diff --git a/recipes-ros/cmake-modules/cmake-modules/0001-Fix-the-path-added-to-CMAKE_MODULE_PATH.patch b/recipes-ros/cmake-modules/cmake-modules/0001-Fix-the-path-added-to-CMAKE_MODULE_PATH.patch
new file mode 100644
index 0000000000000000000000000000000000000000..99b5cbf9d1626911eb5db98fdbe02bb4862b076b
--- /dev/null
+++ b/recipes-ros/cmake-modules/cmake-modules/0001-Fix-the-path-added-to-CMAKE_MODULE_PATH.patch
@@ -0,0 +1,22 @@
+From 47c18f75d6a3950836d64b77d7e415ecca3755e9 Mon Sep 17 00:00:00 2001
+From: vmayoral <v.mayoralv@gmail.com>
+Date: Fri, 20 Sep 2013 13:22:53 +0200
+Subject: [PATCH] Fix the path added to CMAKE_MODULE_PATH.
+
+@CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@ have been
+replaced with "${cmake_modules_DIR}/.." to make the module work.
+---
+ cmake/cmake_modules-extras.cmake.installspace.in | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/cmake/cmake_modules-extras.cmake.installspace.in b/cmake/cmake_modules-extras.cmake.installspace.in
+index a4cd265..0701f02 100644
+--- a/cmake/cmake_modules-extras.cmake.installspace.in
++++ b/cmake/cmake_modules-extras.cmake.installspace.in
+@@ -1,2 +1,2 @@
+ # Prepend the installed cmake modules to the cmake module path
+-list(INSERT CMAKE_MODULE_PATH 0 @CMAKE_INSTALL_PREFIX@/@CATKIN_PACKAGE_SHARE_DESTINATION@/cmake/Modules)
++list(INSERT CMAKE_MODULE_PATH 0 ${cmake_modules_DIR}/../cmake/Modules)
+--
+1.7.9.5
+
diff --git a/recipes-ros/cmake-modules/cmake-modules_0.1.0.bb b/recipes-ros/cmake-modules/cmake-modules_0.1.0.bb
new file mode 100644
index 0000000000000000000000000000000000000000..6fafc7c464530aba85c48498213812bb809e3959
--- /dev/null
+++ b/recipes-ros/cmake-modules/cmake-modules_0.1.0.bb
@@ -0,0 +1,17 @@
+DESCRIPTION = "A common repository for CMake Modules which are not \
+distributed with CMake but are commonly used by ROS packages."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "988ce2ea80d375eebe36984c39b948d4"
+SRC_URI[sha256sum] = "5ba9d987fad3ee781ca1b85af7cc07567b8f955346b4beb2c0b5140cf10b2a16"
+
+SRC_URI += "file://0001-Fix-the-path-added-to-CMAKE_MODULE_PATH.patch;striplevel=1;name=patch"
+SRC_URI[patch.md5sum] = "eba3a7eda081516f2113d6db70e881df"
+SRC_URI[patch.sha256sum] = "164a8e9d8595856be6a1523fa9ecc0c329961bb89bde2045fefc21306aae6de4"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit catkin
diff --git a/recipes-ros/collada-dom/collada-dom_2.4.0.bb b/recipes-ros/collada-dom/collada-dom_2.4.0.bb
new file mode 100644
index 0000000000000000000000000000000000000000..d1178d7d502eb1089deb555ce50b23b4d341b74c
--- /dev/null
+++ b/recipes-ros/collada-dom/collada-dom_2.4.0.bb
@@ -0,0 +1,13 @@
+DESCRIPTION = "The COLLADA Document Object Model (DOM) is an application \
+programming interface (API) that provides a C++ object representation of a \
+COLLADA XML instance document."
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://License_Folder/license_e.txt;md5=33ea5b7341abf67bd9055a229646feae"
+
+DEPENDS = "boost libxml2"
+
+SRC_URI = "${SOURCEFORGE_MIRROR}/${BPN}/${BP}.tgz"
+SRC_URI[md5sum] = "20399de4206eab850c32e65c04e907cb"
+SRC_URI[sha256sum] = "5ca2d12f744bdceff0066ed3067b3b23d6859581fb0d657f98ba4487d8fa3896"
+
+inherit cmake
diff --git a/recipes-ros/control-msgs/control-msgs_1.2.0.bb b/recipes-ros/control-msgs/control-msgs_1.2.0.bb
new file mode 100644
index 0000000000000000000000000000000000000000..06fd3f662aaeea7bda30329eb0711f9087ecb495
--- /dev/null
+++ b/recipes-ros/control-msgs/control-msgs_1.2.0.bb
@@ -0,0 +1,16 @@
+DESCRIPTION = "control_msgs contains base messages and actions \
+useful for controlling robots. It provides representations for \
+controller setpoints and joint and cartesian trajectories."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "message-generation std-msgs trajectory-msgs geometry-msgs actionlib-msgs"
+
+SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "aeb714ca2cddc7d1a20a4bc67b0e1b10"
+SRC_URI[sha256sum] = "7d7eb32a98dbb10ecca7de28dbfc403974966f0e5f435e9798e3277d1acbf77f"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
+inherit catkin
diff --git a/recipes-ros/control-toolbox/control-toolbox/0001-crosscompile-CATKIN_ENABLE_TESTING-fix.patch b/recipes-ros/control-toolbox/control-toolbox/0001-crosscompile-CATKIN_ENABLE_TESTING-fix.patch
new file mode 100644
index 0000000000000000000000000000000000000000..95b90e0d50d8dc715d7973fe6f1eb33684684fab
--- /dev/null
+++ b/recipes-ros/control-toolbox/control-toolbox/0001-crosscompile-CATKIN_ENABLE_TESTING-fix.patch
@@ -0,0 +1,29 @@
+From 9de24db0b59a56dcb2ce0dc224a49315a6ada4c8 Mon Sep 17 00:00:00 2001
+From: vmayoral <v.mayoralv@gmail.com>
+Date: Thu, 8 Aug 2013 17:03:16 +0200
+Subject: [PATCH] crosscompile CATKIN_ENABLE_TESTING fix
+
+---
+ CMakeLists.txt | 6 ++++--
+ 1 file changed, 4 insertions(+), 2 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 90f44e1..405c905 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -87,8 +87,10 @@ else()
+ add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencpp) # wait for msgs
+
+ # Tests
+- catkin_add_gtest(pid_tests test/pid_tests.cpp)
+- target_link_libraries(pid_tests ${catkin_LIBRARIES} ${PROJECT_NAME})
++ if(CATKIN_ENABLE_TESTING)
++ catkin_add_gtest(pid_tests test/pid_tests.cpp)
++ target_link_libraries(pid_tests ${catkin_LIBRARIES} ${PROJECT_NAME})
++ endif()
+
+ # add_executable(test_linear test/linear.cpp)
+
+--
+1.7.9.5
+
diff --git a/recipes-ros/control-toolbox/control-toolbox_1.10.3.bb b/recipes-ros/control-toolbox/control-toolbox_1.10.3.bb
new file mode 100644
index 0000000000000000000000000000000000000000..256f3ab21aa79301f8c4a1421d7b136c882a5bcb
--- /dev/null
+++ b/recipes-ros/control-toolbox/control-toolbox_1.10.3.bb
@@ -0,0 +1,20 @@
+DESCRIPTION = "The control toolbox contains modules that are useful \
+across all controllers."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "rosconsole tf roscpp angles message-generation \
+ dynamic-reconfigure libtinyxml realtime-tools message-filters"
+
+SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "73ceaadbbcf2b8aa11aaaea7512bfeed"
+SRC_URI[sha256sum] = "cbdb189d12f0907e846f774d81e234ce61492ee9df386dde98948ef29c8e1974"
+
+SRC_URI += "file://0001-crosscompile-CATKIN_ENABLE_TESTING-fix.patch;striplevel=1;name=patch"
+SRC_URI[patch.md5sum] = "d6dcf1b9cd992658ebdd33f162540faa"
+SRC_URI[patch.sha256sum] = "90f388cac2832ff3fdb1bd162eadf01deb8ca062636d22c8507d8d43066827d6"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit catkin
diff --git a/recipes-ros/realtime-tools/realtime-tools_1.8.2.bb b/recipes-ros/realtime-tools/realtime-tools_1.8.2.bb
new file mode 100644
index 0000000000000000000000000000000000000000..2c819879433b475401c5afed5d008f00a1ab7d10
--- /dev/null
+++ b/recipes-ros/realtime-tools/realtime-tools_1.8.2.bb
@@ -0,0 +1,17 @@
+DESCRIPTION = "This package contains a set of tools that can be used from \
+a hard realtime thread, without breaking the realtime behavior. The tools \
+currently only provides the realtime publisher, which makes it possible \
+to publish messages to a ROS topic from a realtime thread."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "roscpp rospy"
+
+SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "21603474b7acc0d10204a3d8cf4f1247"
+SRC_URI[sha256sum] = "8f9ba638f78026794a6e01d614f78dc2e4de19c9988fb308197608aa6ff7bf23"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit catkin
diff --git a/recipes-ros/robot-model/collada-parser_1.10.15.bb b/recipes-ros/robot-model/collada-parser_1.10.15.bb
new file mode 100644
index 0000000000000000000000000000000000000000..ea5833d894ee48c67c21970eb746a9cc0ece2dc5
--- /dev/null
+++ b/recipes-ros/robot-model/collada-parser_1.10.15.bb
@@ -0,0 +1,12 @@
+DESCRIPTION = " This package contains a C++ parser for the Collada robot \
+description format. The parser reads a Collada XML robot description, and \
+creates a C++ URDF model. Although it is possible to directly use this \
+parser when working with Collada robot descriptions, the preferred user \
+API is found in the urdf package."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "collada-dom roscpp urdfdom-headers urdf-parser-plugin class-loader"
+
+require robot-model.inc
diff --git a/recipes-ros/robot-model/joint-state-publisher_1.10.15.bb b/recipes-ros/robot-model/joint-state-publisher_1.10.15.bb
new file mode 100644
index 0000000000000000000000000000000000000000..75e40d42fd98f0ddbe86a8be9227f9a185aa6722
--- /dev/null
+++ b/recipes-ros/robot-model/joint-state-publisher_1.10.15.bb
@@ -0,0 +1,9 @@
+DESCRIPTION = "This package contains a tool for setting and publishing \
+joint state values for a given URDF."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "rospy wxpython sensor-msgs"
+
+require robot-model.inc
diff --git a/recipes-ros/robot-model/resource-retriever/0001-resource_retriever-test-CMakeLists.txt-fix.patch b/recipes-ros/robot-model/resource-retriever/0001-resource_retriever-test-CMakeLists.txt-fix.patch
new file mode 100644
index 0000000000000000000000000000000000000000..fe82f5e766a97d0d1e1511a13847d78a545e8293
--- /dev/null
+++ b/recipes-ros/robot-model/resource-retriever/0001-resource_retriever-test-CMakeLists.txt-fix.patch
@@ -0,0 +1,25 @@
+From dcc52b56eaade728f92356dd96f7d4cd2c95057e Mon Sep 17 00:00:00 2001
+From: vmayoral <v.mayoralv@gmail.com>
+Date: Fri, 9 Aug 2013 17:57:43 +0200
+Subject: [PATCH] resource_retriever test/CMakeLists.txt fix
+
+---
+ resource_retriever/test/CMakeLists.txt | 6 ++++--
+ 1 file changed, 4 insertions(+), 2 deletions(-)
+
+diff --git a/resource_retriever/test/CMakeLists.txt b/resource_retriever/test/CMakeLists.txt
+index f133bf6..5e0ce18 100644
+--- a/resource_retriever/test/CMakeLists.txt
++++ b/resource_retriever/test/CMakeLists.txt
+@@ -1,4 +1,6 @@
+ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR})
+
+-catkin_add_gtest(${PROJECT_NAME}_utest test.cpp)
+-target_link_libraries(${PROJECT_NAME}_utest ${PROJECT_NAME})
++if(CATKIN_ENABLE_TESTING)
++ catkin_add_gtest(${PROJECT_NAME}_utest test.cpp)
++ target_link_libraries(${PROJECT_NAME}_utest ${PROJECT_NAME})
++endif()
+--
+1.7.9.5
+
diff --git a/recipes-ros/robot-model/resource-retriever_1.10.15.bb b/recipes-ros/robot-model/resource-retriever_1.10.15.bb
new file mode 100644
index 0000000000000000000000000000000000000000..6e371c26d3531ed2fbc4593017d9b2b4e37425fc
--- /dev/null
+++ b/recipes-ros/robot-model/resource-retriever_1.10.15.bb
@@ -0,0 +1,11 @@
+DESCRIPTION = "This package retrieves data from url-format files such as http://, ftp://, package:// file://, etc., and loads the data into memory. The package:// url for ros packages is translated into a local file:// url. The resourse retriever was initially designed to load mesh files into memory, but it can be used for any type of data. The resource retriever is based on the the libcurl library."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "curl rosconsole roslib"
+
+require robot-model.inc
+
+SRC_URI += "file://0001-resource_retriever-test-CMakeLists.txt-fix.patch;striplevel=2"
+
diff --git a/recipes-ros/robot-model/robot-model.inc b/recipes-ros/robot-model/robot-model.inc
new file mode 100644
index 0000000000000000000000000000000000000000..73fb887cbaf7608949202192e805feef40a3fb7e
--- /dev/null
+++ b/recipes-ros/robot-model/robot-model.inc
@@ -0,0 +1,9 @@
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "8408e5b990d157d1d30e56cc0a1ec28c"
+SRC_URI[sha256sum] = "72374d3c43a2715a743365be186fddd23f016889430b5da1209f5bcaba08d141"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
+inherit catkin
+
+ROS_SPN = "robot_model"
diff --git a/recipes-ros/robot-model/urdf-parser-plugin_1.10.15.bb b/recipes-ros/robot-model/urdf-parser-plugin_1.10.15.bb
new file mode 100644
index 0000000000000000000000000000000000000000..04ce6e1e7963cbeacbc80143d38a41238124e730
--- /dev/null
+++ b/recipes-ros/robot-model/urdf-parser-plugin_1.10.15.bb
@@ -0,0 +1,9 @@
+DESCRIPTION = "This package contains a C++ base class for URDF parsers"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "urdfdom-headers"
+
+require robot-model.inc
+
diff --git a/recipes-ros/robot-model/urdf/0001-urdf-CMakeLists-fix.patch b/recipes-ros/robot-model/urdf/0001-urdf-CMakeLists-fix.patch
new file mode 100644
index 0000000000000000000000000000000000000000..1f2a1b651f8976ac949118d5b220c2672020eb29
--- /dev/null
+++ b/recipes-ros/robot-model/urdf/0001-urdf-CMakeLists-fix.patch
@@ -0,0 +1,29 @@
+From 5a06a8525da6c0721f9a356ac631bc527b591f12 Mon Sep 17 00:00:00 2001
+From: vmayoral <v.mayoralv@gmail.com>
+Date: Fri, 9 Aug 2013 17:46:44 +0200
+Subject: [PATCH] urdf CMakeLists fix
+
+---
+ urdf/CMakeLists.txt | 6 ++++--
+ 1 file changed, 4 insertions(+), 2 deletions(-)
+
+diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
+index 0afcb03..3448c05 100644
+--- a/urdf/CMakeLists.txt
++++ b/urdf/CMakeLists.txt
+@@ -29,8 +29,10 @@ if(APPLE)
+ set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
+ endif(APPLE)
+
+-catkin_add_gtest(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp)
+-target_link_libraries(test_parser ${PROJECT_NAME})
++if(CATKIN_ENABLE_TESTING)
++ catkin_add_gtest(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp)
++ target_link_libraries(test_parser ${PROJECT_NAME})
++endif()
+
+ # no idea how CATKIN does this
+ # rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_robot_model_parser.launch)
+--
+1.7.9.5
+
diff --git a/recipes-ros/robot-model/urdf_1.10.15.bb b/recipes-ros/robot-model/urdf_1.10.15.bb
new file mode 100644
index 0000000000000000000000000000000000000000..7cda222c72ce116003ff73708ee28f86dd3b20a3
--- /dev/null
+++ b/recipes-ros/robot-model/urdf_1.10.15.bb
@@ -0,0 +1,10 @@
+DESCRIPTION = "This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model. The code API of the parser has been through our review process and will remain backwards compatible in future releases."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "rosconsole-bridge roscpp urdfdom-headers urdf-parser-plugin pluginlib urdfdom cmake-modules libtinyxml"
+
+require robot-model.inc
+
+SRC_URI += "file://0001-urdf-CMakeLists-fix.patch;striplevel=2"
diff --git a/recipes-ros/ros-control/controller-interface_0.5.7.bb b/recipes-ros/ros-control/controller-interface_0.5.7.bb
new file mode 100644
index 0000000000000000000000000000000000000000..1599151e614936da71171778c8ec17caf9ea6595
--- /dev/null
+++ b/recipes-ros/ros-control/controller-interface_0.5.7.bb
@@ -0,0 +1,9 @@
+DESCRIPTION = "Interface base class for controllers."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "roscpp hardware-interface pluginlib"
+
+require ros-control.inc
+
diff --git a/recipes-ros/ros-control/controller-manager-msgs_0.5.7.bb b/recipes-ros/ros-control/controller-manager-msgs_0.5.7.bb
new file mode 100644
index 0000000000000000000000000000000000000000..0244249733862203fb7401c2851de739dc244615
--- /dev/null
+++ b/recipes-ros/ros-control/controller-manager-msgs_0.5.7.bb
@@ -0,0 +1,9 @@
+DESCRIPTION = "Messages and services for the controller manager."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "message-generation std-msgs"
+
+require ros-control.inc
+
diff --git a/recipes-ros/ros-control/controller-manager-tests/0001-controller_manager_tests-CMakeLists-fix.patch b/recipes-ros/ros-control/controller-manager-tests/0001-controller_manager_tests-CMakeLists-fix.patch
new file mode 100644
index 0000000000000000000000000000000000000000..7118db5165f9f70b509fa6067bfd7d022f960fc2
--- /dev/null
+++ b/recipes-ros/ros-control/controller-manager-tests/0001-controller_manager_tests-CMakeLists-fix.patch
@@ -0,0 +1,33 @@
+From 2a9bdc617eea3334f8859adaa77df2af14b45a31 Mon Sep 17 00:00:00 2001
+From: vmayoral <v.mayoralv@gmail.com>
+Date: Thu, 8 Aug 2013 17:15:31 +0200
+Subject: [PATCH] controller_manager_tests CMakeLists fix
+
+---
+ controller_manager_tests/CMakeLists.txt | 10 ++++++----
+ 1 file changed, 6 insertions(+), 4 deletions(-)
+
+diff --git a/controller_manager_tests/CMakeLists.txt b/controller_manager_tests/CMakeLists.txt
+index 1f553fa..95c73cc 100644
+--- a/controller_manager_tests/CMakeLists.txt
++++ b/controller_manager_tests/CMakeLists.txt
+@@ -52,10 +52,12 @@ else()
+ add_executable(dummy_app src/dummy_app.cpp)
+ target_link_libraries(dummy_app ${PROJECT_NAME} ${catkin_LIBRARIES})
+
+- add_executable(cm_test test/cm_test.cpp)
+- add_dependencies(tests cm_test)
+- target_link_libraries(cm_test ${GTEST_LIBRARIES} ${catkin_LIBRARIES})
+- add_rostest(test/cm_test.test)
++ if(CATKIN_ENABLE_TESTING)
++ add_executable(cm_test test/cm_test.cpp)
++ add_dependencies(tests cm_test)
++ target_link_libraries(cm_test ${GTEST_LIBRARIES} ${catkin_LIBRARIES})
++ add_rostest(test/cm_test.test)
++ endif()
+
+ # Install
+ install(DIRECTORY include/${PROJECT_NAME}/
+--
+1.7.9.5
+
diff --git a/recipes-ros/ros-control/controller-manager-tests_0.5.7.bb b/recipes-ros/ros-control/controller-manager-tests_0.5.7.bb
new file mode 100644
index 0000000000000000000000000000000000000000..81522bedc5edf929c774e03db7f3563227040b66
--- /dev/null
+++ b/recipes-ros/ros-control/controller-manager-tests_0.5.7.bb
@@ -0,0 +1,12 @@
+DESCRIPTION = "Controller manager tests."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "rostest control-toolbox controller-interface controller-manager"
+
+require ros-control.inc
+
+SRC_URI += "file://0001-controller_manager_tests-CMakeLists-fix.patch;striplevel=2;name=patch"
+SRC_URI[patch.md5sum] = "f1c884eed3ab9acc9e22d41de6d1cf3d"
+SRC_URI[patch.sha256sum] = "fef01dd0d9fcd23626416593868dd7afa769c4f68412e5073181d7c619c4492c"
diff --git a/recipes-ros/ros-control/controller-manager_0.5.7.bb b/recipes-ros/ros-control/controller-manager_0.5.7.bb
new file mode 100644
index 0000000000000000000000000000000000000000..e91ae1161c3d190299c0d78ee85d2eadd098b6b5
--- /dev/null
+++ b/recipes-ros/ros-control/controller-manager_0.5.7.bb
@@ -0,0 +1,9 @@
+DESCRIPTION = "The controller manager."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "controller-interface controller-manager-msgs hardware-interface realtime-tools pluginlib"
+
+require ros-control.inc
+
diff --git a/recipes-ros/ros-control/hardware-interface/0001-CMakeLists-CATKIN_ENABLE_TESTING-patch.patch b/recipes-ros/ros-control/hardware-interface/0001-CMakeLists-CATKIN_ENABLE_TESTING-patch.patch
new file mode 100644
index 0000000000000000000000000000000000000000..8234e73d39193c91fddd3c9314c2a423edfe6488
--- /dev/null
+++ b/recipes-ros/ros-control/hardware-interface/0001-CMakeLists-CATKIN_ENABLE_TESTING-patch.patch
@@ -0,0 +1,64 @@
+From 612e2ac00fa82d160de82b09da67eb41b828ae95 Mon Sep 17 00:00:00 2001
+From: vmayoral <v.mayoralv@gmail.com>
+Date: Thu, 8 Aug 2013 16:02:07 +0200
+Subject: [PATCH] CMakeLists CATKIN_ENABLE_TESTING patch
+
+---
+ hardware_interface/CMakeLists.txt | 34 ++++++++++++++++++----------------
+ 1 file changed, 18 insertions(+), 16 deletions(-)
+
+diff --git a/hardware_interface/CMakeLists.txt b/hardware_interface/CMakeLists.txt
+index 2681794..105421a 100644
+--- a/hardware_interface/CMakeLists.txt
++++ b/hardware_interface/CMakeLists.txt
+@@ -40,29 +40,31 @@ else()
+ INCLUDE_DIRS include
+ )
+
+- catkin_add_gtest(hardware_resource_manager_test test/hardware_resource_manager_test.cpp)
+- target_link_libraries(hardware_resource_manager_test ${catkin_LIBRARIES})
++ if(CATKIN_ENABLE_TESTING)
++ catkin_add_gtest(hardware_resource_manager_test test/hardware_resource_manager_test.cpp)
++ target_link_libraries(hardware_resource_manager_test ${catkin_LIBRARIES})
+
+- catkin_add_gtest(actuator_state_interface_test test/actuator_state_interface_test.cpp)
+- target_link_libraries(actuator_state_interface_test ${catkin_LIBRARIES})
++ catkin_add_gtest(actuator_state_interface_test test/actuator_state_interface_test.cpp)
++ target_link_libraries(actuator_state_interface_test ${catkin_LIBRARIES})
+
+- catkin_add_gtest(actuator_command_interface_test test/actuator_command_interface_test.cpp)
+- target_link_libraries(actuator_command_interface_test ${catkin_LIBRARIES})
++ catkin_add_gtest(actuator_command_interface_test test/actuator_command_interface_test.cpp)
++ target_link_libraries(actuator_command_interface_test ${catkin_LIBRARIES})
+
+- catkin_add_gtest(joint_state_interface_test test/joint_state_interface_test.cpp)
+- target_link_libraries(joint_state_interface_test ${catkin_LIBRARIES})
++ catkin_add_gtest(joint_state_interface_test test/joint_state_interface_test.cpp)
++ target_link_libraries(joint_state_interface_test ${catkin_LIBRARIES})
+
+- catkin_add_gtest(joint_command_interface_test test/joint_command_interface_test.cpp)
+- target_link_libraries(joint_command_interface_test ${catkin_LIBRARIES})
++ catkin_add_gtest(joint_command_interface_test test/joint_command_interface_test.cpp)
++ target_link_libraries(joint_command_interface_test ${catkin_LIBRARIES})
+
+- catkin_add_gtest(force_torque_sensor_interface_test test/force_torque_sensor_interface_test.cpp)
+- target_link_libraries(force_torque_sensor_interface_test ${catkin_LIBRARIES})
++ catkin_add_gtest(force_torque_sensor_interface_test test/force_torque_sensor_interface_test.cpp)
++ target_link_libraries(force_torque_sensor_interface_test ${catkin_LIBRARIES})
+
+- catkin_add_gtest(imu_sensor_interface_test test/imu_sensor_interface_test.cpp)
+- target_link_libraries(imu_sensor_interface_test ${catkin_LIBRARIES})
++ catkin_add_gtest(imu_sensor_interface_test test/imu_sensor_interface_test.cpp)
++ target_link_libraries(imu_sensor_interface_test ${catkin_LIBRARIES})
+
+- catkin_add_gtest(robot_hw_test test/robot_hw_test.cpp)
+- target_link_libraries(robot_hw_test ${catkin_LIBRARIES})
++ catkin_add_gtest(robot_hw_test test/robot_hw_test.cpp)
++ target_link_libraries(robot_hw_test ${catkin_LIBRARIES})
++ endif()
+
+ # Install
+ install(DIRECTORY include/${PROJECT_NAME}/
+--
+1.7.9.5
+
diff --git a/recipes-ros/ros-control/hardware-interface_0.5.7.bb b/recipes-ros/ros-control/hardware-interface_0.5.7.bb
new file mode 100644
index 0000000000000000000000000000000000000000..3851d0d9beda99eb969d989978455697b0ac9739
--- /dev/null
+++ b/recipes-ros/ros-control/hardware-interface_0.5.7.bb
@@ -0,0 +1,12 @@
+DESCRIPTION = "Hardware interface base class."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "roscpp"
+
+require ros-control.inc
+
+SRC_URI += "file://0001-CMakeLists-CATKIN_ENABLE_TESTING-patch.patch;striplevel=2;name=patch"
+SRC_URI[patch.md5sum] = "9001c9c5336587b00b15510445d63100"
+SRC_URI[patch.sha256sum] = "e3708e8f5d974d8d386ea7c361fd568c297bba36c1e5f92ff49565f2fd529131"
diff --git a/recipes-ros/ros-control/joint-limits-interface/0001-joint-limits-interface-CMakeLists-fix.patch b/recipes-ros/ros-control/joint-limits-interface/0001-joint-limits-interface-CMakeLists-fix.patch
new file mode 100644
index 0000000000000000000000000000000000000000..b7f0bda617bb4aba46fce2f79208da5558cce54f
--- /dev/null
+++ b/recipes-ros/ros-control/joint-limits-interface/0001-joint-limits-interface-CMakeLists-fix.patch
@@ -0,0 +1,42 @@
+From 1dee61dabbf3b5de2170ca15ecea3ed93d57339d Mon Sep 17 00:00:00 2001
+From: vmayoral <v.mayoralv@gmail.com>
+Date: Sat, 17 Aug 2013 17:40:20 +0200
+Subject: [PATCH] joint-limits-interface CMakeLists fix
+
+---
+ joint_limits_interface/CMakeLists.txt | 16 +++++++++-------
+ 1 file changed, 9 insertions(+), 7 deletions(-)
+
+diff --git a/joint_limits_interface/CMakeLists.txt b/joint_limits_interface/CMakeLists.txt
+index 6e18253..1561b22 100644
+--- a/joint_limits_interface/CMakeLists.txt
++++ b/joint_limits_interface/CMakeLists.txt
+@@ -43,16 +43,18 @@ else()
+ ${urdfdom_LIBRARIES}
+ )
+
+- catkin_add_gtest(joint_limits_interface_test test/joint_limits_interface_test.cpp)
+- target_link_libraries(joint_limits_interface_test ${catkin_LIBRARIES})
++ if(CATKIN_ENABLE_TESTING)
++ catkin_add_gtest(joint_limits_interface_test test/joint_limits_interface_test.cpp)
++ target_link_libraries(joint_limits_interface_test ${catkin_LIBRARIES})
+
+- catkin_add_gtest(joint_limits_urdf_test test/joint_limits_urdf_test.cpp)
+- target_link_libraries(joint_limits_urdf_test ${catkin_LIBRARIES})
++ catkin_add_gtest(joint_limits_urdf_test test/joint_limits_urdf_test.cpp)
++ target_link_libraries(joint_limits_urdf_test ${catkin_LIBRARIES})
+
+- catkin_add_gtest(joint_limits_rosparam_test test/joint_limits_urdf_test.cpp)
+- target_link_libraries(joint_limits_rosparam_test ${catkin_LIBRARIES})
++ catkin_add_gtest(joint_limits_rosparam_test test/joint_limits_urdf_test.cpp)
++ target_link_libraries(joint_limits_rosparam_test ${catkin_LIBRARIES})
+
+- add_rostest(test/joint_limits_rosparam.test)
++ add_rostest(test/joint_limits_rosparam.test)
++ endif()
+
+ # Install
+ install(DIRECTORY include/${PROJECT_NAME}/
+--
+1.7.9.5
+
diff --git a/recipes-ros/ros-control/joint-limits-interface_0.5.7.bb b/recipes-ros/ros-control/joint-limits-interface_0.5.7.bb
new file mode 100644
index 0000000000000000000000000000000000000000..997697b43f0871901c384e46a736de91bd0f171d
--- /dev/null
+++ b/recipes-ros/ros-control/joint-limits-interface_0.5.7.bb
@@ -0,0 +1,12 @@
+DESCRIPTION = "Interface for enforcing joint limits."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "rostest roscpp hardware-interface urdfdom"
+
+require ros-control.inc
+
+SRC_URI += "file://0001-joint-limits-interface-CMakeLists-fix.patch;striplevel=2;name=patch"
+SRC_URI[patch.md5sum] = "9001c9c5336587b00b15510445d63100"
+SRC_URI[patch.sha256sum] = "e3708e8f5d974d8d386ea7c361fd568c297bba36c1e5f92ff49565f2fd529131"
diff --git a/recipes-ros/ros-control/ros-control.inc b/recipes-ros/ros-control/ros-control.inc
new file mode 100644
index 0000000000000000000000000000000000000000..d0102bb9708e3f42b22a6b3aa1b6b22f2d8beca6
--- /dev/null
+++ b/recipes-ros/ros-control/ros-control.inc
@@ -0,0 +1,9 @@
+SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "f4d2b3a25817bfd988ac27bcf7ac8876"
+SRC_URI[sha256sum] = "49d869d75ecaa76fecc27bbe043636bbb185d9bb65a1d454e68e77cec9ee1744"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
+inherit catkin
+
+ROS_SPN = "ros_control"
diff --git a/recipes-ros/ros-control/transmission-interface/0001-transmission-interface-comment-gtests.patch b/recipes-ros/ros-control/transmission-interface/0001-transmission-interface-comment-gtests.patch
new file mode 100644
index 0000000000000000000000000000000000000000..e95717d966deab15da646fbd2ef541d6223cb835
--- /dev/null
+++ b/recipes-ros/ros-control/transmission-interface/0001-transmission-interface-comment-gtests.patch
@@ -0,0 +1,33 @@
+From 0f0e92370addf4174e400fe729ad730c93d0299c Mon Sep 17 00:00:00 2001
+From: Victor Mayoral Vilches <v.mayoralv@gmail.com>
+Date: Thu, 15 Aug 2013 12:19:38 +0200
+Subject: [PATCH] transmission interface comment gtests
+
+---
+ transmission_interface/CMakeLists.txt | 10 +++++-----
+ 1 file changed, 5 insertions(+), 5 deletions(-)
+
+diff --git a/transmission_interface/CMakeLists.txt b/transmission_interface/CMakeLists.txt
+index 89b5178..500e146 100644
+--- a/transmission_interface/CMakeLists.txt
++++ b/transmission_interface/CMakeLists.txt
+@@ -85,11 +85,11 @@ else()
+ ## Testing ##
+ #############
+
+- catkin_add_gtest(simple_transmission_test test/simple_transmission_test.cpp)
+- catkin_add_gtest(differential_transmission_test test/differential_transmission_test.cpp)
+- catkin_add_gtest(four_bar_linkage_transmission_test test/four_bar_linkage_transmission_test.cpp)
+- catkin_add_gtest(transmission_interface_test test/transmission_interface_test.cpp)
+- target_link_libraries(transmission_interface_test ${catkin_LIBRARIES} ${TinyXML_LIBRARIES})
++ #catkin_add_gtest(simple_transmission_test test/simple_transmission_test.cpp)
++ #catkin_add_gtest(differential_transmission_test test/differential_transmission_test.cpp)
++ #catkin_add_gtest(four_bar_linkage_transmission_test test/four_bar_linkage_transmission_test.cpp)
++ #catkin_add_gtest(transmission_interface_test test/transmission_interface_test.cpp)
++ #target_link_libraries(transmission_interface_test ${catkin_LIBRARIES} ${TinyXML_LIBRARIES})
+
+
+ endif()
+--
+1.7.9.5
+
diff --git a/recipes-ros/ros-control/transmission-interface_0.5.7.bb b/recipes-ros/ros-control/transmission-interface_0.5.7.bb
new file mode 100644
index 0000000000000000000000000000000000000000..32e159ec59c0a1a0b2ae5bde8c9c49dbd2a1a310
--- /dev/null
+++ b/recipes-ros/ros-control/transmission-interface_0.5.7.bb
@@ -0,0 +1,13 @@
+DESCRIPTION = "Transmission Interface."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=68b329da9893e34099c7d8ad5cb9c940"
+
+DEPENDS = "hardware-interface cmake-modules libtinyxml"
+
+require ros-control.inc
+
+SRC_URI += "file://0001-transmission-interface-comment-gtests.patch;striplevel=2;name=patch2"
+SRC_URI[patch2.md5sum] = "60e27aa262486ba0f8161f8ea7e561e7"
+SRC_URI[patch2.sha256sum] = "f99dac95eccc3ae209a3a35cfab0baa13843933fb8833845b4e067cf58828675"
+
diff --git a/recipes-ros/ros-controllers/effort-controllers_0.5.3.bb b/recipes-ros/ros-controllers/effort-controllers_0.5.3.bb
new file mode 100644
index 0000000000000000000000000000000000000000..f8040e0c31ecdd9bf3c4a416c329e13b545f7411
--- /dev/null
+++ b/recipes-ros/ros-controllers/effort-controllers_0.5.3.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "Controller to publish state of force-torque sensors."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "controller-interface control-msgs control-toolbox realtime-tools urdf forward-command-controller dynamic-reconfigure urdfdom"
+
+require ros-controllers.inc
diff --git a/recipes-ros/ros-controllers/force-torque-sensor-controller_0.5.3.bb b/recipes-ros/ros-controllers/force-torque-sensor-controller_0.5.3.bb
new file mode 100644
index 0000000000000000000000000000000000000000..cd095db8ff888f7906810b5da0fecbd621d0d10d
--- /dev/null
+++ b/recipes-ros/ros-controllers/force-torque-sensor-controller_0.5.3.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "Controller to publish state of force-torque sensors."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "realtime-tools roscpp hardware-interface pluginlib controller-interface geometry-msgs"
+
+require ros-controllers.inc
diff --git a/recipes-ros/ros-controllers/forward-command-controller_0.5.3.bb b/recipes-ros/ros-controllers/forward-command-controller_0.5.3.bb
new file mode 100644
index 0000000000000000000000000000000000000000..899fe30ec9d5382d3f8857bc0f25251d2dc7dfe1
--- /dev/null
+++ b/recipes-ros/ros-controllers/forward-command-controller_0.5.3.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "forward_command_controller."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "controller-interface hardware-interface std-msgs"
+
+require ros-controllers.inc
diff --git a/recipes-ros/ros-controllers/imu-sensor-controller_0.5.3.bb b/recipes-ros/ros-controllers/imu-sensor-controller_0.5.3.bb
new file mode 100644
index 0000000000000000000000000000000000000000..712c6cf0e007ee060b14ac799a262181955c0d3f
--- /dev/null
+++ b/recipes-ros/ros-controllers/imu-sensor-controller_0.5.3.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "Controller to publish state of IMU sensors"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "realtime-tools roscpp hardware-interface pluginlib controller-interface sensor-msgs"
+
+require ros-controllers.inc
diff --git a/recipes-ros/ros-controllers/joint-state-controller_0.5.3.bb b/recipes-ros/ros-controllers/joint-state-controller_0.5.3.bb
new file mode 100644
index 0000000000000000000000000000000000000000..22380cb88ee68905a86285d26b40603f402b9e4f
--- /dev/null
+++ b/recipes-ros/ros-controllers/joint-state-controller_0.5.3.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "Controller to publish joint state"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "realtime-tools roscpp hardware-interface pluginlib controller-interface sensor-msgs"
+
+require ros-controllers.inc
diff --git a/recipes-ros/ros-controllers/position-controllers_0.5.3.bb b/recipes-ros/ros-controllers/position-controllers_0.5.3.bb
new file mode 100644
index 0000000000000000000000000000000000000000..d2da4a460ffa5c878fe548c5ae42c0ec97a1d76a
--- /dev/null
+++ b/recipes-ros/ros-controllers/position-controllers_0.5.3.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "position_controllers."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "controller-interface forward-command-controller"
+
+require ros-controllers.inc
diff --git a/recipes-ros/ros-controllers/ros-controllers.inc b/recipes-ros/ros-controllers/ros-controllers.inc
new file mode 100644
index 0000000000000000000000000000000000000000..70629a7e52286c572e87b6a03c2f51c36f315a83
--- /dev/null
+++ b/recipes-ros/ros-controllers/ros-controllers.inc
@@ -0,0 +1,9 @@
+SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "30810eb0c812ad5369684e57c81af2f6"
+SRC_URI[sha256sum] = "f05bfad85bb2141632b2f4a13f6bc55e4ec3677cdb37039574935faa1058d239"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
+inherit catkin
+
+ROS_SPN = "ros_controllers"
diff --git a/recipes-ros/ros-controllers/velocity-controllers_0.5.3.bb b/recipes-ros/ros-controllers/velocity-controllers_0.5.3.bb
new file mode 100644
index 0000000000000000000000000000000000000000..d21641bf07d0178498033c65bb33d9b552f6f9a4
--- /dev/null
+++ b/recipes-ros/ros-controllers/velocity-controllers_0.5.3.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "velocity_controllers."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "controller-interface forward-command-controller"
+
+require ros-controllers.inc
diff --git a/recipes-ros/rosconsole-bridge/rosconsole-bridge_0.3.2.bb b/recipes-ros/rosconsole-bridge/rosconsole-bridge_0.3.2.bb
new file mode 100644
index 0000000000000000000000000000000000000000..a9921f4a6dce5b13918152c716d74696bdecc890
--- /dev/null
+++ b/recipes-ros/rosconsole-bridge/rosconsole-bridge_0.3.2.bb
@@ -0,0 +1,14 @@
+DESCRIPTION = "Pipes console_bridge output to rosconsole/rosout when console_bridge is used in a ROS-dependent package"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "rosconsole console-bridge"
+
+SRC_URI ="https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "1bb1f0610d3624a34864f10d89f98b28"
+SRC_URI[sha256sum] = "91db5a9f633c98d5169bbc5782ccbe6f4db93284872a224231edd98ba0a7d4d3"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit catkin
diff --git a/recipes-ros/urdfdom-headers/urdfdom-headers_0.2.3.bb b/recipes-ros/urdfdom-headers/urdfdom-headers_0.2.3.bb
new file mode 100644
index 0000000000000000000000000000000000000000..1d84670ce23a5f0934615f89d2943c02b30a0502
--- /dev/null
+++ b/recipes-ros/urdfdom-headers/urdfdom-headers_0.2.3.bb
@@ -0,0 +1,13 @@
+DESCRIPTION = "The URDF (U-Robot Description Format) headers provides core \
+data structure headers for URDF."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=b441202ba2d6b14d62026cb18bb960ed"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "d8b7dae7e3c19b290cf7d42f50f0cca0"
+SRC_URI[sha256sum] = "6b1f27b002c6d897b43ed57988133f40aac093a2a6e84d9bf08ed36a13b401ae"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit cmake ros
diff --git a/recipes-ros/urdfdom/urdfdom/0001-CMakelists-urdf_parser-fix.patch b/recipes-ros/urdfdom/urdfdom/0001-CMakelists-urdf_parser-fix.patch
new file mode 100644
index 0000000000000000000000000000000000000000..9b2205f3d5bba605d389330d0c0af2cca02c851f
--- /dev/null
+++ b/recipes-ros/urdfdom/urdfdom/0001-CMakelists-urdf_parser-fix.patch
@@ -0,0 +1,43 @@
+From 902fa53f0c9800ea42d91ba1f9c319418fbbf988 Mon Sep 17 00:00:00 2001
+From: vmayoral <v.mayoralv@gmail.com>
+Date: Thu, 22 Aug 2013 15:41:06 +0200
+Subject: [PATCH] CMakelists urdf_parser fix
+
+---
+ urdf_parser/CMakeLists.txt | 14 +++++++-------
+ 1 file changed, 7 insertions(+), 7 deletions(-)
+
+diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
+index 85a5778..907ee9d 100644
+--- a/urdf_parser/CMakeLists.txt
++++ b/urdf_parser/CMakeLists.txt
+@@ -14,19 +14,19 @@ target_link_libraries(urdfdom_model_state ${tinyxml_libraries} ${console_bridge_
+
+ # --------------------------------
+
+-add_executable(check_urdf src/check_urdf.cpp)
+-target_link_libraries(check_urdf urdfdom_model urdfdom_world)
++#add_executable(check_urdf src/check_urdf.cpp)
++#target_link_libraries(check_urdf urdfdom_model urdfdom_world)
+
+-add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
+-target_link_libraries(urdf_to_graphiz urdfdom_model)
++#add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
++#target_link_libraries(urdf_to_graphiz urdfdom_model)
+
+-add_executable(urdf_mem_test test/memtest.cpp)
+-target_link_libraries(urdf_mem_test urdfdom_model)
++#add_executable(urdf_mem_test test/memtest.cpp)
++#target_link_libraries(urdf_mem_test urdfdom_model)
+
+
+ INSTALL(TARGETS urdfdom_model DESTINATION lib/)
+ INSTALL(TARGETS urdfdom_world DESTINATION lib/)
+-INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test DESTINATION share/${PROJECT_NAME})
++#INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test DESTINATION share/${PROJECT_NAME})
+ INSTALL(TARGETS urdfdom_sensor DESTINATION lib/)
+ INSTALL(TARGETS urdfdom_model_state DESTINATION lib/)
+ INSTALL(DIRECTORY include/urdf_parser DESTINATION include)
+--
+1.7.9.5
+
diff --git a/recipes-ros/urdfdom/urdfdom_0.2.8.bb b/recipes-ros/urdfdom/urdfdom_0.2.8.bb
new file mode 100755
index 0000000000000000000000000000000000000000..123071dcec2bea6c6e3cabcbf9cfa19ff8c991cf
--- /dev/null
+++ b/recipes-ros/urdfdom/urdfdom_0.2.8.bb
@@ -0,0 +1,20 @@
+DESCRIPTION = "The URDF (U-Robot Description Format) library provides core \
+data structures and a simple XML parsers for populating the class data \
+structures from an URDF file."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=b441202ba2d6b14d62026cb18bb960ed"
+
+DEPENDS = "urdfdom-headers console-bridge libtinyxml"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "c2332953b8ee7f4dd23684e700fae14e"
+SRC_URI[sha256sum] = "a918d3ae4366504a93d6af780ac1e706cdffad4b621a363a9bd53c5fbf32fe21"
+
+SRC_URI += "file://0001-CMakelists-urdf_parser-fix.patch;striplevel=1;name=patch"
+SRC_URI[patch.md5sum] = "3f4af4f833044c287e17ba136f5c84c8"
+SRC_URI[patch.sha256sum] = "2cace49c2d02dffb4648d8333db2716b21691c69a30fc68a4d10f317ee0d6e4a"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit ros cmake
diff --git a/recipes-ros/wxwidgets/wxpython_2.9.5.0.bb b/recipes-ros/wxwidgets/wxpython_2.9.5.0.bb
new file mode 100644
index 0000000000000000000000000000000000000000..baaf04a90af3be27a56570cc3755ee482896c7df
--- /dev/null
+++ b/recipes-ros/wxwidgets/wxpython_2.9.5.0.bb
@@ -0,0 +1,32 @@
+DESCRIPTION = "wxWidgets is a cross platform application framework utilizing native python."
+HOMEPAGE = "http://www.wxpython.org"
+
+LICENSE = "wxWindows"
+LIC_FILES_CHKSUM = "file://licence/licence.txt;md5=18346072db6eb834b6edbd2cdc4f109b"
+
+DEPENDS = "wxwidgets"
+
+SRC_URI = "${SOURCEFORGE_MIRROR}/wxpython/wxPython-src-${PV}.tar.bz2"
+SRC_URI[md5sum] = "a2a28fe8223391c93bf8788316767c9e"
+SRC_URI[sha256sum] = "1a5b7e771eff467538d0834136188e8a7506a4fe6e85d0a46c40158cdbd4c48c"
+
+S = "${WORKDIR}/wxPython-src-${PV}/wxPython"
+
+inherit pkgconfig pythonnative python-dir distutils
+
+CFLAGS += "-I${STAGING_INCDIR}/wx-2.9/ -I${STAGING_LIBDIR}/wx/include/${TARGET_PREFIX}gtk2-unicode-2.9/"
+
+# Enable output on stdout for buildpaths
+export WXDEBUG = "findprogress"
+
+# remove -L/usr/X11R6/lib hardcodes
+do_configure_prepend() {
+ sed -i -e s:/usr/X11R6/lib::g ${S}/config.py
+}
+
+# e.g. ${D}/build/v2013.06/build/tmp-angstrom_v2013_06-eglibc/sysroots/beaglebone/usr/include/wx-2.9/wx/wxPython/pytree.h
+
+do_iinstall_append() {
+ cp -a ${D}${STAGING_DIR_HOST}/* ${D}
+ rm -rf ${D}${STAGING_DIR}
+}
diff --git a/recipes-ros/wxwidgets/wxwidgets_2.9.5.bb b/recipes-ros/wxwidgets/wxwidgets_2.9.5.bb
new file mode 100644
index 0000000000000000000000000000000000000000..9b30ab4fb2f5cdadd2bf4b66d972eaa61fa52bae
--- /dev/null
+++ b/recipes-ros/wxwidgets/wxwidgets_2.9.5.bb
@@ -0,0 +1,54 @@
+DESCRIPTION = "wxWidgets is a cross platform application framework utilizing native widgets."
+HOMEPAGE = "http://www.wxwidgets.org"
+
+LICENSE = "wxWindows"
+LIC_FILES_CHKSUM = "file://docs/licence.txt;md5=18346072db6eb834b6edbd2cdc4f109b"
+
+DEPENDS = "webkit-gtk gstreamer gtk+ jpeg tiff libpng zlib expat libxinerama mesa-dri"
+
+SRC_URI = "${SOURCEFORGE_MIRROR}/wxwindows/wxWidgets-${PV}.tar.bz2"
+SRC_URI[md5sum] = "e98c5f92805493f150656403ffef3bb0"
+SRC_URI[sha256sum] = "b74ba96ca537cc5d049d21ec9ab5eb2670406a4aa9f1ea4845ea84a9955a6e02"
+
+S = "${WORKDIR}/wxWidgets-${PV}"
+
+inherit autotools pkgconfig binconfig
+
+EXTRA_AUTORECONF = " -I ${S}/build/aclocal"
+EXTRA_OECONF = " --with-opengl \
+ --without-sdl \
+ --enable-mediactrl=yes \
+ --enable-webviewwebkit=yes \
+ --disable-gpe \
+ --disable-visibility \
+ --disable-rpath \
+ "
+
+CXXFLAGS := "${@oe_filter_out('-fvisibility-inlines-hidden', '${CXXFLAGS}', d)}"
+
+# Broken autotools :/
+do_configure() {
+ oe_runconf
+}
+
+# wx-config contains entries like this:
+# this_prefix=`check_dirname "/build/v2013.06/build/tmp-angstrom_v2013_06-eglibc/work/cortexa8hf-vfp-neon-angstrom-linux-gnueabi/wxwidgets/2.9.5-r0/wxWidgets-2.9.5"`
+do_install_prepend() {
+ sed -i -e s:${S}:${STAGING_DIR_HOST}${prefix}:g ${S}/wx-config
+}
+
+# wx-config doesn't handle the suffixed libwx_media, xrc, etc, make a compat symlink
+do_install_append() {
+ for lib in adv aui core html media propgrid qa ribbon richtext stc webview xrc ; do
+ ln -sf libwx_gtk2u_$lib-2.9.so.5.0.0 ${D}${libdir}/libwx_gtk2u_$lib-2.9.so
+ done
+}
+
+SYSROOT_PREPROCESS_FUNCS += "wxwidgets_sysroot_preprocess"
+wxwidgets_sysroot_preprocess () {
+ sed -i -e 's,includedir="/usr/include",includedir="${STAGING_INCDIR}",g' ${SYSROOT_DESTDIR}${libdir}/wx/config/*
+ sed -i -e 's,libdir="/usr/lib",libdir="${STAGING_LIBDIR}",g' ${SYSROOT_DESTDIR}${libdir}/wx/config/*
+}
+
+FILES_${PN} += "${bindir} ${libdir}/wx/config"
+FILES_${PN}-dev += "${libdir}/wx/include ${datadir}/bakefile"