diff --git a/baxter_gazebo/launch/baxter_world.launch b/baxter_gazebo/launch/baxter_world.launch
index ac43ae6..62c45c9 100644
--- a/baxter_gazebo/launch/baxter_world.launch
+++ b/baxter_gazebo/launch/baxter_world.launch
@@ -19,7 +19,7 @@
              to launching baxter_world -->
   <arg name="load_robot_description" default="true"/>
   <param if="$(arg load_robot_description)" name="robot_description"
-      command="$(find xacro)/xacro.py --inorder $(find baxter_description)/urdf/baxter.urdf.xacro gazebo:=true"/>
+      command="$(find xacro)/xacro $(find baxter_description)/urdf/baxter.urdf.xacro gazebo:=true"/>
 
   <!-- We resume the logic in empty_world.launch, changing the name of the world to be launched -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
diff --git a/baxter_sim_hardware/src/baxter_emulator.cpp b/baxter_sim_hardware/src/baxter_emulator.cpp
index 4b51f47..c402e6b 100644
--- a/baxter_sim_hardware/src/baxter_emulator.cpp
+++ b/baxter_sim_hardware/src/baxter_emulator.cpp
@@ -318,7 +318,7 @@ void baxter_emulator::publish(const std::string &img_path) {
   // Read OpenCV Mat image and convert it to ROS message
   cv_bridge::CvImagePtr cv_ptr(new cv_bridge::CvImage);
   try {
-    cv_ptr->image = cv::imread(img_path, CV_LOAD_IMAGE_UNCHANGED);
+    cv_ptr->image = cv::imread(img_path, cv::IMREAD_UNCHANGED);
     if (cv_ptr->image.data) {
       cv_ptr->encoding = sensor_msgs::image_encodings::BGR8;
       sleep(IMG_LOAD_ON_STARTUP_DELAY);  // Wait for the model to load
diff --git a/baxter_sim_io/CMakeLists.txt b/baxter_sim_io/CMakeLists.txt
index ac596f7..dafe135 100644
--- a/baxter_sim_io/CMakeLists.txt
+++ b/baxter_sim_io/CMakeLists.txt
@@ -12,7 +12,7 @@ project(baxter_sim_io)
 # qt_build provides the qt cmake glue, roscpp the comms for a default talker
 #find_package(catkin REQUIRED COMPONENTS qt_build roscpp baxter_core_msgs)
 find_package(catkin REQUIRED COMPONENTS roscpp baxter_core_msgs)
-find_package(Qt4 REQUIRED COMPONENTS QtCore QtGui)
+find_package(Qt5Widgets)
 include_directories(${catkin_INCLUDE_DIRS})
 # Use this to define what the package will export (e.g. libs, headers).
 # Since the default here is to produce only a binary, we don't worry about
@@ -38,16 +38,15 @@ include_directories(include
 ##############################################################################
 # Sections
 ##############################################################################
-include(${QT_USE_FILE})
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 file(GLOB QT_FORMS RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ui/*.ui)
 file(GLOB QT_RESOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} resources/*.qrc)
 file(GLOB_RECURSE QT_MOC RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINKS include/baxter_sim_io/*.hpp)
 
-QT4_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
-QT4_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
-QT4_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
+QT5_ADD_RESOURCES(QT_RESOURCES_CPP ${QT_RESOURCES})
+QT5_WRAP_UI(QT_FORMS_HPP ${QT_FORMS})
+QT5_WRAP_CPP(QT_MOC_HPP ${QT_MOC})
 
 ##############################################################################
 # Sources
@@ -60,7 +59,9 @@ file(GLOB_RECURSE QT_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} FOLLOW_SYMLINK
 ##############################################################################
 
 add_executable(baxter_sim_io ${QT_SOURCES} ${QT_RESOURCES_CPP} ${QT_FORMS_HPP} ${QT_MOC_HPP})
-target_link_libraries(baxter_sim_io ${QT_LIBRARIES} ${ROS_LIBRARIES} ${catkin_LIBRARIES})
+target_link_libraries(baxter_sim_io ${ROS_LIBRARIES} ${catkin_LIBRARIES})
+
+qt5_use_modules(baxter_sim_io Widgets)
 
 add_dependencies(baxter_sim_io baxter_core_msgs_gencpp)
 
diff --git a/baxter_sim_io/include/baxter_sim_io/baxter_io.hpp b/baxter_sim_io/include/baxter_sim_io/baxter_io.hpp
index 5e72d24..b06d307 100644
--- a/baxter_sim_io/include/baxter_sim_io/baxter_io.hpp
+++ b/baxter_sim_io/include/baxter_sim_io/baxter_io.hpp
@@ -35,7 +35,7 @@
 #ifndef BAXTER_SIM_IO_BAXTER_IO_H
 #define BAXTER_SIM_IO_BAXTER_IO_H
 
-#include <QtGui/QMainWindow>
+#include <QtWidgets/QMainWindow>
 #include <QBitmap>
 #include <QPushButton>
 #include "ui_baxter_io.h"
diff --git a/baxter_sim_io/include/baxter_sim_io/qnode.hpp b/baxter_sim_io/include/baxter_sim_io/qnode.hpp
index 24696b6..f67f02a 100644
--- a/baxter_sim_io/include/baxter_sim_io/qnode.hpp
+++ b/baxter_sim_io/include/baxter_sim_io/qnode.hpp
@@ -34,12 +34,15 @@
 #ifndef baxter_sim_io_QNODE_HPP_
 #define baxter_sim_io_QNODE_HPP_
 
+#ifndef Q_MOC_RUN
 #include <ros/ros.h>
+#include <baxter_core_msgs/NavigatorState.h>
+#include <baxter_core_msgs/DigitalIOState.h>
+#endif
+
 #include <string>
 #include <QThread>
 #include <QStringListModel>
-#include <baxter_core_msgs/NavigatorState.h>
-#include <baxter_core_msgs/DigitalIOState.h>
 
 namespace baxter_sim_io {
 
diff --git a/baxter_sim_io/package.xml b/baxter_sim_io/package.xml
index 6937b2c..b88ba97 100644
--- a/baxter_sim_io/package.xml
+++ b/baxter_sim_io/package.xml
@@ -13,11 +13,11 @@
   <buildtool_depend>catkin</buildtool_depend>
   <!--build_depend>qt_build</build_depend-->
   <build_depend>roscpp</build_depend>
-  <build_depend>libqt4-dev</build_depend>
+  <build_depend>qtbase5-dev</build_depend>
   <build_depend>baxter_core_msgs</build_depend>
   <!--run_depend>qt_build</run_depend-->
   <run_depend>roscpp</run_depend>
-  <run_depend>libqt4-dev</run_depend>
+  <run_depend>qtbase5-dev</run_depend>
   <run_depend>baxter_core_msgs</run_depend>
  
 </package>
diff --git a/baxter_sim_kinematics/src/arm_kinematics.cpp b/baxter_sim_kinematics/src/arm_kinematics.cpp
index 24d7b0d..92e85c0 100644
--- a/baxter_sim_kinematics/src/arm_kinematics.cpp
+++ b/baxter_sim_kinematics/src/arm_kinematics.cpp
@@ -34,6 +34,9 @@
 #include <cstring>
 #include <ros/ros.h>
 #include <baxter_sim_kinematics/arm_kinematics.h>
+#if ROS_VERSION_MINIMUM(1, 14, 0)  //Melodic
+#include <memory>
+#endif
 
 namespace arm_kinematics {
 
@@ -245,8 +248,13 @@ bool Kinematics::loadModel(const std::string xml) {
  */
 bool Kinematics::readJoints(urdf::Model &robot_model) {
   num_joints = 0;
+  #if ROS_VERSION_MINIMUM(1, 14, 0)  // Melodic
+  std::shared_ptr<const urdf::Link> link = robot_model.getLink(tip_name);
+  std::shared_ptr<const urdf::Joint> joint;
+  #else
   boost::shared_ptr<const urdf::Link> link = robot_model.getLink(tip_name);
   boost::shared_ptr<const urdf::Joint> joint;
+  #endif
   for (int i = 0; i < chain.getNrOfSegments(); i++)
     while (link && link->name != root_name) {
       if (!(link->parent_joint)) {