diff --git a/hpp-universal-robot/Makefile b/hpp-universal-robot/Makefile
index 89cc6aefe70154c24a47abfa4072ccc098e33459..141c43bb5ca6352b1dd47e56085050082ee41d77 100644
--- a/hpp-universal-robot/Makefile
+++ b/hpp-universal-robot/Makefile
@@ -4,23 +4,14 @@
 
 HPP_PACKAGE=	hpp-universal-robot
 HPP_COMMENT=	Data specific to robots ur5 and ur10 for hpp-corbaserver
-HPP_VERSION=	4.5.0
 
 CATEGORIES=	wip
 
-DYNAMIC_PLIST_DIRS+=	share/doc/${ROSNAME}
-
 include ../../meta-pkgs/hpp/Makefile.common
 
-include ../../wip/ros-universal-robot/depend.mk
-include ../../devel/ros-xacro/depend.mk
+include ../../wip/example-robot-data/depend.mk
 
 include ../../mk/sysdep/python.mk
 include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
+include ../../mk/language/c++11.mk
 include ../../mk/robotpkg.mk
-
-export PYTHONPATH=		$(word 1,${PREFIX.ros-universal-robot})/lib/python${PYTHON_VERSION}/dist-packages:$(word 1,${PREFIX.ros-universal-robot})/lib/python${PYTHON_VERSION}/site-packages
-export ROS_PACKAGE_PATH=	$(word 1,${PREFIX.ros-universal-robot}):${PREFIX}
-PKG_CONFIG_PATH=		$(word 1,${PREFIX.ros-universal-robot})/lib/pkgconfig
-CMAKE_PREFIX_PATH+=		$(word 1,${PREFIX.ros-universal-robot})
diff --git a/hpp-universal-robot/PLIST b/hpp-universal-robot/PLIST
index c51c22d0802b63d61a7a155917708586088bebfe..59230972ccfefed8fd51c4c83f9ad82bf10577fb 100644
--- a/hpp-universal-robot/PLIST
+++ b/hpp-universal-robot/PLIST
@@ -7,12 +7,11 @@ ${PYTHON_SITELIB}/hpp/corbaserver/manipulation/ur5/__init__.py
 ${PYTHON_SITELIB}/hpp/corbaserver/manipulation/ur5/robot.py
 ${PYTHON_SITELIB}/hpp/corbaserver/ur5/__init__.py
 ${PYTHON_SITELIB}/hpp/corbaserver/ur5/robot.py
-share/ur_description/launch/ur5.launch
-share/ur_description/rviz/config.rviz
-share/ur_description/srdf/ur3_gripper.srdf
-share/ur_description/srdf/ur5.srdf
-share/ur_description/srdf/ur5_gripper.srdf
-share/ur_description/srdf/ur5_joint_limited_robot.srdf
-share/ur_description/urdf/ur3_gripper.urdf
-share/ur_description/urdf/ur5_gripper.urdf
-share/ur_description/urdf/ur5_joint_limited_robot.urdf
+share/example-robot-data/ur_description/launch/ur5.launch
+share/example-robot-data/ur_description/rviz/config.rviz
+share/example-robot-data/ur_description/srdf/ur3_gripper.srdf
+share/example-robot-data/ur_description/srdf/ur5.srdf
+share/example-robot-data/ur_description/srdf/ur5_gripper.srdf
+share/example-robot-data/ur_description/srdf/ur5_joint_limited_robot.srdf
+share/example-robot-data/ur_description/urdf/ur3_gripper.urdf
+share/example-robot-data/ur_description/urdf/ur5_gripper.urdf
diff --git a/hpp-universal-robot/distinfo b/hpp-universal-robot/distinfo
index 99fec59dd675d52ef768d531eaf2d4a35590eebe..df49d4558f706a38e8d3755d00acd7f03dbac0ec 100644
--- a/hpp-universal-robot/distinfo
+++ b/hpp-universal-robot/distinfo
@@ -1,3 +1,3 @@
-SHA1 (hpp-universal-robot-4.5.0.tar.gz) = 0812ade9f85fff6288830f60293979a25858d54e
-RMD160 (hpp-universal-robot-4.5.0.tar.gz) = cbca529779fd9937f6d617af0dbfa69eb4b44374
-Size (hpp-universal-robot-4.5.0.tar.gz) = 769246 bytes
+SHA1 (hpp-universal-robot-4.7.0.tar.gz) = f6ef39bc27547b0c00801913138cf78bea245990
+RMD160 (hpp-universal-robot-4.7.0.tar.gz) = f5f894feec4fac8d21a6444bcc77a7ce9f164402
+Size (hpp-universal-robot-4.7.0.tar.gz) = 779090 bytes