diff --git a/recipes-ros/ros-control/controller-interface_0.5.7.bb b/recipes-ros/ros-control/controller-interface_0.5.8.bb
similarity index 100%
rename from recipes-ros/ros-control/controller-interface_0.5.7.bb
rename to recipes-ros/ros-control/controller-interface_0.5.8.bb
diff --git a/recipes-ros/ros-control/controller-manager-msgs_0.5.7.bb b/recipes-ros/ros-control/controller-manager-msgs_0.5.8.bb
similarity index 100%
rename from recipes-ros/ros-control/controller-manager-msgs_0.5.7.bb
rename to recipes-ros/ros-control/controller-manager-msgs_0.5.8.bb
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
deleted file mode 100644
index 7118db5165f9f70b509fa6067bfd7d022f960fc2..0000000000000000000000000000000000000000
--- a/recipes-ros/ros-control/controller-manager-tests/0001-controller_manager_tests-CMakeLists-fix.patch
+++ /dev/null
@@ -1,33 +0,0 @@
-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_0.5.8.bb
similarity index 52%
rename from recipes-ros/ros-control/controller-manager-tests_0.5.7.bb
rename to recipes-ros/ros-control/controller-manager-tests_0.5.8.bb
index 81522bedc5edf929c774e03db7f3563227040b66..16ac8e6d1fde1aaa896e09604ddd6f0869d03225 100644
--- a/recipes-ros/ros-control/controller-manager-tests_0.5.7.bb
+++ b/recipes-ros/ros-control/controller-manager-tests_0.5.8.bb
@@ -6,7 +6,3 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
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_0.5.8.bb
similarity index 100%
rename from recipes-ros/ros-control/controller-manager_0.5.7.bb
rename to recipes-ros/ros-control/controller-manager_0.5.8.bb
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
deleted file mode 100644
index 8234e73d39193c91fddd3c9314c2a423edfe6488..0000000000000000000000000000000000000000
--- a/recipes-ros/ros-control/hardware-interface/0001-CMakeLists-CATKIN_ENABLE_TESTING-patch.patch
+++ /dev/null
@@ -1,64 +0,0 @@
-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
deleted file mode 100644
index 3851d0d9beda99eb969d989978455697b0ac9739..0000000000000000000000000000000000000000
--- a/recipes-ros/ros-control/hardware-interface_0.5.7.bb
+++ /dev/null
@@ -1,12 +0,0 @@
-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/hardware-interface_0.5.8.bb b/recipes-ros/ros-control/hardware-interface_0.5.8.bb
new file mode 100644
index 0000000000000000000000000000000000000000..a600cd0a6d10dac393ed1e7bf7398e49c731fa83
--- /dev/null
+++ b/recipes-ros/ros-control/hardware-interface_0.5.8.bb
@@ -0,0 +1,8 @@
+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
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
deleted file mode 100644
index b7f0bda617bb4aba46fce2f79208da5558cce54f..0000000000000000000000000000000000000000
--- a/recipes-ros/ros-control/joint-limits-interface/0001-joint-limits-interface-CMakeLists-fix.patch
+++ /dev/null
@@ -1,42 +0,0 @@
-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_0.5.8.bb
similarity index 51%
rename from recipes-ros/ros-control/joint-limits-interface_0.5.7.bb
rename to recipes-ros/ros-control/joint-limits-interface_0.5.8.bb
index 997697b43f0871901c384e46a736de91bd0f171d..0b8ddb6a85f8411a625bf132621cd1603882607d 100644
--- a/recipes-ros/ros-control/joint-limits-interface_0.5.7.bb
+++ b/recipes-ros/ros-control/joint-limits-interface_0.5.8.bb
@@ -6,7 +6,3 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc
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
index d0102bb9708e3f42b22a6b3aa1b6b22f2d8beca6..9512dcba2a5eb1aa3023629d2aff7ba79d068205 100644
--- a/recipes-ros/ros-control/ros-control.inc
+++ b/recipes-ros/ros-control/ros-control.inc
@@ -1,6 +1,6 @@
SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "f4d2b3a25817bfd988ac27bcf7ac8876"
-SRC_URI[sha256sum] = "49d869d75ecaa76fecc27bbe043636bbb185d9bb65a1d454e68e77cec9ee1744"
+SRC_URI[md5sum] = "59f1d09911db89c046e255a1597dfeff"
+SRC_URI[sha256sum] = "7d913be4c4cba6a19c24e8327ed23cc3afe6d32f63650439aa96dfea14a291e5"
S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
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
deleted file mode 100644
index e95717d966deab15da646fbd2ef541d6223cb835..0000000000000000000000000000000000000000
--- a/recipes-ros/ros-control/transmission-interface/0001-transmission-interface-comment-gtests.patch
+++ /dev/null
@@ -1,33 +0,0 @@
-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_0.5.8.bb
similarity index 50%
rename from recipes-ros/ros-control/transmission-interface_0.5.7.bb
rename to recipes-ros/ros-control/transmission-interface_0.5.8.bb
index 32e159ec59c0a1a0b2ae5bde8c9c49dbd2a1a310..d346e70d5ab2e93f73ae4c44586d571fffdd0b40 100644
--- a/recipes-ros/ros-control/transmission-interface_0.5.7.bb
+++ b/recipes-ros/ros-control/transmission-interface_0.5.8.bb
@@ -6,8 +6,3 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=68b329da9893e34
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"
-