diff --git a/sot-hrp2-v3/Makefile b/sot-hrp2-v3/Makefile
index 49c379ada5e4a953cee4313dac5ce2927f942529..485b4d498d3c4fa3a8dd9e5146d5aab4ed95dfae 100644
--- a/sot-hrp2-v3/Makefile
+++ b/sot-hrp2-v3/Makefile
@@ -15,7 +15,7 @@ COMMENT=		This packages provides a generic Stack Of Tasks library for the humano
 LICENSE=		gnu-lgpl-v3
 MAINTAINER=		hpp@laas.fr
 
-DYNAMIC_PLIST_DIRS+=	share/doc/sot-hrp2-v3
+DYNAMIC_PLIST_DIRS+=	share/doc/sot-hrp2
 
 
 include ../../wip/dynamic-graph-bridge-v3/depend.mk
diff --git a/sot-hrp2-v3/PLIST b/sot-hrp2-v3/PLIST
index 8dc6c0726387aff00ba48e4a8ce85234dfc20798..411bb31c0a09738a639db09400c844582e992685 100644
--- a/sot-hrp2-v3/PLIST
+++ b/sot-hrp2-v3/PLIST
@@ -2,6 +2,7 @@ include/sot-hrp2/config.h
 include/sot-hrp2/config.hh
 include/sot-hrp2/deprecated.hh
 include/sot-hrp2/warning.hh
+lib/libsot-hrp2-10-controller.so
 lib/libsot-hrp2-14-controller.so
 lib/libsot-hrp2-device.so
 lib/pkgconfig/sot-hrp2.pc
diff --git a/sot-hrp2-v3/distinfo b/sot-hrp2-v3/distinfo
index 29db15fdf8192853954c83412f3ae3d7402243bd..428430e10bb5b6728608f50381749c85f3db60e9 100644
--- a/sot-hrp2-v3/distinfo
+++ b/sot-hrp2-v3/distinfo
@@ -1,3 +1,4 @@
 SHA1 (sot-hrp2-v3-2.0.0.tar.gz) = c8e2385252c3b4959ee4f1be721544b66a492468
 RMD160 (sot-hrp2-v3-2.0.0.tar.gz) = 5ba7b88903cb5c92e96445ccce9b30253bedafe1
 Size (sot-hrp2-v3-2.0.0.tar.gz) = 733017 bytes
+SHA1 (patch-aa) = b1bd612b7d437c3f45e12942f401418f74e449ae
diff --git a/sot-hrp2-v3/patches/patch-aa b/sot-hrp2-v3/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..a3ee58fdeb59c221be460b71977f6c8be10a638b
--- /dev/null
+++ b/sot-hrp2-v3/patches/patch-aa
@@ -0,0 +1,12 @@
+diff --git CMakeLists.txt CMakeLists.txt
+index 48545b5..abed4da 100644
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -61,6 +61,7 @@ SEARCH_FOR_EIGEN()
+ 
+ # Handle rpath necessary to handle ROS multiplace packages
+ # libraries inclusion
++SET(CMAKE_INSTALL_LIBDIR lib)
+ SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
+ SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+ SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")