diff --git a/.github/workflows/reusable-workspace.yml b/.github/workflows/reusable-workspace.yml
index 4f1ecf3c..b6c18dfa 100644
--- a/.github/workflows/reusable-workspace.yml
+++ b/.github/workflows/reusable-workspace.yml
@@ -60,7 +60,7 @@ jobs:
             --entrypoint /bin/bash "${{ inputs.container-image }}" -i -c "
               source /home/rcdt/.bashrc &&
               source install/setup.bash &&
-              uv run pytest -s -rsxf src/
+              uv run xvfb-run pytest -s -rsxf src/
             "
 
       - name: Show disk usage after job
diff --git a/dockerfiles/install_scripts/dev_packages.sh b/dockerfiles/install_scripts/dev_packages.sh
index 7d203a35..51c3ca48 100755
--- a/dockerfiles/install_scripts/dev_packages.sh
+++ b/dockerfiles/install_scripts/dev_packages.sh
@@ -11,4 +11,7 @@ apt update
 apt install -y \
     clang \
     doxygen \
-    ros-$ROS_DISTRO-nmea-navsat-driver
+    xvfb \
+    ros-$ROS_DISTRO-nmea-navsat-driver \
+    ros-$ROS_DISTRO-moveit-ros-perception \
+    ros-$ROS_DISTRO-topic-tools
diff --git a/pyproject.toml b/pyproject.toml
index c993b55c..7249a306 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -21,6 +21,7 @@ dependencies = [
     "lark>=1.2.2",
     "mashumaro>=3.16",
     "myst-parser>=4.0.1",
+    "nicegui>=3.1.0",
     "numpy<2.0",
     "opencv-python>=4.11.0.86",
     "pillow>=11.3.0",
diff --git a/ros2_ws/src/rcdt_franka_moveit_config/config/fr3.srdf b/ros2_ws/src/rcdt_franka_moveit_config/config/fr3.srdf
index aa9d15ee..03c599ce 100644
--- a/ros2_ws/src/rcdt_franka_moveit_config/config/fr3.srdf
+++ b/ros2_ws/src/rcdt_franka_moveit_config/config/fr3.srdf
@@ -28,7 +28,7 @@ are defined
     group-->
     <!--SUBGROUPS:
     Groups can also be formed by referencing to already defined group names-->
-    <group name="fr3_arm">
+    <group name="arm">
         <joint name="fr3_joint1" />
         <joint name="fr3_joint2" />
         <joint name="fr3_joint3" />
@@ -37,10 +37,20 @@ are defined
         <joint name="fr3_joint6" />
         <joint name="fr3_joint7" />
     </group>
+    <group name="hand">
+        <joint name="fr3_joint8" />
+        <joint name="fr3_hand_joint" />
+        <joint name="fr3_hand_tcp_joint" />
+        <joint name="fr3_finger_joint1" />
+        <joint name="fr3_finger_joint2" />
+    </group>
+    <group name="tcp">
+        <link name="fr3_hand_tcp" />
+    </group>
     <!--GROUP_STATES:
     Purpose: Define a named state for a particular group, in terms of joint values. This is
     useful to define states like 'folded arms'-->
-    <group_state name="home" group="fr3_arm">
+    <group_state name="home" group="arm">
         <joint name="fr3_joint1" value="0" />
         <joint name="fr3_joint2" value="-0.78539816339" />
         <joint name="fr3_joint3" value="0" />
@@ -49,7 +59,7 @@ are defined
         <joint name="fr3_joint6" value="1.57079632679" />
         <joint name="fr3_joint7" value="0.78539816339" />
     </group_state>
-    <group_state name="drop" group="fr3_arm">
+    <group_state name="drop" group="arm">
         <joint name="fr3_joint1" value="-1.57079632679" />
         <joint name="fr3_joint2" value="-0.65" />
         <joint name="fr3_joint3" value="0" />
@@ -61,6 +71,7 @@ are defined
 
     <!--END_EFFECTOR:
     Purpose: Represent information about an end effector.-->
+    <end_effector name="hand" parent_link="fr3_link7" group="hand" parent_group="arm" />
     <!--DISABLE_COLLISIONS:
     By default it is assumed that any link of the robot could potentially come into
     collision with any other link in the robot. This tag disables collision checking between a
diff --git a/ros2_ws/src/rcdt_franka_moveit_config/config/kinematics.yaml b/ros2_ws/src/rcdt_franka_moveit_config/config/kinematics.yaml
index 9be83236..936eb13c 100644
--- a/ros2_ws/src/rcdt_franka_moveit_config/config/kinematics.yaml
+++ b/ros2_ws/src/rcdt_franka_moveit_config/config/kinematics.yaml
@@ -2,7 +2,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-fr3_arm:
+arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.0050000000000000001
   kinematics_solver_timeout: 0.0050000000000000001
\ No newline at end of file
diff --git a/ros2_ws/src/rcdt_franka_moveit_config/config/sensors_3d.yaml b/ros2_ws/src/rcdt_franka_moveit_config/config/sensors_3d.yaml
new file mode 100644
index 00000000..52f7f43e
--- /dev/null
+++ b/ros2_ws/src/rcdt_franka_moveit_config/config/sensors_3d.yaml
@@ -0,0 +1,16 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+sensors:
+  - depth_image
+depth_image:
+  sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
+  image_topic: ""
+  queue_size: 5
+  near_clipping_plane_distance: 0.3
+  far_clipping_plane_distance: 5.0
+  shadow_threshold: 0.2
+  padding_scale: 1.0
+  max_update_rate: 10.0
+  filtered_cloud_topic: ""
diff --git a/ros2_ws/src/rcdt_franka_moveit_config/config/servo_params.yaml b/ros2_ws/src/rcdt_franka_moveit_config/config/servo_params.yaml
index 0471981b..491f546c 100644
--- a/ros2_ws/src/rcdt_franka_moveit_config/config/servo_params.yaml
+++ b/ros2_ws/src/rcdt_franka_moveit_config/config/servo_params.yaml
@@ -7,7 +7,7 @@
 thread_priority: 40
 publish_period: 0.001
 max_expected_latency: 0.1
-move_group_name: fr3_arm
+move_group_name: arm
 active_subgroup: ""
 
 ############################# INCOMING COMMAND SETTINGS ########################
diff --git a/ros2_ws/src/rcdt_gazebo/launch/gazebo_robot.launch.py b/ros2_ws/src/rcdt_gazebo/launch/gazebo_robot.launch.py
index 7f84e917..35548296 100644
--- a/ros2_ws/src/rcdt_gazebo/launch/gazebo_robot.launch.py
+++ b/ros2_ws/src/rcdt_gazebo/launch/gazebo_robot.launch.py
@@ -123,6 +123,7 @@ def generate_launch_description() -> LaunchDescription:
             world_arg.declaration,
             platforms_arg.declaration,
             positions_arg.declaration,
+            orientations_arg.declaration,
             bridge_topics_arg.declaration,
             OpaqueFunction(function=launch_setup),
         ]
diff --git a/ros2_ws/src/rcdt_launch/launch/robots.launch.py b/ros2_ws/src/rcdt_launch/launch/robots.launch.py
index 48c7c0a1..2cbd0a8b 100644
--- a/ros2_ws/src/rcdt_launch/launch/robots.launch.py
+++ b/ros2_ws/src/rcdt_launch/launch/robots.launch.py
@@ -29,6 +29,7 @@
         "franka",
         "franka_axis",
         "franka_double",
+        "franka_planning",
         "franka_realsense",
         "panther",
         "panther_axis",
@@ -86,6 +87,14 @@ def launch_setup(context: LaunchContext) -> list:  # noqa: PLR0912, PLR0915
             if not use_sim:
                 Rviz.load_motion_planning_plugin = True
             Arm("franka", [0, 0, 0], gripper=True, moveit=True, ip_address="172.16.0.2")
+        case "franka_planning":
+            Platform.world = "table_with_1_brick.sdf"
+            Rviz.add_markers()
+            Rviz.load_robot_state = True
+            Rviz.load_trajectory = True
+            Rviz.load_planning_scene = True
+            arm = Arm("franka", [0, 0, 0], moveit=True)
+            Camera("realsense", [0.05, 0, 0], [0, -90, 180], parent=arm)
         case "franka_axis":
             franka = Arm("franka", [0, 0, 0], [0, 0, 20])
             Platform("axis", [0, 0, 0.1], [0, 20, 0], parent=franka)
diff --git a/ros2_ws/src/rcdt_launch/rcdt_launch/moveit.py b/ros2_ws/src/rcdt_launch/rcdt_launch/moveit.py
index 6b7faf94..66080d8f 100644
--- a/ros2_ws/src/rcdt_launch/rcdt_launch/moveit.py
+++ b/ros2_ws/src/rcdt_launch/rcdt_launch/moveit.py
@@ -52,8 +52,19 @@ def add(namespace: str, robot_description: dict, platform: str) -> None:
         moveit_config_builder.moveit_cpp(
             get_file_path(package, ["config"], "planning_pipeline.yaml")
         )
+        moveit_config_builder.sensors_3d(
+            get_file_path(package, ["config"], "sensors_3d.yaml")
+        )
         moveit_config = moveit_config_builder.to_moveit_configs()
 
+        # Define namespace dependent parameters:
+        moveit_config.sensors_3d["depth_image"]["image_topic"] = (
+            f"/{namespace}/octomap/depth_image"
+        )
+        moveit_config.sensors_3d["depth_image"]["filtered_cloud_topic"] = (
+            f"/{namespace}/octomap/filtered_points"
+        )
+
         # adapt robot_description with prefix:
         add_prefix_in_robot_description(robot_description, namespace)
         moveit_config.robot_description = robot_description
@@ -96,6 +107,11 @@ def add_prefix_in_robot_description_semantic(description: dict, prefix: str) ->
         prefix (str): The prefix to add to each link.
     """
     xml_dict = xmltodict.parse(description["robot_description_semantic"])
+    ee_parent_link = xml_dict["robot"]["end_effector"]["@parent_link"]
+    xml_dict["robot"]["end_effector"]["@parent_link"] = f"{prefix}/{ee_parent_link}"
+    for group in xml_dict["robot"]["group"]:
+        if "link" in group:
+            group["link"]["@name"] = f"{prefix}/{group['link']['@name']}"
     for disable_collision in xml_dict["robot"]["disable_collisions"]:
         link1 = disable_collision["@link1"]
         link2 = disable_collision["@link2"]
diff --git a/ros2_ws/src/rcdt_launch/rcdt_launch/robot.py b/ros2_ws/src/rcdt_launch/rcdt_launch/robot.py
index 03667997..60efe60e 100644
--- a/ros2_ws/src/rcdt_launch/rcdt_launch/robot.py
+++ b/ros2_ws/src/rcdt_launch/rcdt_launch/robot.py
@@ -21,6 +21,7 @@ class Platform:  # noqa: PLR0904
 
     Attributes:
         simulation (bool): Whether the platforms are in simulation mode or not.
+        world (str): The world file to be used in Gazebo.
         platforms (list[Platform]): A list of all the platforms.
         platform_indices (dict[str, int]): A collections of the different platforms and the number of occurrences.
         names (list[str]): A list of all robot names.
@@ -28,6 +29,7 @@ class Platform:  # noqa: PLR0904
     """
 
     simulation: bool = True
+    world: str = "walls.sdf"
     platforms: list["Platform"] = []
     platform_indices: dict[str, int] = {}
     names: list[str] = []
@@ -141,6 +143,7 @@ def create_gazebo_launch(load_gazebo_ui: bool) -> RegisteredLaunchDescription:
             get_file_path("rcdt_gazebo", ["launch"], "gazebo_robot.launch.py"),
             launch_arguments={
                 "load_gazebo_ui": str(load_gazebo_ui),
+                "world": Platform.world,
                 "platforms": " ".join(platforms),
                 "positions": " ".join(positions),
                 "orientations": " ".join(orientations),
@@ -506,7 +509,11 @@ def create_state_publisher(self) -> Node | None:
             package="robot_state_publisher",
             executable="robot_state_publisher",
             namespace=self.namespace,
-            parameters=[self.robot_description, {"frame_prefix": self.frame_prefix}],
+            parameters=[
+                self.robot_description,
+                {"frame_prefix": self.frame_prefix},
+                {"publish_frequency": 1000.0},
+            ],
         )
 
     def create_parent_link(self) -> Node:
@@ -832,7 +839,11 @@ def __init__(  # noqa: PLR0913
 
         if moveit:
             Moveit.add(self.namespace, self.robot_description, self.platform)
+            Rviz.moveit_namespaces.append(self.namespace)
             Rviz.add_motion_planning_plugin(self.namespace)
+            Rviz.add_planning_scene(self.namespace)
+            Rviz.add_robot_state(self.namespace)
+            Rviz.add_trajectory(self.namespace)
 
     def create_launch_description(self) -> list[RegisteredLaunchDescription]:
         """Create the launch description with specific elements for an arm.
@@ -905,10 +916,8 @@ def create_moveit_launch(self) -> RegisteredLaunchDescription:
         return RegisteredLaunchDescription(
             get_file_path("rcdt_moveit", ["launch"], "moveit.launch.py"),
             launch_arguments={
-                "robot_name": "fr3",
-                "moveit_package_name": "rcdt_franka_moveit_config",
-                "servo_params_package": "rcdt_franka",
-                "namespace": self.namespace,
+                "namespace_arm": self.namespace,
+                "namespace_camera": self.camera.namespace if self.camera else "",
             },
         )
 
diff --git a/ros2_ws/src/rcdt_launch/rcdt_launch/rviz.py b/ros2_ws/src/rcdt_launch/rcdt_launch/rviz.py
index 0759e22a..83b49aff 100644
--- a/ros2_ws/src/rcdt_launch/rcdt_launch/rviz.py
+++ b/ros2_ws/src/rcdt_launch/rcdt_launch/rviz.py
@@ -13,6 +13,9 @@ class Rviz:
         yaml (dict): The default RViz configuration.
         displays (list): The list of displays in the RViz configuration.
         load_motion_planning_plugin (bool): Whether to load the motion planning plugin.
+        load_planning_scene (bool): Whether to load the planning scene display.
+        load_robot_state (bool): Whether to load the robot state display.
+        load_trajectory (bool): Whether to load the trajectory display.
         load_point_cloud (bool): Whether to load point cloud displays.
         moveit_namespaces (list[str]): A list of the namespaces where MoveIt is launched.
     """
@@ -20,6 +23,9 @@ class Rviz:
     yaml: dict = get_yaml(get_file_path("rcdt_utilities", ["rviz"], "default.rviz"))
     displays: list = yaml["Visualization Manager"]["Displays"]
     load_motion_planning_plugin: bool = False
+    load_planning_scene: bool = False
+    load_robot_state: bool = False
+    load_trajectory: bool = False
     load_point_cloud: bool = False
     moveit_namespaces: list[str] = []
 
@@ -142,7 +148,6 @@ def add_motion_planning_plugin(namespace: str) -> None:
         """
         if not Rviz.load_motion_planning_plugin:
             return
-        Rviz.moveit_namespaces.append(namespace)
         Rviz.displays.append(
             {
                 "Enabled": True,
@@ -154,6 +159,67 @@ def add_motion_planning_plugin(namespace: str) -> None:
             }
         )
 
+    @staticmethod
+    def add_planning_scene(namespace: str) -> None:
+        """Add the planning scene display to the RViz configuration.
+
+        Args:
+            namespace (str): The namespace of the robot.
+        """
+        if not Rviz.load_planning_scene:
+            return
+        Rviz.displays.append(
+            {
+                "Enabled": True,
+                "Class": "moveit_rviz_plugin/PlanningScene",
+                "Move Group Namespace": namespace,
+                "Robot Description": f"{namespace}_robot_description",
+                "Name": f"{namespace}_planning_scene",
+                "Planning Scene Topic": f"/{namespace}/monitored_planning_scene",
+                "Scene Robot": {"Show Robot Visual": False},
+            }
+        )
+
+    @staticmethod
+    def add_robot_state(namespace: str) -> None:
+        """Add the robot state display to the RViz configuration.
+
+        Args:
+            namespace (str): The namespace of the robot.
+        """
+        if not Rviz.load_robot_state:
+            return
+        Rviz.displays.append(
+            {
+                "Enabled": True,
+                "Class": "moveit_rviz_plugin/RobotState",
+                "Robot Description": f"{namespace}_robot_description",
+                "Robot State Topic": f"/{namespace}/display_robot_state",
+                "Name": f"{namespace}_robot_state",
+                "TF Prefix": namespace,
+            }
+        )
+
+    @staticmethod
+    def add_trajectory(namespace: str) -> None:
+        """Add the trajectory display to the RViz configuration.
+
+        Args:
+            namespace (str): The namespace of the robot.
+        """
+        if not Rviz.load_trajectory:
+            return
+        Rviz.displays.append(
+            {
+                "Enabled": True,
+                "Class": "moveit_rviz_plugin/Trajectory",
+                "Robot Description": f"{namespace}_robot_description",
+                "Name": f"{namespace}_trajectory",
+                "Trajectory Topic": f"/{namespace}/display_planned_path_custom",
+                "State Display Time": "0.5s",
+            }
+        )
+
     @staticmethod
     def add_map(topic: str) -> None:
         """Add a map to the RViz configuration.
@@ -205,6 +271,22 @@ def add_polygon(topic: str) -> None:
             }
         )
 
+    @staticmethod
+    def add_markers(topic: str = "/rviz_markers") -> None:
+        """Add a MarkerArray display (e.g., for MoveItVisualTools).
+
+        Args:
+            topic (str): The topic of the MarkerArray.
+        """
+        Rviz.displays.append(
+            {
+                "Enabled": True,
+                "Class": "rviz_default_plugins/MarkerArray",
+                "Name": topic,
+                "Topic": {"Value": topic},
+            }
+        )
+
     @staticmethod
     def create_rviz_file() -> None:
         """Create the RViz configuration file."""
diff --git a/ros2_ws/src/rcdt_messages/srv/PoseStampedSrv.srv b/ros2_ws/src/rcdt_messages/srv/PoseStampedSrv.srv
new file mode 100644
index 00000000..bd1e77d6
--- /dev/null
+++ b/ros2_ws/src/rcdt_messages/srv/PoseStampedSrv.srv
@@ -0,0 +1,8 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+
+geometry_msgs/PoseStamped pose
+---
+bool success
\ No newline at end of file
diff --git a/ros2_ws/src/rcdt_moveit/include/moveit_manager.hpp b/ros2_ws/src/rcdt_moveit/include/moveit_manager.hpp
index d3a45a48..b1fa8916 100644
--- a/ros2_ws/src/rcdt_moveit/include/moveit_manager.hpp
+++ b/ros2_ws/src/rcdt_moveit/include/moveit_manager.hpp
@@ -3,7 +3,10 @@
 // # SPDX-License-Identifier: Apache-2.0
 
 #include <moveit_visual_tools/moveit_visual_tools.h>
+#include <tf2_ros/transform_broadcaster.h>
 
+#include <boost/process.hpp>
+#include <boost/process/group.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <moveit/move_group_interface/move_group_interface.hpp>
 #include <moveit/planning_scene_interface/planning_scene_interface.hpp>
@@ -15,24 +18,31 @@
 #include <rcdt_messages/srv/express_pose_in_other_frame.hpp>
 #include <rcdt_messages/srv/move_hand_to_pose.hpp>
 #include <rcdt_messages/srv/move_to_configuration.hpp>
+#include <rcdt_messages/srv/pose_stamped_srv.hpp>
 #include <rcdt_messages/srv/transform_goal_pose.hpp>
 #include <rclcpp/node.hpp>
+#include <rviz_visual_tools/rviz_visual_tools.hpp>
+#include <std_srvs/srv/set_bool.hpp>
 #include <std_srvs/srv/trigger.hpp>
+#include <string>
+
+#include "geometry_msgs/msg/transform_stamped.hpp"
 
 typedef rcdt_messages::srv::AddObject AddObject;
 typedef rcdt_messages::srv::AddMarker AddMarker;
 typedef rcdt_messages::srv::DefineGoalPose DefineGoalPose;
+typedef rcdt_messages::srv::ExpressPoseInOtherFrame ExpressPoseInOtherFrame;
 typedef rcdt_messages::srv::TransformGoalPose TransformGoalPose;
 typedef rcdt_messages::srv::MoveToConfiguration MoveToConf;
 typedef rcdt_messages::srv::MoveHandToPose MoveHandToPose;
+typedef rcdt_messages::srv::PoseStampedSrv PoseStampedSrv;
 typedef moveit_msgs::srv::ServoCommandType ServoCommandType;
 typedef std_srvs::srv::Trigger Trigger;
+typedef std_srvs::srv::SetBool SetBool;
 typedef geometry_msgs::msg::PoseStamped PoseStamped;
-typedef rcdt_messages::srv::ExpressPoseInOtherFrame ExpressPoseInOtherFrame;
+typedef geometry_msgs::msg::TransformStamped TransformStamped;
 
-/**
- * Class to interact with the Moveit framework.
- */
+/// Class to interact with the Moveit framework.
 class MoveitManager {
  public:
   /**
@@ -42,37 +52,80 @@ class MoveitManager {
   MoveitManager(rclcpp::Node::SharedPtr node);
 
  private:
-  rclcpp::Node::SharedPtr node; /**< ROS2 node with MoveIt Services */
-  rclcpp::Node::SharedPtr
-      client_node; /**< ROS2 node with ExpressPoseInOtherFrame Client */
-  moveit::planning_interface::MoveGroupInterface
-      move_group; /**< Interface for setting joint/pose goals */
-  moveit::planning_interface::PlanningSceneInterface
-      planning_scene_interface; /**< Interface for adding collision objects */
-  const moveit::core::JointModelGroup*
-      joint_model_group; /**< Joint models for planning trajectories */
-  moveit_visual_tools::MoveItVisualTools
-      moveit_visual_tools; /**< Visualization tools */
-  PoseStamped goal_pose;   /**< Goal pose to move end-effector to */
-
-  //   Definitions:
+  /// The main node
+  rclcpp::Node::SharedPtr node;
+  /// A separate node used to spin clients
+  rclcpp::Node::SharedPtr client_node;
+  /// Transform broadcaster
+  tf2_ros::TransformBroadcaster tf_broadcaster;
+  /// MoveGroup interface for motion planning and execution
+  moveit::planning_interface::MoveGroupInterface move_group;
+  /// Interface to control the planning scene
+  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
+  /// Joint model group for the arm
+  const moveit::core::JointModelGroup* jmg_arm;
+  /// Joint model group for the hand
+  const moveit::core::JointModelGroup* jmg_hand;
+  /// Joint model group for the TCP (tool center point)
+  const moveit::core::JointModelGroup* jmg_tcp;
+  /// Namespace of the arm
+  std::string namespace_arm;
+  /// Namespace of the camera
+  std::string namespace_camera;
+  /// The base frame of the robot
+  std::string base_frame = "map";
+  /// The marker topic for RViz visualization
+  std::string marker_topic = "/rviz_markers";
+  /// The current motion plan
+  moveit::planning_interface::MoveGroupInterface::Plan plan;
+  /// Tools for RViz visualization
+  rviz_visual_tools::RvizVisualTools rviz_visual_tools;
+  /// Tools for MoveIt visualization (in  RViz)
+  moveit_visual_tools::MoveItVisualTools moveit_visual_tools;
+  /// The goal pose for the end effector
+  PoseStamped goal_pose;
+  /// The arm-end pose in the TCP frame, used to publish EE markers.
+  PoseStamped arm_end_in_tcp_frame;
+  /// A handle to run a subprocess
+  boost::process::child process;
+  /// A group to manage multiple subprocesses
+  boost::process::group process_group;
+  /// A map to store basic shape types for MoveIt
   std::map<std::string, int> shapes = {
-      {"BOX", 1},
-      {"SPHERE", 2},
-      {"CYLINDER", 3},
-      {"CONE", 4}}; /**< Basic shape types for MoveIt */
-  std::set<std::string> pilz_types = {
-      "PTP", "LIN",
-      "CIRC"}; /**< Motion planning types (point-to-point, linear, circular) */
+      {"BOX", 1}, {"SPHERE", 2}, {"CYLINDER", 3}, {"CONE", 4}};
+  /// Motion planning types (point-to-point, linear, circular)
+  std::set<std::string> pilz_types = {"PTP", "LIN", "CIRC"};
 
-  //   Clients:
+  /// Client to transform a Pose in another coordinate frame
   rclcpp::Client<ExpressPoseInOtherFrame>::SharedPtr
-      express_pose_in_other_frame_client; /**< Client to transform a Pose in
-                                             another coordinate frame */
-
-  //   Services:
-  rclcpp::Service<AddObject>::SharedPtr
-      add_object_service; /**< Service to add collision object */
+      express_pose_in_other_frame_client;
+
+  /// Service to add collision object
+  rclcpp::Service<AddObject>::SharedPtr add_object_service;
+  /// Service to remove all collision objects
+  rclcpp::Service<Trigger>::SharedPtr clear_objects_service;
+  /// Service to toggle octomap scan
+  rclcpp::Service<SetBool>::SharedPtr toggle_octomap_scan_service;
+  /// Service to offset the goal_pose by a specified translation
+  rclcpp::Service<TransformGoalPose>::SharedPtr transform_goal_pose_service;
+  /// Service to define the goal_pose
+  rclcpp::Service<DefineGoalPose>::SharedPtr define_goal_pose_service;
+  /// Service to move to a specified configuration
+  rclcpp::Service<MoveToConf>::SharedPtr move_to_configuration_service;
+  /// Service to move hand to a specified goal Pose
+  rclcpp::Service<MoveHandToPose>::SharedPtr move_hand_to_pose_service;
+  /// Service to add a visual marker at a specified Pose
+  rclcpp::Service<AddMarker>::SharedPtr add_marker_service;
+  /// Service to clear visual markers
+  rclcpp::Service<Trigger>::SharedPtr clear_markers_service;
+  /// Service to visualize a specified grasp Pose
+  rclcpp::Service<PoseStampedSrv>::SharedPtr visualize_grasp_pose_service;
+  /// Service to create a motion plan
+  rclcpp::Service<PoseStampedSrv>::SharedPtr create_plan_service;
+  /// Service to visualize the current motion plan
+  rclcpp::Service<Trigger>::SharedPtr visualize_plan_service;
+  /// Service to execute the current motion plan
+  rclcpp::Service<Trigger>::SharedPtr execute_plan_service;
 
   /**
    * @brief Callback to add a collision object.
@@ -81,10 +134,6 @@ class MoveitManager {
    */
   void add_object(const std::shared_ptr<AddObject::Request> request,
                   std::shared_ptr<AddObject::Response> response);
-
-  rclcpp::Service<Trigger>::SharedPtr
-      clear_objects_service; /**< Service to remove all collision objects */
-
   /**
    * @brief Callback to clear collision objects.
    * @param request The Trigger request.
@@ -92,23 +141,20 @@ class MoveitManager {
    */
   void clear_objects(const std::shared_ptr<Trigger::Request> request,
                      std::shared_ptr<Trigger::Response> response);
-
-  rclcpp::Service<DefineGoalPose>::SharedPtr
-      define_goal_pose_service; /**< Service to define goal
-                                   pose for arm to move to */
-
   /**
-   * @brief Callback to define goal pose for arm to move to.
-   * @param request The DefineGoalPose request containing the goal pose.
+   * @brief Callback to toggle the octomap scan.
+   * @param request The request to enable or disable the scan.
+   * @param response Response indicating whether the service call succeeded.
+   */
+  void toggle_octomap_scan(const std::shared_ptr<SetBool::Request> request,
+                           std::shared_ptr<SetBool::Response> response);
+  /**
+   * @brief Callback to define the goal_pose in the base frame.
+   * @param request The DefineGoalPose request containing the desired pose.
    * @param response Response indicating whether the service call succeeded.
    */
   void define_goal_pose(const std::shared_ptr<DefineGoalPose::Request> request,
                         std::shared_ptr<DefineGoalPose::Response> response);
-
-  rclcpp::Service<TransformGoalPose>::SharedPtr
-      transform_goal_pose_service; /**< Service to offset the goal_pose by a
-                                      specified translation */
-
   /**
    * @brief Callback to offset goal_pose by a specified translation around a
    * specified axis.
@@ -119,11 +165,6 @@ class MoveitManager {
   void transform_goal_pose(
       const std::shared_ptr<TransformGoalPose::Request> request,
       std::shared_ptr<TransformGoalPose::Response> response);
-
-  rclcpp::Service<MoveToConf>::SharedPtr
-      move_to_configuration_service; /**< Service to move to a specified
-                                        configuration */
-
   /**
    * @brief Callback to move arm to a specified configuration (e.g. home).
    * @param request The MoveToConf request containing the configuration.
@@ -131,11 +172,6 @@ class MoveitManager {
    */
   void move_to_configuration(const std::shared_ptr<MoveToConf::Request> request,
                              std::shared_ptr<MoveToConf::Response> response);
-
-  rclcpp::Service<MoveHandToPose>::SharedPtr
-      move_hand_to_pose_service; /**< Service to move hand to
-                                    a specified goal Pose */
-
   /**
    * @brief Callback to move arm to a specified goal Pose.
    * @param request The MoveHandToPose request containing the goal Pose and Pilz
@@ -144,11 +180,6 @@ class MoveitManager {
    */
   void move_hand_to_pose(const std::shared_ptr<MoveHandToPose::Request> request,
                          std::shared_ptr<MoveHandToPose::Response> response);
-
-  rclcpp::Service<AddMarker>::SharedPtr
-      add_marker_service; /**< Service to add a visual marker at a
-                             specified Pose */
-
   /**
    * @brief Callback to add a visual marker at a specified location.
    * @param request The AddMarker request containing the Pose to add the visual
@@ -157,43 +188,62 @@ class MoveitManager {
    */
   void add_marker(const std::shared_ptr<AddMarker::Request> request,
                   std::shared_ptr<AddMarker::Response> response);
-
-  rclcpp::Service<Trigger>::SharedPtr
-      clear_markers_service; /**< Service to clear all visual markers. */
-
   /**
-   * @brief Callback to clear all visual markers.
-   * @param request The Trigger request to remove all visual markers.
+   * @brief Callback to clear visual markers.
+   * @param request The Trigger request.
    * @param response Response indicating whether the service call succeeded.
    */
   void clear_markers(const std::shared_ptr<Trigger::Request> request,
                      std::shared_ptr<Trigger::Response> response);
+  /**
+   * @brief Callback to visualize the desired grasp pose in RViz.
+   * @param request The request containing the desired grasp pose.
+   * @param response Response indicating whether the service call succeeded.
+   */
+  void visualize_grasp_pose(
+      const std::shared_ptr<PoseStampedSrv::Request> request,
+      std::shared_ptr<PoseStampedSrv::Response> response);
+  /**
+   * @brief Callback to create a motion plan to the desired goal pose.
+   * @param request The request containing the desired goal pose.
+   * @param response Response indicating whether the service call succeeded.
+   */
+  void create_plan(const std::shared_ptr<PoseStampedSrv::Request> request,
+                   std::shared_ptr<PoseStampedSrv::Response> response);
+  /**
+   * @brief Callback to visualize the planned motion in RViz.
+   * @param request The request containing the planned motion.
+   * @param response Response indicating whether the service call succeeded.
+   */
+  void visualize_plan(const std::shared_ptr<Trigger::Request> request,
+                      std::shared_ptr<Trigger::Response> response);
+  /**
+   * @brief Callback to execute the planned motion.
+   * @param request The request containing the planned motion.
+   * @param response Response indicating whether the service call succeeded.
+   */
+  void execute_plan(const std::shared_ptr<Trigger::Request> request,
+                    std::shared_ptr<Trigger::Response> response);
 
-  //   Methods:
   /**
-   * @brief Initializes the ExpressPoseInOtherFrame service client Node and
-   * Client.
+   * @brief Initialize clients.
    */
   void initialize_clients();
-
   /**
-   * @brief Initializes all MoveIt Services
+   * @brief Initialize services.
    */
   void initialize_services();
-
   /**
-   * @brief Method to change a specified Pose to a world-fixed frame.
-   * @param pose PoseStamped object to transform into world-fixed-frame.
-   * @return PoseStamped object transformed to world-fixed frame.
+   * @brief Change the frame of a pose.
+   * @param pose The pose to transform.
+   * @param target_frame The target frame to transform to.
+   * @return The transformed pose.
    */
-  PoseStamped change_frame_to_world(PoseStamped pose);
-
+  PoseStamped change_frame(PoseStamped pose, std::string target_frame = "");
   /**
-   * @brief Method that engages the move_group to plan a trajectory to the
-   * goal_pose.
-   * @param planning_type String containing the Pilz planning type
-   * (point-to-point, linear, circular).
-   * @return boolean indicating whether the planning succeeded or not.
+   * @brief Plan and execute a motion to the goal_pose.
+   * @param planning_type The type of planning to use.
+   * @return bool indicating success or failure.
    */
   bool plan_and_execute(std::string planning_type = "");
 };
diff --git a/ros2_ws/src/rcdt_moveit/launch/moveit.launch.py b/ros2_ws/src/rcdt_moveit/launch/moveit.launch.py
index 76b37021..d5970c0e 100644
--- a/ros2_ws/src/rcdt_moveit/launch/moveit.launch.py
+++ b/ros2_ws/src/rcdt_moveit/launch/moveit.launch.py
@@ -9,7 +9,8 @@
 from rcdt_utilities.launch_utils import LaunchArgument
 from rcdt_utilities.register import Register
 
-namespace_arg = LaunchArgument("namespace", "")
+namespace_arm_arg = LaunchArgument("namespace_arm", "")
+namespace_camera_arg = LaunchArgument("namespace_camera", "")
 
 
 def launch_setup(context: LaunchContext) -> list:
@@ -21,8 +22,9 @@ def launch_setup(context: LaunchContext) -> list:
     Returns:
         list: A list of actions to be executed in the launch description.
     """
-    namespace = namespace_arg.string_value(context)
-    configuration = Moveit.configurations[namespace]
+    namespace_arm = namespace_arm_arg.string_value(context)
+    namespace_camera = namespace_camera_arg.string_value(context)
+    configuration = Moveit.configurations[namespace_arm]
 
     # Parameters required for move_group:
     move_group_parameters = []
@@ -33,25 +35,28 @@ def launch_setup(context: LaunchContext) -> list:
     move_group_parameters.append(configuration.trajectory_execution)
     move_group_parameters.append(configuration.planning_pipelines)
     move_group_parameters.append(configuration.pilz_cartesian_limits)
+    move_group_parameters.append(configuration.sensors_3d)
+    move_group_parameters.append({"octomap_resolution": 0.02})
 
     # Parameters required for moveit_manager:
     moveit_manager_parameters = []
     moveit_manager_parameters.append(configuration.robot_description)
     moveit_manager_parameters.append(configuration.robot_description_semantic)
     moveit_manager_parameters.append(configuration.robot_description_kinematics)
+    moveit_manager_parameters.append({"namespace_camera": namespace_camera})
 
     # Parameters required for moveit_servo:
     moveit_servo_parameters = []
     moveit_servo_parameters.append(configuration.robot_description)
     moveit_servo_parameters.append(configuration.robot_description_semantic)
     moveit_servo_parameters.append(configuration.robot_description_kinematics)
-    moveit_servo_parameters.append(Moveit.servo_configurations[namespace])
+    moveit_servo_parameters.append(Moveit.servo_configurations[namespace_arm])
 
     move_group = Node(
         package="moveit_ros_move_group",
         executable="move_group",
         parameters=move_group_parameters,
-        namespace=namespace,
+        namespace=namespace_arm,
     )
 
     moveit_manager = Node(
@@ -59,14 +64,14 @@ def launch_setup(context: LaunchContext) -> list:
         executable="moveit_manager",
         output="screen",
         parameters=moveit_manager_parameters,
-        namespace=namespace,
+        namespace=namespace_arm,
     )
 
     moveit_servo = Node(
         package="moveit_servo",
         executable="servo_node",
         parameters=moveit_servo_parameters,
-        namespace=namespace,
+        namespace=namespace_arm,
     )
 
     switch_servo_type_to_twist = ExecuteProcess(
@@ -74,7 +79,7 @@ def launch_setup(context: LaunchContext) -> list:
             "ros2",
             "service",
             "call",
-            f"/{namespace}/servo_node/switch_command_type",
+            f"/{namespace_arm}/servo_node/switch_command_type",
             "moveit_msgs/srv/ServoCommandType",
             "{command_type: 1}",
         ]
@@ -100,7 +105,8 @@ def generate_launch_description() -> LaunchDescription:
     """
     return LaunchDescription(
         [
-            namespace_arg.declaration,
+            namespace_arm_arg.declaration,
+            namespace_camera_arg.declaration,
             OpaqueFunction(function=launch_setup),
         ]
     )
diff --git a/ros2_ws/src/rcdt_moveit/launch/relay_octomap.launch.py b/ros2_ws/src/rcdt_moveit/launch/relay_octomap.launch.py
new file mode 100644
index 00000000..3dafd75b
--- /dev/null
+++ b/ros2_ws/src/rcdt_moveit/launch/relay_octomap.launch.py
@@ -0,0 +1,66 @@
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from launch import LaunchContext, LaunchDescription
+from launch.actions import OpaqueFunction
+from launch_ros.actions import Node
+from rcdt_utilities.launch_utils import LaunchArgument
+
+namespace_arm_arg = LaunchArgument("namespace_arm", "")
+namespace_camera_arg = LaunchArgument("namespace_camera", "")
+
+
+def launch_setup(context: LaunchContext) -> list:
+    """This launch file starts two topic_tools relay nodes to pass depth images and camera info from a camera to an arm.
+
+    A move_group of the arm can use these topics to build an octomap.
+    This launch file is launched as a separate process from the MoveitManager class.
+
+    Args:
+        context (LaunchContext): The launch context.
+
+    Returns:
+        list: A list of actions to be executed in the launch description.
+    """
+    namespace_arm = namespace_arm_arg.string_value(context)
+    namespace_camera = namespace_camera_arg.string_value(context)
+
+    relay_depth_image = Node(
+        package="topic_tools",
+        executable="relay",
+        name="relay_depth_image",
+        namespace=namespace_arm,
+        arguments=[
+            f"/{namespace_camera}/depth/image_rect_raw",
+            f"/{namespace_arm}/octomap/depth_image",
+        ],
+    )
+
+    relay_camera_info = Node(
+        package="topic_tools",
+        executable="relay",
+        name="relay_camera_info",
+        namespace=namespace_arm,
+        arguments=[
+            f"/{namespace_camera}/depth/camera_info",
+            f"/{namespace_arm}/octomap/camera_info",
+        ],
+    )
+
+    return [relay_depth_image, relay_camera_info]
+
+
+def generate_launch_description() -> LaunchDescription:
+    """Generate the launch description.
+
+    Returns:
+        LaunchDescription: The launch description.
+    """
+    return LaunchDescription(
+        [
+            namespace_arm_arg.declaration,
+            namespace_camera_arg.declaration,
+            OpaqueFunction(function=launch_setup),
+        ]
+    )
diff --git a/ros2_ws/src/rcdt_moveit/src/moveit_manager.cpp b/ros2_ws/src/rcdt_moveit/src/moveit_manager.cpp
index 0e8aca95..c03c354e 100644
--- a/ros2_ws/src/rcdt_moveit/src/moveit_manager.cpp
+++ b/ros2_ws/src/rcdt_moveit/src/moveit_manager.cpp
@@ -5,28 +5,49 @@
 #include "moveit_manager.hpp"
 
 #include <moveit/move_group_interface/move_group_interface.hpp>
+#include <moveit/robot_state/robot_state.hpp>
 #include <rclcpp/executors/multi_threaded_executor.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/node_options.hpp>
+#include <rclcpp/parameter_value.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <vector>
 
 using std::placeholders::_1;
 using std::placeholders::_2;
 
 MoveitManager::MoveitManager(rclcpp::Node::SharedPtr node_)
     : node(node_),
+      tf_broadcaster(node),
       move_group(
           node,
           moveit::planning_interface::MoveGroupInterface::Options(
-              "fr3_arm",
+              "arm",
               moveit::planning_interface::MoveGroupInterface::ROBOT_DESCRIPTION,
               node->get_namespace())),
-      moveit_visual_tools(node, "base", "/rviz_markers") {
+      rviz_visual_tools(base_frame, marker_topic, node),
+      moveit_visual_tools(node, base_frame, marker_topic) {
+  initialize_clients();
+
+  namespace_arm = std::string(node->get_namespace()).erase(0, 1);
+  namespace_camera = node->get_parameter("namespace_camera").as_string();
+
+  jmg_arm = move_group.getRobotModel()->getJointModelGroup("arm");
+  jmg_hand = move_group.getRobotModel()->getJointModelGroup("hand");
+  jmg_tcp = move_group.getRobotModel()->getJointModelGroup("tcp");
+
   moveit_visual_tools.loadMarkerPub(false);
-  move_group.setEndEffectorLink("fr3_hand");
-  joint_model_group = move_group.getRobotModel()->getJointModelGroup("fr3_arm");
+  moveit_visual_tools.loadRobotStatePub("display_robot_state");
+  moveit_visual_tools.loadTrajectoryPub("display_planned_path_custom");
+
+  auto link_tcp = jmg_tcp->getLinkModelNames().back();
+  move_group.setEndEffectorLink(link_tcp);
+
+  auto link_arm_end = jmg_arm->getLinkModelNames().back();
+  PoseStamped arm_end_in_arm_frame;
+  arm_end_in_arm_frame.header.frame_id = link_arm_end;
+  arm_end_in_tcp_frame = change_frame(arm_end_in_arm_frame, link_tcp);
 
-  initialize_clients();
   initialize_services();
 };
 
@@ -45,6 +66,10 @@ void MoveitManager::initialize_services() {
       "~/clear_objects",
       std::bind(&MoveitManager::clear_objects, this, _1, _2));
 
+  toggle_octomap_scan_service = node->create_service<SetBool>(
+      "~/toggle_octomap_scan",
+      std::bind(&MoveitManager::toggle_octomap_scan, this, _1, _2));
+
   define_goal_pose_service = node->create_service<DefineGoalPose>(
       "~/define_goal_pose",
       std::bind(&MoveitManager::define_goal_pose, this, _1, _2));
@@ -64,6 +89,20 @@ void MoveitManager::initialize_services() {
   add_marker_service = node->create_service<AddMarker>(
       "~/add_marker", std::bind(&MoveitManager::add_marker, this, _1, _2));
 
+  visualize_grasp_pose_service = node->create_service<PoseStampedSrv>(
+      "~/visualize_grasp_pose",
+      std::bind(&MoveitManager::visualize_grasp_pose, this, _1, _2));
+
+  create_plan_service = node->create_service<PoseStampedSrv>(
+      "~/create_plan", std::bind(&MoveitManager::create_plan, this, _1, _2));
+
+  visualize_plan_service = node->create_service<Trigger>(
+      "~/visualize_plan",
+      std::bind(&MoveitManager::visualize_plan, this, _1, _2));
+
+  execute_plan_service = node->create_service<Trigger>(
+      "~/execute_plan", std::bind(&MoveitManager::execute_plan, this, _1, _2));
+
   clear_markers_service = node->create_service<Trigger>(
       "~/clear_markers",
       std::bind(&MoveitManager::clear_markers, this, _1, _2));
@@ -84,12 +123,14 @@ void MoveitManager::add_object(
     return;
   }
 
+  std::vector<moveit_msgs::msg::CollisionObject> collision_objects;
   solid_primitive.dimensions = {request->d1, request->d2, request->d3};
   collision_object.primitives.push_back(solid_primitive);
   collision_object.primitive_poses.push_back(request->pose.pose);
   collision_object.operation = collision_object.ADD;
   collision_object.id = "object";
-  planning_scene_interface.applyCollisionObject(collision_object);
+  collision_objects.push_back(collision_object);
+  planning_scene_interface.addCollisionObjects(collision_objects);
   response->success = true;
 };
 
@@ -100,10 +141,50 @@ void MoveitManager::clear_objects(
   response->success = true;
 };
 
+/**
+ * Toggle the octomap scan by running a launch file with topic_tools relay nodes
+ * as a boost process. These relay nodes pass the depth_image and
+ * camera_info to the topic where MoveIt octomap is subscribed. We use
+ * topic_tools relay for performance, since this does not perform serialization
+ * on the messages. We create a process group and terminate the whole group
+ * instead of the process, since terminating a single process may leave child
+ * processes running.
+ */
+void MoveitManager::toggle_octomap_scan(
+    const std::shared_ptr<SetBool::Request> request,
+    std::shared_ptr<SetBool::Response> response) {
+  if (namespace_camera.empty()) {
+    RCLCPP_ERROR(node->get_logger(),
+                 "Namespace of camera is not set. Cannot toggle octomap scan.");
+    return;
+  }
+  auto cmd = fmt::format(
+      "ros2 launch rcdt_moveit relay_octomap.launch.py "
+      "namespace_arm:={} namespace_camera:={}",
+      namespace_arm, namespace_camera);
+  if (request->data) {
+    if (process.running()) {
+      RCLCPP_WARN(node->get_logger(),
+                  "Cannot enable octomap scan: already active.");
+      return;
+    }
+    process = boost::process::child(cmd, process_group);
+    RCLCPP_INFO(node->get_logger(), "Octomap scan enabled.");
+  } else {
+    if (!process.running()) {
+      RCLCPP_WARN(node->get_logger(),
+                  "Cannot disable octomap scan: not active.");
+      return;
+    }
+    process_group.terminate();
+    RCLCPP_INFO(node->get_logger(), "Octomap scan disabled.");
+  }
+};
+
 void MoveitManager::define_goal_pose(
     const std::shared_ptr<DefineGoalPose::Request> request,
     std::shared_ptr<DefineGoalPose::Response> response) {
-  auto pose = change_frame_to_world(request->pose);
+  auto pose = change_frame(request->pose);
   goal_pose = pose;
   response->success = true;
 };
@@ -155,7 +236,7 @@ bool MoveitManager::plan_and_execute(std::string planning_type) {
 
   moveit_visual_tools.deleteAllMarkers("Path");
   moveit_visual_tools.deleteAllMarkers("Sphere");
-  moveit_visual_tools.publishTrajectoryLine(plan.trajectory, joint_model_group);
+  moveit_visual_tools.publishTrajectoryLine(plan.trajectory, jmg_arm);
   moveit_visual_tools.trigger();
 
   error_code = move_group.execute(plan);
@@ -166,10 +247,14 @@ bool MoveitManager::plan_and_execute(std::string planning_type) {
   return true;
 };
 
-PoseStamped MoveitManager::change_frame_to_world(PoseStamped pose) {
+PoseStamped MoveitManager::change_frame(PoseStamped pose,
+                                        std::string target_frame) {
+  if (target_frame == "") {
+    target_frame = base_frame;
+  }
   auto request = std::make_shared<ExpressPoseInOtherFrame::Request>();
   request->pose = pose;
-  request->target_frame = "world";
+  request->target_frame = target_frame;
   auto future = express_pose_in_other_frame_client->async_send_request(request);
   rclcpp::spin_until_future_complete(client_node, future);
   auto response = future.get();
@@ -179,12 +264,75 @@ PoseStamped MoveitManager::change_frame_to_world(PoseStamped pose) {
 void MoveitManager::add_marker(
     const std::shared_ptr<AddMarker::Request> request,
     std::shared_ptr<AddMarker::Response> response) {
-  auto pose = change_frame_to_world(request->marker_pose);
+  auto pose = change_frame(request->marker_pose);
   moveit_visual_tools.publishAxis(pose.pose);
   moveit_visual_tools.trigger();
   response->success = true;
 };
 
+void MoveitManager::visualize_grasp_pose(
+    const std::shared_ptr<PoseStampedSrv::Request> request,
+    std::shared_ptr<PoseStampedSrv::Response> response) {
+  // Broadcast a tf frame at the desired Tool Center Point location:
+  TransformStamped tf;
+  tf.header = request->pose.header;
+  tf.header.stamp = node->now();
+  tf.transform.translation.x = request->pose.pose.position.x;
+  tf.transform.translation.y = request->pose.pose.position.y;
+  tf.transform.translation.z = request->pose.pose.position.z;
+  tf.transform.rotation = request->pose.pose.orientation;
+  tf.child_frame_id = "desired_tcp";
+  tf_broadcaster.sendTransform(tf);
+
+  // Define the arm_end_link in the desired_tcp_frame and convert to base:
+  PoseStamped arm_end_in_desired_tcp_frame;
+  arm_end_in_desired_tcp_frame.header.frame_id = "desired_tcp";
+  arm_end_in_desired_tcp_frame.pose = arm_end_in_tcp_frame.pose;
+  auto arm_end_in_base_frame = change_frame(arm_end_in_desired_tcp_frame);
+
+  // Publish the End Effector marker:
+  std::vector<double> positions = {0.04};
+  moveit_visual_tools.publishEEMarkers(arm_end_in_base_frame.pose, jmg_hand,
+                                       positions, rviz_visual_tools::BLUE);
+  response->success = true;
+}
+
+void MoveitManager::create_plan(
+    const std::shared_ptr<PoseStampedSrv::Request> request,
+    std::shared_ptr<PoseStampedSrv::Response> response) {
+  move_group.setPoseTarget(request->pose);
+  auto error_code = move_group.plan(plan);
+  if (error_code != moveit::core::MoveItErrorCode::SUCCESS) {
+    RCLCPP_ERROR(node->get_logger(), "Failed to generate plan.");
+  }
+
+  // Visualize the goal state in RViz:
+  auto goal_positions =
+      plan.trajectory.joint_trajectory.points.back().positions;
+  moveit::core::RobotState goal_state(move_group.getRobotModel());
+  goal_state.setJointGroupPositions(jmg_arm, goal_positions);
+  moveit_visual_tools.publishRobotState(goal_state, rviz_visual_tools::ORANGE);
+  response->success = true;
+}
+
+void MoveitManager::visualize_plan(
+    const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
+    std::shared_ptr<std_srvs::srv::Trigger::Response> response) {
+  moveit::core::RobotState state(move_group.getRobotModel());
+  moveit_visual_tools.publishTrajectoryPath(plan.trajectory, state);
+  response->success = true;
+}
+
+void MoveitManager::execute_plan(
+    const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
+    std::shared_ptr<std_srvs::srv::Trigger::Response> response) {
+  auto error_code = move_group.execute(plan);
+  response->success = (error_code == moveit::core::MoveItErrorCode::SUCCESS);
+  if (!response->success) {
+    RCLCPP_ERROR(node->get_logger(), "Failed to execute plan.");
+  }
+}
+
 void MoveitManager::clear_markers(
     const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
     std::shared_ptr<std_srvs::srv::Trigger::Response> response) {
diff --git a/ros2_ws/src/rcdt_utilities/CMakeLists.txt b/ros2_ws/src/rcdt_utilities/CMakeLists.txt
index b019a62a..1b619a28 100644
--- a/ros2_ws/src/rcdt_utilities/CMakeLists.txt
+++ b/ros2_ws/src/rcdt_utilities/CMakeLists.txt
@@ -22,6 +22,12 @@ find_package(rcdt_messages REQUIRED)
 # Python package:
 ament_python_install_package(${PROJECT_NAME})
 
+# Python executables:
+install(
+  DIRECTORY src_py/
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 # C++ executables:
 include_directories(include)
 
diff --git a/ros2_ws/src/rcdt_utilities/launch/rviz.launch.py b/ros2_ws/src/rcdt_utilities/launch/rviz.launch.py
index 7003164d..456903d8 100644
--- a/ros2_ws/src/rcdt_utilities/launch/rviz.launch.py
+++ b/ros2_ws/src/rcdt_utilities/launch/rviz.launch.py
@@ -29,7 +29,14 @@ def launch_setup(context: LaunchContext) -> list:
     if os.path.isfile(file_name):
         arguments.extend(["--display-config", file_name])
 
-    if Rviz.load_motion_planning_plugin:
+    if any(
+        [
+            Rviz.load_motion_planning_plugin,
+            Rviz.load_planning_scene,
+            Rviz.load_robot_state,
+            Rviz.load_trajectory,
+        ]
+    ):
         for namespace in Rviz.moveit_namespaces:
             configuration = Moveit.configurations[namespace]
 
diff --git a/ros2_ws/src/rcdt_utilities/src_py/simple_gui.py b/ros2_ws/src/rcdt_utilities/src_py/simple_gui.py
new file mode 100755
index 00000000..64c9d86b
--- /dev/null
+++ b/ros2_ws/src/rcdt_utilities/src_py/simple_gui.py
@@ -0,0 +1,177 @@
+#!/usr/bin/env python3
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import threading
+
+import rclpy
+from geometry_msgs.msg import PoseStamped
+from nicegui import app, ui
+from rcdt_messages.srv import MoveToConfiguration, PoseStampedSrv
+from rcdt_utilities.launch_utils import spin_node
+from rclpy.node import Node
+from std_srvs.srv import Empty, SetBool, Trigger
+
+TIMEOUT = 3
+
+EXAMPLE_POSE = PoseStamped()
+EXAMPLE_POSE.header.frame_id = "map"
+EXAMPLE_POSE.pose.position.x = 0.4
+EXAMPLE_POSE.pose.position.z = 0.1
+EXAMPLE_POSE.pose.orientation.x = 1.0
+EXAMPLE_POSE.pose.orientation.w = 0.0
+
+
+class UI(Node):
+    """Node of the UI."""
+
+    def __init__(self):
+        """Initialize the node."""
+        super().__init__("simple_gui")
+        self.declare_parameter("namespace", "")
+        self.namespace = (
+            self.get_parameter("namespace").get_parameter_value().string_value
+        )
+        if not self.namespace:
+            self.get_logger().error("Namespace parameter is not set.")
+            return
+        self.create_clients()
+        self.setup_gui()
+
+    def create_clients(self) -> None:
+        """Create the service clients."""
+        self.move_to_configuration_client = self.create_client(
+            MoveToConfiguration,
+            f"/{self.namespace}/moveit_manager/move_to_configuration",
+        )
+        self.toggle_octomap_scan_client = self.create_client(
+            SetBool, f"/{self.namespace}/moveit_manager/toggle_octomap_scan"
+        )
+        self.clear_octomap_client = self.create_client(
+            Empty, f"/{self.namespace}/clear_octomap"
+        )
+        self.visualize_grasp_pose_client = self.create_client(
+            PoseStampedSrv, f"/{self.namespace}/moveit_manager/visualize_grasp_pose"
+        )
+        self.create_plan_client = self.create_client(
+            PoseStampedSrv, f"/{self.namespace}/moveit_manager/create_plan"
+        )
+        self.visualize_plan_client = self.create_client(
+            Trigger, f"/{self.namespace}/moveit_manager/visualize_plan"
+        )
+        self.execute_plan_client = self.create_client(
+            Trigger, f"/{self.namespace}/moveit_manager/execute_plan"
+        )
+
+    def setup_gui(self) -> None:
+        """Setup the GUI pages."""
+
+        @ui.page("/")
+        def page() -> None:
+            """Setup the page of the GUI."""
+            with ui.card().classes("items-center"):
+                ui.label("Arm").classes("text-xl ")
+                with ui.card().classes("items-center full-width"):
+                    ui.label("Basic Control").classes("text-lg")
+                    with ui.row():
+                        ui.button("Home", on_click=self.home)
+                with ui.card().classes("items-center full-width"):
+                    ui.label("Octomap Scan").classes("text-lg")
+                    with ui.row():
+                        ui.button(
+                            "Start", on_click=lambda: self.toggle_octomap_scan(True)
+                        )
+                        ui.button(
+                            "Stop", on_click=lambda: self.toggle_octomap_scan(False)
+                        )
+                        ui.button("Clear", on_click=self.clear_octomap)
+                with ui.card().classes("items-center full-width"):
+                    ui.label("Grasp Pose").classes("text-lg")
+                    ui.button("Visualize", on_click=self.visualize_grasp_pose)
+                with ui.card().classes("items-center full-width"):
+                    ui.label("End-effector Plan").classes("text-lg")
+                    with ui.row():
+                        ui.button("Create", on_click=self.create_plan)
+                        ui.button("Visualize", on_click=self.visualize_plan)
+                        ui.button("Execute", on_click=self.execute_plan)
+
+    def home(self) -> None:
+        """Move the robot to the home configuration."""
+        request = MoveToConfiguration.Request()
+        request.configuration = "home"
+        if self.move_to_configuration_client.call(request, TIMEOUT) is None:
+            self.get_logger().error("Failed to call move to configuration service.")
+        else:
+            self.get_logger().info("Successfully called move to configuration service.")
+
+    def toggle_octomap_scan(self, enable: bool) -> None:
+        """Enable or disable octomap scanning.
+
+        Args:
+            enable (bool): True to enable scanning, False to disable.
+        """
+        request = SetBool.Request()
+        request.data = enable
+
+        if self.toggle_octomap_scan_client.call(request, TIMEOUT) is None:
+            self.get_logger().error("Failed to call toggle octomap scan service.")
+        else:
+            self.get_logger().info("Successfully called toggle octomap scan service.")
+
+    def clear_octomap(self) -> None:
+        """Clear the octomap."""
+        if self.clear_octomap_client.call(Empty.Request(), TIMEOUT) is None:
+            self.get_logger().error("Failed to call clear octomap service.")
+        else:
+            self.get_logger().info("Successfully called clear octomap service.")
+
+    def visualize_grasp_pose(self) -> None:
+        """Visualize the grasp pose in Rviz."""
+        request = PoseStampedSrv.Request()
+        request.pose = EXAMPLE_POSE
+        if self.visualize_grasp_pose_client.call(request, TIMEOUT) is None:
+            self.get_logger().error("Failed to call visualize gripper pose service.")
+        else:
+            self.get_logger().info(
+                "Successfully called visualize gripper pose service."
+            )
+
+    def visualize_plan(self) -> None:
+        """Visualize the plan in Rviz."""
+        if self.visualize_plan_client.call(Trigger.Request(), TIMEOUT) is None:
+            self.get_logger().error("Failed to call visualize plan service.")
+        else:
+            self.get_logger().info("Successfully called visualize plan service.")
+
+    def create_plan(self) -> None:
+        """Create a plan to reach the grasp pose."""
+        request = PoseStampedSrv.Request()
+        request.pose = EXAMPLE_POSE
+        if self.create_plan_client.call(request, TIMEOUT) is None:
+            self.get_logger().error("Failed to call create plan service.")
+        else:
+            self.get_logger().info("Successfully called create plan service.")
+
+    def execute_plan(self) -> None:
+        """Execute the plan."""
+        if self.execute_plan_client.call(Trigger.Request(), TIMEOUT) is None:
+            self.get_logger().error("Failed to call execute plan service.")
+        else:
+            self.get_logger().info("Successfully called execute plan service.")
+
+
+def ros_main(args: list | None = None) -> None:
+    """Main function to initialize the ROS 2 node and start the executor.
+
+    Args:
+        args (list | None): Command line arguments, defaults to None.
+    """
+    rclpy.init(args=args)
+    node = UI()
+    spin_node(node)
+
+
+app.on_startup(lambda: threading.Thread(target=ros_main).start())
+ui.run()
diff --git a/uv.lock b/uv.lock
index 302de07d..1cffd75e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -7,6 +7,71 @@ resolution-markers = [
     "(platform_machine != 'aarch64' and sys_platform == 'linux') or (sys_platform != 'darwin' and sys_platform != 'linux')",
 ]
 
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+[[package]]
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