diff --git a/jrl-walkgen-v3/Makefile b/jrl-walkgen-v3/Makefile
index d46a3c17946237b3e1d68bd58da3ec9bdce877db..ac41c0046e736ea50cb1d522f88395f6dedcf34f 100644
--- a/jrl-walkgen-v3/Makefile
+++ b/jrl-walkgen-v3/Makefile
@@ -7,13 +7,8 @@ NAME= jrl-walkgen
VERSION= 4.2.0
PKGREVISION= 1
-DISTNAME= ${NAME}-${VERSION}
PKGNAME= ${NAME}-v3-${VERSION}
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
-CHECKOUT_VCS_OPTS+= --recursive
-
CATEGORIES= wip
COMMENT= Walk pattern generator for the HRP-2 humanoid robot.
LICENSE= 2-clause-bsd
@@ -21,12 +16,7 @@ MAINTAINER= gepetto-soft@laas.fr
CONFLICTS+= ${NAME}
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
-
-DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
-
-DEPEND_ABI.pinocchio= pinocchio>2
-
+include ../../wip/jrl-cmakemodules/Makefile.common
include ../../graphics/simple-humanoid-description/depend.mk
include ../../math/pinocchio/depend.mk
include ../../mk/sysdep/cmake.mk
diff --git a/jrl-walkgen-v3/distinfo b/jrl-walkgen-v3/distinfo
index b837ccb6abc95b0e9ad0934edf85307c5d8689d3..8c4ae1f44adfbf06321ce09d358e02d232e78c75 100644
--- a/jrl-walkgen-v3/distinfo
+++ b/jrl-walkgen-v3/distinfo
@@ -1,3 +1,4 @@
SHA1 (jrl-walkgen-4.2.0.tar.gz) = 94e2bbd57f17fbe4af110c53026ca56fd3261a49
RMD160 (jrl-walkgen-4.2.0.tar.gz) = c2897d2322906e8aa80842b48fea4204c4edc607
Size (jrl-walkgen-4.2.0.tar.gz) = 15500455 bytes
+SHA1 (patch-aa) = 4d002ea5167ee0965be69e88396d0fab44a9457c
diff --git a/jrl-walkgen-v3/patches/patch-aa b/jrl-walkgen-v3/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..e79cdeab3db23b2465daa1d746cb71314ea909a5
--- /dev/null
+++ b/jrl-walkgen-v3/patches/patch-aa
@@ -0,0 +1,12 @@
+--- tests/TestObject.cpp.orig 2019-07-29 10:33:00.000000000 +0200
++++ tests/TestObject.cpp 2019-09-12 15:54:26.363661314 +0200
+@@ -29,6 +29,9 @@
+ // System include for floating point errors
+ #include <fenv.h>
+
++// Include Pinocchio before boost
++#include <pinocchio/fwd.hpp>
++
+ // Boost includes to parse XML files
+ #include <boost/property_tree/ptree.hpp>
+ #include <boost/property_tree/xml_parser.hpp>