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"