "MAN06"
+            or component["type"] == "MAN07"
+        ):
+            actions.append(get_launch_description("kinova", package, namespace, component))
 
     return actions
 
diff --git a/launch/gz_kinova.launch.py b/launch/gz_kinova.launch.py
new file mode 100644
index 0000000..1c9cec5
--- /dev/null
+++ b/launch/gz_kinova.launch.py
@@ -0,0 +1,200 @@
+# Copyright 2024 Husarion sp. z o.o.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.conditions import  LaunchConfigurationNotEquals
+from launch.actions import DeclareLaunchArgument, LogInfo, OpaqueFunction
+from launch_ros.actions import Node
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from nav2_common.launch import ReplaceString
+
+
+# The frame of the point cloud from ignition gazebo 6 isn't provided by <frame_id>.
+# See https://github.com/gazebosim/gz-sensors/issues/239
+def fix_depth_image_tf(context, *args, **kwargs):
+    robot_namespace = LaunchConfiguration("robot_namespace").perform(context)
+    device_namespace = LaunchConfiguration("device_namespace").perform(context)
+    tf_prefix = LaunchConfiguration("tf_prefix").perform(context)
+    camera_name = LaunchConfiguration("camera_name").perform(context)
+
+    device_namespace_ext = device_namespace + "/"
+    if device_namespace == "":
+        device_namespace_ext = ""
+
+    tf_prefix_ext = tf_prefix + "_"
+    if tf_prefix == "":
+        tf_prefix_ext = ""
+
+    parent_frame = tf_prefix_ext + camera_name + "_depth_optical_frame"
+    child_frame = (
+        "panther/base_link//"
+        + device_namespace_ext
+        + tf_prefix_ext
+        + camera_name
+        + "_orbbec_astra_depth"
+    )
+
+    static_transform_publisher = Node(
+        package="tf2_ros",
+        executable="static_transform_publisher",
+        name="point_cloud_tf",
+        output="log",
+        arguments=["0", "0", "0", "1.57", "-1.57", "0", parent_frame, child_frame],
+        parameters=[{"use_sim_time": True}],
+        namespace=robot_namespace,
+    )
+    return [static_transform_publisher]
+
+def generate_launch_description():
+    robot_namespace = LaunchConfiguration("robot_namespace")
+    device_namespace = LaunchConfiguration("device_namespace")
+    tf_prefix = LaunchConfiguration("tf_prefix")
+    controllers_file = LaunchConfiguration("controllers_file")
+
+    initial_joint_controllers = PathJoinSubstitution(
+        [FindPackageShare("ros_components_description"), "config", controllers_file]
+    )
+
+    namespace_warn = LogInfo(
+        msg="Namespace is not implemented with manipulators. Look here: https://github.com/ros-controls/ros2_control/issues/1506",
+        condition=LaunchConfigurationNotEquals(robot_namespace, "None"),
+    )
+
+    gz_bridge_name = LaunchConfiguration("gz_bridge_name")
+    gz_bridge_config_path = PathJoinSubstitution(
+        [FindPackageShare("ros_components_description"), "config", "gz_kinova_remappings.yaml"]
+    )
+
+    namespaced_gz_bridge_config_path = ReplaceString(
+        source_file=gz_bridge_config_path,
+        replacements={
+            "<robot_namespace>": robot_namespace,
+            "<device_namespace>": device_namespace,
+        },
+    )
+
+    # Using tf as namespace is caused by
+    # https://github.com/ros-controls/ros2_control/issues/1506
+    # After this fix the device_namespace should be used.
+    namespaced_initial_joint_controllers_path = ReplaceString(
+        source_file=initial_joint_controllers,
+        replacements={
+            "- joint": ["- ", tf_prefix, "joint"],
+            "  joint_trajectory_controller:": ["  ", tf_prefix, "joint_trajectory_controller:"],
+            "  robotiq_gripper_controller:": ["  ", tf_prefix, "robotiq_gripper_controller:"],
+            "robotiq_85_left_knuckle_joint": [tf_prefix, "robotiq_85_left_knuckle_joint"],
+        },
+    )
+
+    declare_device_namespace = DeclareLaunchArgument(
+        "device_namespace",
+        default_value="",
+        description="Sensor namespace that will appear before all non absolute topics and TF frames, used for distinguishing multiple cameras on the same robot.",
+    )
+
+    declare_robot_namespace = DeclareLaunchArgument(
+        "robot_namespace",
+        default_value=EnvironmentVariable("ROBOT_NAMESPACE", default_value=""),
+        description="Namespace which will appear in front of all topics (including /tf and /tf_static).",
+    )
+
+    declare_tf_prefix = DeclareLaunchArgument(
+        "tf_prefix",
+        default_value="",
+        description="Prefix added for all links of device. Here used as fix for static transform publisher.",
+    )
+
+    declare_start_joint_controller = DeclareLaunchArgument(
+        "start_joint_controller",
+        default_value="true",
+        description="Enable headless mode for robot control",
+    )
+
+    declare_initial_joint_controller = DeclareLaunchArgument(
+        "initial_joint_controller",
+        default_value=[tf_prefix, "joint_trajectory_controller"],
+        description="Robot controller to start.",
+    )
+
+    declare_controllers_file = DeclareLaunchArgument(
+        "controllers_file",
+        default_value="kinova_controllers.yaml",
+        description="YAML file with the controllers configuration.",
+    )
+
+    # There may be other controllers of the joints, but this is the initially-started one
+    initial_joint_controller_spawner_started = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=[
+            [tf_prefix, "joint_trajectory_controller"],
+            "-t",
+            "joint_trajectory_controller/JointTrajectoryController",
+            "-c",
+            "controller_manager",
+            "--controller-manager-timeout",
+            "10",
+            "--namespace",
+            device_namespace,
+            "--param-file",
+            namespaced_initial_joint_controllers_path,
+        ],
+        namespace=robot_namespace,
+    )
+
+    robot_hand_controller_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=[
+            [tf_prefix, "robotiq_gripper_controller"],
+            "-t",
+            "position_controllers/GripperActionController",
+            "-c",
+            "controller_manager",
+            "--controller-manager-timeout",
+            "10",
+            "--namespace",
+            device_namespace,
+            "--param-file",
+            namespaced_initial_joint_controllers_path,
+        ],
+        namespace=robot_namespace,
+    )
+
+    gz_bridge = Node(
+        package="ros_gz_bridge",
+        executable="parameter_bridge",
+        name=gz_bridge_name,
+        parameters=[{"config_file": namespaced_gz_bridge_config_path}],
+        namespace=robot_namespace,
+        output="screen",
+    )
+
+
+    return LaunchDescription(
+        [
+            declare_device_namespace,
+            declare_robot_namespace,
+            declare_tf_prefix,
+            declare_start_joint_controller,
+            declare_initial_joint_controller,
+            declare_controllers_file,
+            namespace_warn,
+            initial_joint_controller_spawner_started,
+            robot_hand_controller_spawner,
+            gz_bridge,
+            OpaqueFunction(function=fix_depth_image_tf),
+        ]
+    )
diff --git a/launch/gz_ur.launch.py b/launch/gz_ur.launch.py
index 108cb30..531981d 100644
--- a/launch/gz_ur.launch.py
+++ b/launch/gz_ur.launch.py
@@ -24,8 +24,6 @@ def generate_launch_description():
     robot_namespace = LaunchConfiguration("robot_namespace")
     device_namespace = LaunchConfiguration("device_namespace")
     tf_prefix = LaunchConfiguration("tf_prefix")
-    start_joint_controller = LaunchConfiguration("start_joint_controller")
-    initial_joint_controller = LaunchConfiguration("initial_joint_controller")
     controllers_file = LaunchConfiguration("controllers_file")
 
     initial_joint_controllers = PathJoinSubstitution(
@@ -72,18 +70,6 @@ def generate_launch_description():
         description="Prefix added for all links of device. Here used as fix for static transform publisher.",
     )
 
-    declare_start_joint_controller = DeclareLaunchArgument(
-        "start_joint_controller",
-        default_value="true",
-        description="Enable headless mode for robot control",
-    )
-
-    declare_initial_joint_controller = DeclareLaunchArgument(
-        "initial_joint_controller",
-        default_value=[tf_prefix, "joint_trajectory_controller"],
-        description="Robot controller to start.",
-    )
-
     declare_controllers_file = DeclareLaunchArgument(
         "controllers_file",
         default_value="ur_controllers.yaml",
@@ -108,14 +94,6 @@ def generate_launch_description():
             namespaced_initial_joint_controllers_path,
         ],
         namespace=robot_namespace,
-        condition=IfCondition(start_joint_controller),
-    )
-
-    initial_joint_controller_spawner_stopped = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=[initial_joint_controller, "-c", "/controller_manager", "--stopped"],
-        condition=UnlessCondition(start_joint_controller),
     )
 
     return LaunchDescription(
@@ -123,11 +101,8 @@ def generate_launch_description():
             declare_device_namespace,
             declare_robot_namespace,
             declare_tf_prefix,
-            declare_start_joint_controller,
-            declare_initial_joint_controller,
             declare_controllers_file,
             namespace_warn,
             initial_joint_controller_spawner_started,
-            initial_joint_controller_spawner_stopped,
         ]
     )
diff --git a/package.xml b/package.xml
index a2e1c78..c82c31a 100644
--- a/package.xml
+++ b/package.xml
@@ -21,6 +21,7 @@
   <depend>urdf</depend>
   <depend>xacro</depend>
   <depend>ur_description</depend>
+  <depend>kortex_description</depend>
 
   <depend condition="($HUSARION_ROS_BUILD_TYPE == simulation) and ($SIMULATION_ENGINE == gazebo-classic)">
     gazebo_plugins
diff --git a/urdf/components.urdf.xacro b/urdf/components.urdf.xacro
index 1ab0a63..b8f5541 100644
--- a/urdf/components.urdf.xacro
+++ b/urdf/components.urdf.xacro
@@ -162,6 +162,81 @@
       </xacro:if>
 
 
+      <xacro:if value="${type == 'MAN04'}">
+        <xacro:include
+          filename="$(find ros_components_description)/urdf/kinova.urdf.xacro"
+          ns="manipulator"
+        />
+
+        <xacro:manipulator.kinova
+          parent_link="${parent_link}"
+          xyz="${xyz}"
+          rpy="${rpy}"
+          tf_prefix="${tf_prefix}"
+          kinova_type="gen3"
+          dof="6"
+          gripper="robotiq_2f_85"
+          vision="false"
+        />
+      </xacro:if>
+
+      <xacro:if value="${type == 'MAN05'}">
+        <xacro:include
+          filename="$(find ros_components_description)/urdf/kinova.urdf.xacro"
+          ns="manipulator"
+        />
+
+        <xacro:manipulator.kinova
+          parent_link="${parent_link}"
+          xyz="${xyz}"
+          rpy="${rpy}"
+          tf_prefix="${tf_prefix}"
+          kinova_type="gen3"
+          dof="6"
+          gripper="robotiq_2f_85"
+          vision="true"
+        />
+      </xacro:if>
+
+
+      <xacro:if value="${type == 'MAN06'}">
+        <xacro:include
+          filename="$(find ros_components_description)/urdf/kinova.urdf.xacro"
+          ns="manipulator"
+        />
+
+        <xacro:manipulator.kinova
+          parent_link="${parent_link}"
+          xyz="${xyz}"
+          rpy="${rpy}"
+          tf_prefix="${tf_prefix}"
+          kinova_type="gen3"
+          dof="7"
+          gripper="robotiq_2f_85"
+          vision="false"
+        />
+      </xacro:if>
+
+      <xacro:if value="${type == 'MAN07'}">
+        <xacro:include
+          filename="$(find ros_components_description)/urdf/kinova.urdf.xacro"
+          ns="manipulator"
+        />
+
+        <xacro:manipulator.kinova
+          parent_link="${parent_link}"
+          xyz="${xyz}"
+          rpy="${rpy}"
+          tf_prefix="${tf_prefix}"
+          kinova_type="gen3"
+          dof="7"
+          gripper="robotiq_2f_85"
+          vision="true"
+          namespace="${fixed_namespace}"
+        />
+      </xacro:if>
+
+
       <xacro:if value="${index}">
         <xacro:load_componenet
           counter="${index}"
diff --git a/urdf/kinova.urdf.xacro b/urdf/kinova.urdf.xacro
new file mode 100644
index 0000000..eb01efe
--- /dev/null
+++ b/urdf/kinova.urdf.xacro
@@ -0,0 +1,195 @@
+<?xml version="1.0"?>
+
+<!--
+# Copyright 2024 Husarion. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+-->
+
+<robot name="kinova" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="kinova"
+    params="parent_link xyz rpy
+          tf_prefix:=None
+          kinova_type:=gen3_lite
+          dof:=6
+          gripper:=''
+          vision:=false
+          namespace=''
+          ">
+
+    <xacro:include
+      filename="$(find kortex_description)/robots/kortex_robot.xacro"
+      ns="kinova_manipulator"
+    />
+
+    <xacro:if value="${namespace == 'None'}">
+      <xacro:property name="ns" value="" />
+    </xacro:if>
+    <xacro:unless value="${namespace == 'None'}">
+      <xacro:property name="ns" value="${namespace}/" />
+    </xacro:unless>
+
+    <xacro:if value="${tf_prefix == 'None'}">
+      <xacro:property name="prefix" value="" />
+    </xacro:if>
+    <xacro:unless value="${tf_prefix == 'None'}">
+      <xacro:property name="prefix" value="${tf_prefix}_" />
+    </xacro:unless>
+
+    <!-- robot name parameter -->
+    <xacro:property name="name" value="kinova_arm" />
+
+    <!-- Arguments -->
+    <xacro:property name="robot_ip" value="192.168.11.11" />
+    <xacro:property name="username" value="admin" />
+    <xacro:property name="password" value="admin" />
+    <xacro:property name="port" value="10000" />
+    <xacro:property name="port_realtime" value="10001" />
+    <xacro:property name="session_inactivity_timeout_ms" value="60000" />
+    <xacro:property name="connection_inactivity_timeout_ms" value="2000" />
+    <xacro:property name="gripper_joint_name" value="robotiq_85_left_knuckle_joint" />
+    <xacro:property name="gripper_max_velocity" value="100.0" />
+    <xacro:property name="gripper_max_force" value="100.0" />
+    <xacro:property name="use_internal_bus_gripper_comm" value="false" />
+    <xacro:arg name="use_fake_hardware" default="false" />
+    <xacro:property name="use_fake_hardware" value="false" />
+    <xacro:arg name="fake_sensor_commands" default="false" />
+    <xacro:property name="fake_sensor_commands" value="false" />
+    <xacro:property name="gazebo_renderer" value="ogre" />
+    <xacro:property name="camera_width" value="640" />
+    <xacro:property name="camera_height" value="480" />
+    <xacro:property name="camera_fps" value="6" />
+
+
+    <!-- convert to property to use substitution in function -->
+    <xacro:property name="initial_positions_file"
+      value="$(find kortex_description)/config/initial_positions.yaml" />
+
+    <xacro:kinova_manipulator.load_robot
+      parent="${parent_link}"
+      arm="${kinova_type}"
+      gripper=""
+      gripper_joint_name="${gripper_joint_name}"
+      gripper_max_velocity="${gripper_max_velocity}"
+      gripper_max_force="${gripper_max_force}"
+      dof="${dof}"
+      vision="${vision}"
+      robot_ip="${robot_ip}"
+      username="${username}"
+      password="${password}"
+      port="${port}"
+      port_realtime="${port_realtime}"
+      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+      prefix="${tf_prefix}"
+      sim_ignition="true"
+      use_fake_hardware="${use_fake_hardware}"
+      fake_sensor_commands="${fake_sensor_commands}"
+    >
+      <origin xyz="${xyz}" rpy="${rpy}" />
+    </xacro:kinova_manipulator.load_robot>
+
+    <!-- Include and load the gripper if defined -->
+    <xacro:unless value="${not gripper}">
+      <xacro:include
+        filename="$(find kortex_description)/grippers/${gripper}/urdf/${gripper}_macro.xacro"
+        ns="kinova_manipulator" />
+
+      <xacro:if value="${kinova_type == 'gen3'}">
+        <xacro:property name="last_arm_link" value="end_effector_link" />
+      </xacro:if>
+      <xacro:unless value="${kinova_type == 'gen3'}">
+        <xacro:property name="last_arm_link" value="dummy_link" />
+      </xacro:unless>
+
+      <xacro:arg name="sim_ignition" default="true" />
+      <xacro:arg name="sim_isaac" default="false" />
+
+      <xacro:kinova_manipulator.load_gripper
+        parent="${tf_prefix}${last_arm_link}"
+        prefix="${tf_prefix}"
+        use_fake_hardware="${use_fake_hardware}"
+        fake_sensor_commands="${fake_sensor_commands}"
+        sim_ignition="true"
+        sim_isaac="false"
+      />
+    </xacro:unless>
+
+    <xacro:if value="${vision}">
+      <gazebo reference="${tf_prefix}camera_color_frame">
+        <sensor name="${prefix}camera_sensor" type="rgbd_camera">
+          <camera>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>${camera_width}</width>
+              <height>${camera_height}</height>
+              <format>RGB_INT8</format>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>5</far>
+            </clip>
+            <distortion>
+              <k1>0.0</k1>
+              <k2>0.0</k2>
+              <k3>0.0</k3>
+              <p1>0.0</p1>
+              <p2>0.0</p2>
+              <center>0.5 0.5</center>
+            </distortion>
+            <lens>
+              <intrinsics>
+                <fx>554.25469</fx>
+                <fy>554.25469</fy>
+                <cx>320.5</cx>
+                <cy>240.5</cy>
+                <s>0</s>
+              </intrinsics>
+              <!-- These need to match the intrinsics above or
+              Ignition will default to different default values -->
+              <projection>
+                <p_fx>554.25469</p_fx>
+                <p_fy>554.25469</p_fy>
+                <p_cx>320.5</p_cx>
+                <p_cy>240.5</p_cy>
+                <tx>0</tx>
+                <ty>0</ty>
+              </projection>
+            </lens>
+            <noise>
+              <type>gaussian</type>
+              <mean>0</mean>
+              <stddev>0.00</stddev>
+            </noise>
+            <depth_camera>
+              <clip>
+                <near>0.25</near>
+                <far>5</far>
+              </clip>
+            </depth_camera>
+            <optical_frame_id>${tf_prefix}color_optical_frame</optical_frame_id>
+          </camera>
+          <ignition_frame_id>${tf_prefix}camera_color_frame</ignition_frame_id>
+          <always_on>1</always_on>
+          <update_rate>${camera_fps}</update_rate>
+          <visualize>true</visualize>
+          <topic>${ns}wrist_mounted_camera</topic>
+          <enable_metrics>false</enable_metrics>
+        </sensor>
+      </gazebo>
+
+    </xacro:if>
+
+  </xacro:macro>
+</robot>