diff --git a/dynamic-graph-bridge-v3/Makefile b/dynamic-graph-bridge-v3/Makefile
index c0d60555468dc172e98dab7f1932ad0d1cb9edfa..be2c5e57f73109ecc409fe58c6251cf971a82a2f 100644
--- a/dynamic-graph-bridge-v3/Makefile
+++ b/dynamic-graph-bridge-v3/Makefile
@@ -4,7 +4,7 @@
VERSION= 3.0.0
DISTNAME= dynamic_graph_bridge-v3-${VERSION}
PKGNAME= dynamic-graph-bridge-v3-${VERSION}
-PKGREVISION= 2
+PKGREVISION= 3
CATEGORIES= wip
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=dynamic-graph-bridge-v3/}
@@ -14,7 +14,7 @@ COMMENT= This ROS package binds together the ROS framework with the dynamic-gra
LICENSE= gnu-lgpl-v3
MAINTAINER= hpp@laas.fr
-DYNAMIC_PLIST_DIRS+= share/doc/dynamic_graph_bridge-v3
+DYNAMIC_PLIST_DIRS+= share/doc/dynamic_graph_bridge
# disable -Werror because of x86_64 warnings (must be fixed upstream) and
# boost + gcc that don't cohabit well depending on their respective versions
@@ -28,6 +28,8 @@ CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
include ../../sysutils/ros-rospack/depend.mk
include ../../motion/dynamic-graph-bridge-msgs/depend.mk
include ../../devel/ros-realtime-tools/depend.mk
+include ../../interfaces/ros-common-msgs/depend.mk
+include ../../math/ros-geometry/depend.mk
include ../../simulation/bullet/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
diff --git a/dynamic-graph-bridge-v3/PLIST b/dynamic-graph-bridge-v3/PLIST
index 415498a0fc7dfbc2647a8718e1ad755f3c0a3394..c165af8cfcf6747cb51aaa03df04adb3aa3e10e4 100644
--- a/dynamic-graph-bridge-v3/PLIST
+++ b/dynamic-graph-bridge-v3/PLIST
@@ -1,18 +1,22 @@
@comment Fri Oct 17 15:25:56 CEST 2014
-include/dynamic_graph_bridge/config.h
+include/dynamic_graph_bridge/RunPythonFile.h
+include/dynamic_graph_bridge/RunPythonFileRequest.h
+include/dynamic_graph_bridge/RunPythonFileResponse.h
include/dynamic_graph_bridge/config.hh
include/dynamic_graph_bridge/deprecated.hh
include/dynamic_graph_bridge/ros_init.hh
include/dynamic_graph_bridge/ros_interpreter.hh
+include/dynamic_graph_bridge/sot_loader.hh
include/dynamic_graph_bridge/warning.hh
-lib/librobot_model.so
lib/libros_bridge.so
lib/libros_interpreter.so
-lib/libros_joint_state.so
-lib/libros_publish.so
-lib/libros_subscribe.so
-lib/libros_time.so
+lib/libsot_loader.so
lib/pkgconfig/dynamic_graph_bridge.pc
+lib/plugin/robot_model.so
+lib/plugin/ros_joint_state.so
+lib/plugin/ros_publish.so
+lib/plugin/ros_subscribe.so
+lib/plugin/ros_time.so
${PYTHON_SITELIB}/dynamic_graph/ros/__init__.py
${PYTHON_SITELIB}/dynamic_graph/ros/robot_model/__init__.py
${PYTHON_SITELIB}/dynamic_graph/ros/robot_model/wrap.so
@@ -25,11 +29,21 @@ ${PYTHON_SITELIB}/dynamic_graph/ros/ros_subscribe/__init__.py
${PYTHON_SITELIB}/dynamic_graph/ros/ros_subscribe/wrap.so
${PYTHON_SITELIB}/dynamic_graph/ros/ros_time/__init__.py
${PYTHON_SITELIB}/dynamic_graph/ros/ros_time/wrap.so
-share/dynamic_graph_bridge/robot_pose_publisher
-share/dynamic_graph_bridge/tf_publisher
+${PYTHON_SITELIB}/dynamic_graph_bridge/__init__.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/srv/_RunPythonFile.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/srv/__init__.py
+share/common-lisp/ros/dynamic_graph_bridge/srv/RunPythonFile.lisp
+share/common-lisp/ros/dynamic_graph_bridge/srv/_package.lisp
+share/common-lisp/ros/dynamic_graph_bridge/srv/_package_RunPythonFile.lisp
+share/common-lisp/ros/dynamic_graph_bridge/srv/dynamic_graph_bridge-srv.asd
+share/dynamic_graph_bridge/cmake/dynamic_graph_bridge-msg-extras.cmake
+share/dynamic_graph_bridge/cmake/dynamic_graph_bridge-msg-paths.cmake
share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig-version.cmake
share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig.cmake
+share/dynamic_graph_bridge/geometric_simu
+share/dynamic_graph_bridge/manifest.xml
share/dynamic_graph_bridge/package.xml
-share/dynamic_graph_bridge/run_command
share/dynamic_graph_bridge/robot_pose_publisher
-share/dynamic_graph_bridge/geometric_simu
+share/dynamic_graph_bridge/run_command
+share/dynamic_graph_bridge/srv/RunPythonFile.srv
+share/dynamic_graph_bridge/tf_publisher
\ No newline at end of file