diff --git a/recipes-ros/angles/angles_1.9.9.bb b/recipes-ros/angles/angles_1.9.9.bb
new file mode 100644
index 0000000000000000000000000000000000000000..6359d9b866fbf7daacfb81a555ccf78caf2de2d1
--- /dev/null
+++ b/recipes-ros/angles/angles_1.9.9.bb
@@ -0,0 +1,12 @@
+DESCRIPTION = "This package provides a set of simple math utilities to work with angles."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+SRC_URI = "https://github.com/ros/${BPN}/archive/${PV}.tar.gz;downloadfilename=${BP}.tar.gz"
+SRC_URI[md5sum] = "c2a841dbeb1f3036449919773ac70876"
+SRC_URI[sha256sum] = "5e690bf611bead83c2fdcab5a9617b622a9869e55fd1742c00b4015ddf4f8cfc"
+
+S = "${WORKDIR}/${BP}/${BPN}"
+
+inherit catkin
diff --git a/recipes-ros/geometry/geometry.inc b/recipes-ros/geometry/geometry.inc
new file mode 100644
index 0000000000000000000000000000000000000000..94572ee5d40d45948d63b61713e8879a14d7ab6d
--- /dev/null
+++ b/recipes-ros/geometry/geometry.inc
@@ -0,0 +1,7 @@
+SRC_URI = "https://github.com/ros/geometry/archive/${PV}.tar.gz;downloadfilename=geometry-${PV}.tar.gz"
+SRC_URI[md5sum] = "e7df8e2b209881c3cf262c8ccf7598d5"
+SRC_URI[sha256sum] = "862918e3997b90570c282f29b03a9f70b4a354f1447fdce8c8940666e1811239"
+
+inherit catkin
+
+S = "${WORKDIR}/geometry-${PV}/${ROS_BPN}"
diff --git a/recipes-ros/geometry/tf_1.9.29.bb b/recipes-ros/geometry/tf_1.9.29.bb
new file mode 100644
index 0000000000000000000000000000000000000000..4c6dd4d186b7b3bd0a4824f3dd5d4b7af00509df
--- /dev/null
+++ b/recipes-ros/geometry/tf_1.9.29.bb
@@ -0,0 +1,9 @@
+DESCRIPTION = "tf is a package that lets the user keep track of multiple coordinate frames over time."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=18;endline=18;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "angles geometry-msgs message-filters sensor-msgs"
+
+require geometry.inc
+