diff --git a/recipes-ros/robot-state-publisher/robot-state-publisher_1.9.9.bb b/recipes-ros/robot-state-publisher/robot-state-publisher_1.9.9.bb
new file mode 100644
index 0000000000000000000000000000000000000000..e9437be6330e686bd271b69593a4a15117c14cd8
--- /dev/null
+++ b/recipes-ros/robot-state-publisher/robot-state-publisher_1.9.9.bb
@@ -0,0 +1,14 @@
+DESCRIPTION = "This package allows you to publish the state of a robot to tf."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=17;endline=17;md5=5ee5b8b046ae48ad94a2037ca953a67b"
+
+DEPENDS = "libeigen kdl-parser rosconsole roscpp rostime sensor-msgs tf tf-conversions"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "2315f637a70871bb460d6365a240741f"
+SRC_URI[sha256sum] = "7b1321f8e26352c0fc8558ddabfc86897613ac16834fb83d8696ff7d6dd973b5"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit catkin