diff --git a/pal-gazebo-plugins/Makefile b/pal-gazebo-plugins/Makefile
index 747dedc98e2ade6b904eacc392efaf3187de7600..2dff0b4f39b0986320697ec9fcd2ba35556c14f6 100644
--- a/pal-gazebo-plugins/Makefile
+++ b/pal-gazebo-plugins/Makefile
@@ -30,7 +30,7 @@ ifeq (16.04,${OS_VERSION})
endif
include ../../wip/pal-msgs/depend.mk
-include ../../wip/prf-gazebo-ros-pkgs-melodic/depend.mk
+include ../../wip/prf-gazebo-ros-pkgs/depend.mk
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
diff --git a/pal-gazebo-worlds/Makefile b/pal-gazebo-worlds/Makefile
index 0d2031168afe9a5d4dbb813244f0e89a79254428..89891f9c0c5f7cfdc6548769f23fac5a555bdfa2 100644
--- a/pal-gazebo-worlds/Makefile
+++ b/pal-gazebo-worlds/Makefile
@@ -22,11 +22,11 @@ MASTER_SITES= ${HOMEPAGE}/archive/
COMMENT= Simulation worlds for PAL robots
LICENSE= gnu-lgpl-v3
-ifneq (,$(filter 16.04,${OS_VERSION}))
- include ../../wip/prf-gazebo-ros-pkgs/depend.mk
-else
- include ../../wip/prf-gazebo-ros-pkgs-melodic/depend.mk
-endif
+CMAKE_PREFIX_PATH+= ${PREFIX}
+
+include ../../wip/prf-gazebo-ros-pkgs/depend.mk
+
+CMAKE_PREFIX_PATH+= ${PREFIX}
include ../../devel/ros-catkin/depend.mk
include ../../devel/ros-roscpp-core/depend.mk
diff --git a/pal-hardware-gazebo-melodic/Makefile b/pal-hardware-gazebo-melodic/Makefile
index 49d3eceb5a8124525d2d9bfd25fe9ff4534a0d47..267ee4aebeb4a46e00a7e9b9b29ab1c6d312b718 100644
--- a/pal-hardware-gazebo-melodic/Makefile
+++ b/pal-hardware-gazebo-melodic/Makefile
@@ -38,7 +38,7 @@ include ../../lang/ros-message-runtime/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../wip/pal-hardware-interfaces/depend.mk
include ../../wip/py-pal-statistics/depend.mk
-include ../../wip/prf-gazebo-ros-pkgs-melodic/depend.mk
+include ../../wip/prf-gazebo-ros-pkgs/depend.mk
include ../../wip/py-prf-ros-control/depend.mk
include ../../wip/dynamic-introspection/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
diff --git a/prf-gazebo-ros-pkgs-melodic/DESCR b/prf-gazebo-ros-pkgs-melodic/DESCR
deleted file mode 100644
index 880fbd8223bcf5c10a50a5bca9c9297e195400e7..0000000000000000000000000000000000000000
--- a/prf-gazebo-ros-pkgs-melodic/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-gazebo_ros_control from pal-robotics-forks (melodic branch)
diff --git a/prf-gazebo-ros-pkgs-melodic/Makefile b/prf-gazebo-ros-pkgs-melodic/Makefile
deleted file mode 100644
index 2d6d5acc0af8ed0345d7d1a25bae15997300318e..0000000000000000000000000000000000000000
--- a/prf-gazebo-ros-pkgs-melodic/Makefile
+++ /dev/null
@@ -1,60 +0,0 @@
-# robotpkg Makefile for: wip/prf-gazebo-ros-pkgs-melodic
-# Created: Olivier Stasse on Mer, 2 Jan 2020
-#
-ORG= pal-robotics-forks
-VERSION= 3.0.1
-PRFNAME= gazebo-ros-pkgs
-PKGBASE= prf-${PRFNAME}-melodic
-PKGNAME= ${PKGBASE}-${VERSION}
-DISTNAME= ${VERSION}
-ROSNAME= $(subst -,_,${PRFNAME})
-WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
-DIST_SUBDIR= ${PKGBASE}
-
-CATEGORIES= wip
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
-CHECKOUT_VCS_OPTS+= --recursive
-
-HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
-MASTER_SITES= ${HOMEPAGE}/archive/
-
-COMMENT= Wrappers, tools and additional API for using ROS with Gazebo.
-LICENSE= 2-clause-bsd
-
-CONFLICTS+= gazebo-ros-pkgs-[0-9]*
-CONFLICTS+= prf-gazebo-ros-pkgs-[0-9]*
-ROS_METAPKG= yes
-
-CMAKE_ARGS+=\
- -Dgazebo_INCLUDE_DIRS=$(filter include/%,${SYSTEM_SEARCH.gazebo}) \
- -Dgazebo_LIBRARIES=$(filter %.so,${SYSTEM_SEARCH.gazebo})
-
-CMAKE_PREFIX_PATH+= ${PREFIX}
-
-include ../../devel/ros-cmake-modules/depend.mk
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../devel/ros-catkin/depend.mk
-include ../../devel/ros-nodelet-core/depend.mk
-include ../../middleware/ros-comm/depend.mk
-include ../../devel/ros-pluginlib/depend.mk
-include ../../devel/ros-ros/depend.mk
-include ../../graphics/ros-urdf/depend.mk
-include ../../image/ros-image-common/depend.mk
-include ../../image/ros-vision-opencv/depend.mk
-include ../../interfaces/ros-common-msgs/depend.mk
-include ../../interfaces/ros-std-msgs/depend.mk
-include ../../lang/ros-message-generation/depend.mk
-include ../../lang/ros-message-runtime/depend.mk
-include ../../math/ros-angles/depend.mk
-include ../../math/ros-geometry/depend.mk
-include ../../middleware/ros-actionlib/depend.mk
-include ../../middleware/ros-comm/depend.mk
-include ../../motion/ros-control-toolbox/depend.mk
-include ../../sysutils/ros-diagnostics/depend.mk
-include ../../wip/py-prf-ros-control/depend.mk
-include ../../mk/sysdep/gazebo.mk
-include ../../mk/sysdep/libogre.mk
-include ../../mk/language/c++.mk
-include ../../mk/language/c.mk
-include ../../mk/robotpkg.mk
diff --git a/prf-gazebo-ros-pkgs-melodic/PLIST b/prf-gazebo-ros-pkgs-melodic/PLIST
deleted file mode 100644
index 7a639a177269f5c40da272e19c4a17ef3d533d34..0000000000000000000000000000000000000000
--- a/prf-gazebo-ros-pkgs-melodic/PLIST
+++ /dev/null
@@ -1,457 +0,0 @@
-@comment Mon Jan 6 19:02:45 CET 2020
-include/gazebo_msgs/ApplyBodyWrench.h
-include/gazebo_msgs/ApplyBodyWrenchRequest.h
-include/gazebo_msgs/ApplyBodyWrenchResponse.h
-include/gazebo_msgs/ApplyJointEffort.h
-include/gazebo_msgs/ApplyJointEffortRequest.h
-include/gazebo_msgs/ApplyJointEffortResponse.h
-include/gazebo_msgs/BodyRequest.h
-include/gazebo_msgs/BodyRequestRequest.h
-include/gazebo_msgs/BodyRequestResponse.h
-include/gazebo_msgs/ContactState.h
-include/gazebo_msgs/ContactsState.h
-include/gazebo_msgs/DeleteLight.h
-include/gazebo_msgs/DeleteLightRequest.h
-include/gazebo_msgs/DeleteLightResponse.h
-include/gazebo_msgs/DeleteModel.h
-include/gazebo_msgs/DeleteModelRequest.h
-include/gazebo_msgs/DeleteModelResponse.h
-include/gazebo_msgs/GetJointProperties.h
-include/gazebo_msgs/GetJointPropertiesRequest.h
-include/gazebo_msgs/GetJointPropertiesResponse.h
-include/gazebo_msgs/GetLightProperties.h
-include/gazebo_msgs/GetLightPropertiesRequest.h
-include/gazebo_msgs/GetLightPropertiesResponse.h
-include/gazebo_msgs/GetLinkProperties.h
-include/gazebo_msgs/GetLinkPropertiesRequest.h
-include/gazebo_msgs/GetLinkPropertiesResponse.h
-include/gazebo_msgs/GetLinkState.h
-include/gazebo_msgs/GetLinkStateRequest.h
-include/gazebo_msgs/GetLinkStateResponse.h
-include/gazebo_msgs/GetModelProperties.h
-include/gazebo_msgs/GetModelPropertiesRequest.h
-include/gazebo_msgs/GetModelPropertiesResponse.h
-include/gazebo_msgs/GetModelState.h
-include/gazebo_msgs/GetModelStateRequest.h
-include/gazebo_msgs/GetModelStateResponse.h
-include/gazebo_msgs/GetPhysicsProperties.h
-include/gazebo_msgs/GetPhysicsPropertiesRequest.h
-include/gazebo_msgs/GetPhysicsPropertiesResponse.h
-include/gazebo_msgs/GetWorldProperties.h
-include/gazebo_msgs/GetWorldPropertiesRequest.h
-include/gazebo_msgs/GetWorldPropertiesResponse.h
-include/gazebo_msgs/JointRequest.h
-include/gazebo_msgs/JointRequestRequest.h
-include/gazebo_msgs/JointRequestResponse.h
-include/gazebo_msgs/LinkState.h
-include/gazebo_msgs/LinkStates.h
-include/gazebo_msgs/ModelState.h
-include/gazebo_msgs/ModelStates.h
-include/gazebo_msgs/ODEJointProperties.h
-include/gazebo_msgs/ODEPhysics.h
-include/gazebo_msgs/SetJointProperties.h
-include/gazebo_msgs/SetJointPropertiesRequest.h
-include/gazebo_msgs/SetJointPropertiesResponse.h
-include/gazebo_msgs/SetJointTrajectory.h
-include/gazebo_msgs/SetJointTrajectoryRequest.h
-include/gazebo_msgs/SetJointTrajectoryResponse.h
-include/gazebo_msgs/SetLightProperties.h
-include/gazebo_msgs/SetLightPropertiesRequest.h
-include/gazebo_msgs/SetLightPropertiesResponse.h
-include/gazebo_msgs/SetLinkProperties.h
-include/gazebo_msgs/SetLinkPropertiesRequest.h
-include/gazebo_msgs/SetLinkPropertiesResponse.h
-include/gazebo_msgs/SetLinkState.h
-include/gazebo_msgs/SetLinkStateRequest.h
-include/gazebo_msgs/SetLinkStateResponse.h
-include/gazebo_msgs/SetModelConfiguration.h
-include/gazebo_msgs/SetModelConfigurationRequest.h
-include/gazebo_msgs/SetModelConfigurationResponse.h
-include/gazebo_msgs/SetModelState.h
-include/gazebo_msgs/SetModelStateRequest.h
-include/gazebo_msgs/SetModelStateResponse.h
-include/gazebo_msgs/SetPhysicsProperties.h
-include/gazebo_msgs/SetPhysicsPropertiesRequest.h
-include/gazebo_msgs/SetPhysicsPropertiesResponse.h
-include/gazebo_msgs/SpawnModel.h
-include/gazebo_msgs/SpawnModelRequest.h
-include/gazebo_msgs/SpawnModelResponse.h
-include/gazebo_msgs/WorldState.h
-include/gazebo_plugins/CameraSynchronizerConfig.h
-include/gazebo_plugins/GazeboRosCameraConfig.h
-include/gazebo_plugins/GazeboRosOpenniKinectConfig.h
-include/gazebo_plugins/HokuyoConfig.h
-include/gazebo_plugins/MultiCameraPlugin.h
-include/gazebo_plugins/PubQueue.h
-include/gazebo_plugins/gazebo_ros_block_laser.h
-include/gazebo_plugins/gazebo_ros_bumper.h
-include/gazebo_plugins/gazebo_ros_camera.h
-include/gazebo_plugins/gazebo_ros_camera_utils.h
-include/gazebo_plugins/gazebo_ros_depth_camera.h
-include/gazebo_plugins/gazebo_ros_diff_drive.h
-include/gazebo_plugins/gazebo_ros_elevator.h
-include/gazebo_plugins/gazebo_ros_f3d.h
-include/gazebo_plugins/gazebo_ros_force.h
-include/gazebo_plugins/gazebo_ros_ft_sensor.h
-include/gazebo_plugins/gazebo_ros_gpu_laser.h
-include/gazebo_plugins/gazebo_ros_hand_of_god.h
-include/gazebo_plugins/gazebo_ros_harness.h
-include/gazebo_plugins/gazebo_ros_imu.h
-include/gazebo_plugins/gazebo_ros_imu_sensor.h
-include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.h
-include/gazebo_plugins/gazebo_ros_joint_state_publisher.h
-include/gazebo_plugins/gazebo_ros_joint_trajectory.h
-include/gazebo_plugins/gazebo_ros_laser.h
-include/gazebo_plugins/gazebo_ros_multicamera.h
-include/gazebo_plugins/gazebo_ros_openni_kinect.h
-include/gazebo_plugins/gazebo_ros_p3d.h
-include/gazebo_plugins/gazebo_ros_planar_move.h
-include/gazebo_plugins/gazebo_ros_projector.h
-include/gazebo_plugins/gazebo_ros_prosilica.h
-include/gazebo_plugins/gazebo_ros_range.h
-include/gazebo_plugins/gazebo_ros_skid_steer_drive.h
-include/gazebo_plugins/gazebo_ros_template.h
-include/gazebo_plugins/gazebo_ros_tricycle_drive.h
-include/gazebo_plugins/gazebo_ros_utils.h
-include/gazebo_plugins/gazebo_ros_vacuum_gripper.h
-include/gazebo_plugins/gazebo_ros_video.h
-include/gazebo_plugins/vision_reconfigure.h
-include/gazebo_ros/PhysicsConfig.h
-include/gazebo_ros_control/default_robot_hw_sim.h
-include/gazebo_ros_control/gazebo_ros_control_plugin.h
-include/gazebo_ros_control/internal/effort_joint.h
-include/gazebo_ros_control/internal/joint_state.h
-include/gazebo_ros_control/internal/position_joint.h
-include/gazebo_ros_control/internal/read_write_resource.h
-include/gazebo_ros_control/internal/velocity_joint.h
-include/gazebo_ros_control/robot_hw_sim.h
-lib/gazebo_plugins/camera_synchronizer
-lib/gazebo_plugins/gazebo_model
-lib/gazebo_plugins/hokuyo_node
-lib/gazebo_plugins/pub_joint_trajectory_test
-lib/gazebo_plugins/set_pose.py
-lib/gazebo_plugins/set_wrench.py
-lib/gazebo_ros/debug
-lib/gazebo_ros/gazebo
-lib/gazebo_ros/gdbrun
-lib/gazebo_ros/gzclient
-lib/gazebo_ros/gzserver
-lib/gazebo_ros/libcommon.sh
-lib/gazebo_ros/perf
-lib/gazebo_ros/spawn_model
-lib/libMultiCameraPlugin.so
-lib/libdefault_robot_hw_sim.so
-lib/libgazebo_ros_api_plugin.so
-lib/libgazebo_ros_block_laser.so
-lib/libgazebo_ros_bumper.so
-lib/libgazebo_ros_camera.so
-lib/libgazebo_ros_camera_utils.so
-lib/libgazebo_ros_control.so
-lib/libgazebo_ros_depth_camera.so
-lib/libgazebo_ros_diff_drive.so
-lib/libgazebo_ros_elevator.so
-lib/libgazebo_ros_f3d.so
-lib/libgazebo_ros_force.so
-lib/libgazebo_ros_ft_sensor.so
-lib/libgazebo_ros_gpu_laser.so
-lib/libgazebo_ros_hand_of_god.so
-lib/libgazebo_ros_harness.so
-lib/libgazebo_ros_imu.so
-lib/libgazebo_ros_imu_sensor.so
-lib/libgazebo_ros_joint_pose_trajectory.so
-lib/libgazebo_ros_joint_state_publisher.so
-lib/libgazebo_ros_joint_trajectory.so
-lib/libgazebo_ros_laser.so
-lib/libgazebo_ros_multicamera.so
-lib/libgazebo_ros_openni_kinect.so
-lib/libgazebo_ros_p3d.so
-lib/libgazebo_ros_paths_plugin.so
-lib/libgazebo_ros_planar_move.so
-lib/libgazebo_ros_projector.so
-lib/libgazebo_ros_prosilica.so
-lib/libgazebo_ros_range.so
-lib/libgazebo_ros_skid_steer_drive.so
-lib/libgazebo_ros_template.so
-lib/libgazebo_ros_tricycle_drive.so
-lib/libgazebo_ros_utils.so
-lib/libgazebo_ros_vacuum_gripper.so
-lib/libgazebo_ros_video.so
-lib/libvision_reconfigure.so
-lib/pkgconfig/gazebo_dev.pc
-lib/pkgconfig/gazebo_msgs.pc
-lib/pkgconfig/gazebo_plugins.pc
-lib/pkgconfig/gazebo_ros.pc
-lib/pkgconfig/gazebo_ros_control.pc
-${PYTHON_SITELIB}/gazebo_msgs/__init__.py
-${PYTHON_SITELIB}/gazebo_msgs/msg/_ContactState.py
-${PYTHON_SITELIB}/gazebo_msgs/msg/_ContactsState.py
-${PYTHON_SITELIB}/gazebo_msgs/msg/_LinkState.py
-${PYTHON_SITELIB}/gazebo_msgs/msg/_LinkStates.py
-${PYTHON_SITELIB}/gazebo_msgs/msg/_ModelState.py
-${PYTHON_SITELIB}/gazebo_msgs/msg/_ModelStates.py
-${PYTHON_SITELIB}/gazebo_msgs/msg/_ODEJointProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/msg/_ODEPhysics.py
-${PYTHON_SITELIB}/gazebo_msgs/msg/_WorldState.py
-${PYTHON_SITELIB}/gazebo_msgs/msg/__init__.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_ApplyBodyWrench.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_ApplyJointEffort.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_BodyRequest.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_DeleteLight.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_DeleteModel.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_GetJointProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_GetLightProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_GetLinkProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_GetLinkState.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_GetModelProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_GetModelState.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_GetPhysicsProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_GetWorldProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_JointRequest.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_SetJointProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_SetJointTrajectory.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_SetLightProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_SetLinkProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_SetLinkState.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_SetModelConfiguration.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_SetModelState.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_SetPhysicsProperties.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/_SpawnModel.py
-${PYTHON_SITELIB}/gazebo_msgs/srv/__init__.py
-${PYTHON_SITELIB}/gazebo_plugins-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
-${PYTHON_SITELIB}/gazebo_plugins/__init__.py
-${PYTHON_SITELIB}/gazebo_plugins/cfg/CameraSynchronizerConfig.py
-${PYTHON_SITELIB}/gazebo_plugins/cfg/GazeboRosCameraConfig.py
-${PYTHON_SITELIB}/gazebo_plugins/cfg/GazeboRosOpenniKinectConfig.py
-${PYTHON_SITELIB}/gazebo_plugins/cfg/HokuyoConfig.py
-${PYTHON_SITELIB}/gazebo_plugins/cfg/__init__.py
-${PYTHON_SITELIB}/gazebo_plugins/gazebo_plugins_interface.py
-${PYTHON_SITELIB}/gazebo_ros-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
-${PYTHON_SITELIB}/gazebo_ros/__init__.py
-${PYTHON_SITELIB}/gazebo_ros/cfg/PhysicsConfig.py
-${PYTHON_SITELIB}/gazebo_ros/cfg/__init__.py
-${PYTHON_SITELIB}/gazebo_ros/gazebo_interface.py
-share/common-lisp/ros/gazebo_msgs/msg/ContactState.lisp
-share/common-lisp/ros/gazebo_msgs/msg/ContactsState.lisp
-share/common-lisp/ros/gazebo_msgs/msg/LinkState.lisp
-share/common-lisp/ros/gazebo_msgs/msg/LinkStates.lisp
-share/common-lisp/ros/gazebo_msgs/msg/ModelState.lisp
-share/common-lisp/ros/gazebo_msgs/msg/ModelStates.lisp
-share/common-lisp/ros/gazebo_msgs/msg/ODEJointProperties.lisp
-share/common-lisp/ros/gazebo_msgs/msg/ODEPhysics.lisp
-share/common-lisp/ros/gazebo_msgs/msg/WorldState.lisp
-share/common-lisp/ros/gazebo_msgs/msg/_package.lisp
-share/common-lisp/ros/gazebo_msgs/msg/_package_ContactState.lisp
-share/common-lisp/ros/gazebo_msgs/msg/_package_ContactsState.lisp
-share/common-lisp/ros/gazebo_msgs/msg/_package_LinkState.lisp
-share/common-lisp/ros/gazebo_msgs/msg/_package_LinkStates.lisp
-share/common-lisp/ros/gazebo_msgs/msg/_package_ModelState.lisp
-share/common-lisp/ros/gazebo_msgs/msg/_package_ModelStates.lisp
-share/common-lisp/ros/gazebo_msgs/msg/_package_ODEJointProperties.lisp
-share/common-lisp/ros/gazebo_msgs/msg/_package_ODEPhysics.lisp
-share/common-lisp/ros/gazebo_msgs/msg/_package_WorldState.lisp
-share/common-lisp/ros/gazebo_msgs/msg/gazebo_msgs-msg.asd
-share/common-lisp/ros/gazebo_msgs/srv/ApplyBodyWrench.lisp
-share/common-lisp/ros/gazebo_msgs/srv/ApplyJointEffort.lisp
-share/common-lisp/ros/gazebo_msgs/srv/BodyRequest.lisp
-share/common-lisp/ros/gazebo_msgs/srv/DeleteLight.lisp
-share/common-lisp/ros/gazebo_msgs/srv/DeleteModel.lisp
-share/common-lisp/ros/gazebo_msgs/srv/GetJointProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/GetLightProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/GetLinkProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/GetLinkState.lisp
-share/common-lisp/ros/gazebo_msgs/srv/GetModelProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/GetModelState.lisp
-share/common-lisp/ros/gazebo_msgs/srv/GetPhysicsProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/GetWorldProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/JointRequest.lisp
-share/common-lisp/ros/gazebo_msgs/srv/SetJointProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/SetJointTrajectory.lisp
-share/common-lisp/ros/gazebo_msgs/srv/SetLightProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/SetLinkProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/SetLinkState.lisp
-share/common-lisp/ros/gazebo_msgs/srv/SetModelConfiguration.lisp
-share/common-lisp/ros/gazebo_msgs/srv/SetModelState.lisp
-share/common-lisp/ros/gazebo_msgs/srv/SetPhysicsProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/SpawnModel.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_ApplyBodyWrench.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_ApplyJointEffort.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_BodyRequest.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_DeleteLight.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_DeleteModel.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_GetJointProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_GetLightProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_GetLinkProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_GetLinkState.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_GetModelProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_GetModelState.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_GetPhysicsProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_GetWorldProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_JointRequest.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_SetJointProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_SetJointTrajectory.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_SetLightProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_SetLinkProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_SetLinkState.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_SetModelConfiguration.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_SetModelState.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_SetPhysicsProperties.lisp
-share/common-lisp/ros/gazebo_msgs/srv/_package_SpawnModel.lisp
-share/common-lisp/ros/gazebo_msgs/srv/gazebo_msgs-srv.asd
-share/gazebo_dev/cmake/gazebo_dev-extras.cmake
-share/gazebo_dev/cmake/gazebo_devConfig-version.cmake
-share/gazebo_dev/cmake/gazebo_devConfig.cmake
-share/gazebo_dev/package.xml
-share/gazebo_msgs/cmake/gazebo_msgs-msg-extras.cmake
-share/gazebo_msgs/cmake/gazebo_msgs-msg-paths.cmake
-share/gazebo_msgs/cmake/gazebo_msgsConfig-version.cmake
-share/gazebo_msgs/cmake/gazebo_msgsConfig.cmake
-share/gazebo_msgs/msg/ContactState.msg
-share/gazebo_msgs/msg/ContactsState.msg
-share/gazebo_msgs/msg/LinkState.msg
-share/gazebo_msgs/msg/LinkStates.msg
-share/gazebo_msgs/msg/ModelState.msg
-share/gazebo_msgs/msg/ModelStates.msg
-share/gazebo_msgs/msg/ODEJointProperties.msg
-share/gazebo_msgs/msg/ODEPhysics.msg
-share/gazebo_msgs/msg/WorldState.msg
-share/gazebo_msgs/package.xml
-share/gazebo_msgs/srv/ApplyBodyWrench.srv
-share/gazebo_msgs/srv/ApplyJointEffort.srv
-share/gazebo_msgs/srv/BodyRequest.srv
-share/gazebo_msgs/srv/DeleteLight.srv
-share/gazebo_msgs/srv/DeleteModel.srv
-share/gazebo_msgs/srv/GetJointProperties.srv
-share/gazebo_msgs/srv/GetLightProperties.srv
-share/gazebo_msgs/srv/GetLinkProperties.srv
-share/gazebo_msgs/srv/GetLinkState.srv
-share/gazebo_msgs/srv/GetModelProperties.srv
-share/gazebo_msgs/srv/GetModelState.srv
-share/gazebo_msgs/srv/GetPhysicsProperties.srv
-share/gazebo_msgs/srv/GetWorldProperties.srv
-share/gazebo_msgs/srv/JointRequest.srv
-share/gazebo_msgs/srv/SetJointProperties.srv
-share/gazebo_msgs/srv/SetJointTrajectory.srv
-share/gazebo_msgs/srv/SetLightProperties.srv
-share/gazebo_msgs/srv/SetLinkProperties.srv
-share/gazebo_msgs/srv/SetLinkState.srv
-share/gazebo_msgs/srv/SetModelConfiguration.srv
-share/gazebo_msgs/srv/SetModelState.srv
-share/gazebo_msgs/srv/SetPhysicsProperties.srv
-share/gazebo_msgs/srv/SpawnModel.srv
-share/gazebo_plugins/Media/models/chair/doc.kml
-share/gazebo_plugins/Media/models/chair/images/texture0.jpg
-share/gazebo_plugins/Media/models/chair/images/texture1.jpg
-share/gazebo_plugins/Media/models/chair/models/Chair.dae
-share/gazebo_plugins/Media/models/chair/models/Chair.stl
-share/gazebo_plugins/Media/models/chair/textures.txt
-share/gazebo_plugins/cmake/gazebo_pluginsConfig-version.cmake
-share/gazebo_plugins/cmake/gazebo_pluginsConfig.cmake
-share/gazebo_plugins/package.xml
-share/gazebo_plugins/test/bumper_test/gazebo_ros_bumper.world
-share/gazebo_plugins/test/bumper_test/test_bumper.launch
-share/gazebo_plugins/test/bumper_test/test_bumper.py
-share/gazebo_plugins/test/camera/camera.cpp
-share/gazebo_plugins/test/camera/camera.test
-share/gazebo_plugins/test/camera/camera.world
-share/gazebo_plugins/test/camera/depth_camera.cpp
-share/gazebo_plugins/test/camera/depth_camera.test
-share/gazebo_plugins/test/camera/depth_camera.world
-share/gazebo_plugins/test/camera/distortion.cpp
-share/gazebo_plugins/test/camera/distortion_barrel.test
-share/gazebo_plugins/test/camera/distortion_barrel.world
-share/gazebo_plugins/test/camera/distortion_pincushion.test
-share/gazebo_plugins/test/camera/distortion_pincushion.world
-share/gazebo_plugins/test/camera/multicamera.cpp
-share/gazebo_plugins/test/camera/multicamera.test
-share/gazebo_plugins/test/camera/multicamera.world
-share/gazebo_plugins/test/config/example_models.yaml
-share/gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch
-share/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch
-share/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.rviz
-share/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch
-share/gazebo_plugins/test/multi_robot_scenario/meshes/laser/hokuyo.dae
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/Coordinates
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_rim.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_sonar.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_hubcap.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_wheel.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/chassis.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_rim.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_sonar.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_hubcap.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_wheel.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_hubcap.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_wheel.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/swivel.stl
-share/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/top.stl
-share/gazebo_plugins/test/multi_robot_scenario/xacro/camera/camera.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo_gpu.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/materials.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_body.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro
-share/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro
-share/gazebo_plugins/test/p3d_test/test_3_double_pendulums.launch
-share/gazebo_plugins/test/p3d_test/test_3_single_pendulums.launch
-share/gazebo_plugins/test/p3d_test/test_double_pendulum.launch
-share/gazebo_plugins/test/p3d_test/test_link_pose.py
-share/gazebo_plugins/test/p3d_test/test_single_pendulum.launch
-share/gazebo_plugins/test/p3d_test/worlds/3_double_pendulums.world
-share/gazebo_plugins/test/p3d_test/worlds/3_single_pendulums.world
-share/gazebo_plugins/test/p3d_test/worlds/double_pendulum.world
-share/gazebo_plugins/test/p3d_test/worlds/single_pendulum.world
-share/gazebo_plugins/test/pub_joint_trajectory_test.cpp
-share/gazebo_plugins/test/range/range_plugin.test
-share/gazebo_plugins/test/set_model_state_test/set_model_state_test.cpp
-share/gazebo_plugins/test/set_model_state_test/set_model_state_test.test
-share/gazebo_plugins/test/set_model_state_test/set_model_state_test_p2dx.world
-share/gazebo_plugins/test/spawn_test/parameter_server_test.launch
-share/gazebo_plugins/test/spawn_test/spawn_robots.sh
-share/gazebo_plugins/test/test_worlds/bumper_test.world
-share/gazebo_plugins/test/test_worlds/elevator.world
-share/gazebo_plugins/test/test_worlds/gazebo_ros_block_laser.world
-share/gazebo_plugins/test/test_worlds/gazebo_ros_camera.world
-share/gazebo_plugins/test/test_worlds/gazebo_ros_depth_camera.world
-share/gazebo_plugins/test/test_worlds/gazebo_ros_gpu_laser.world
-share/gazebo_plugins/test/test_worlds/gazebo_ros_laser.world
-share/gazebo_plugins/test/test_worlds/gazebo_ros_range.world
-share/gazebo_plugins/test/test_worlds/gazebo_ros_trimesh_collision.world
-share/gazebo_plugins/test/test_worlds/test_lasers.world
-share/gazebo_plugins/test/tricycle_drive/launch/.directory
-share/gazebo_plugins/test/tricycle_drive/launch/tricycle.gazebo.launch
-share/gazebo_plugins/test/tricycle_drive/launch/tricycle.rviz
-share/gazebo_plugins/test/tricycle_drive/launch/tricycle.urdf.launch
-share/gazebo_plugins/test/tricycle_drive/launch/tricycle_drive_scenario.launch
-share/gazebo_plugins/test/tricycle_drive/launch/tricycle_rviz.launch
-share/gazebo_plugins/test/tricycle_drive/xacro/.directory
-share/gazebo_plugins/test/tricycle_drive/xacro/materials.xacro
-share/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro
-share/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle.xacro
-share/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro
-share/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro
-share/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_plugins.xacro
-share/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro
-share/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro
-share/gazebo_ros/cmake/gazebo_rosConfig-version.cmake
-share/gazebo_ros/cmake/gazebo_rosConfig.cmake
-share/gazebo_ros/launch/elevator_world.launch
-share/gazebo_ros/launch/empty_world.launch
-share/gazebo_ros/launch/mud_world.launch
-share/gazebo_ros/launch/range_world.launch
-share/gazebo_ros/launch/rubble_world.launch
-share/gazebo_ros/launch/shapes_world.launch
-share/gazebo_ros/launch/willowgarage_world.launch
-share/gazebo_ros/package.xml
-share/gazebo_ros_control/cmake/gazebo_ros_controlConfig-version.cmake
-share/gazebo_ros_control/cmake/gazebo_ros_controlConfig.cmake
-share/gazebo_ros_control/package.xml
-share/gazebo_ros_control/robot_hw_sim_plugins.xml
-share/gazebo_ros_pkgs/package.xml
-@pkgdir share/doc/liborocos-kdl
diff --git a/prf-gazebo-ros-pkgs-melodic/depend.mk b/prf-gazebo-ros-pkgs-melodic/depend.mk
deleted file mode 100644
index 7d2ba4f4354e5bb48f834c4c645739da9c5ea8cf..0000000000000000000000000000000000000000
--- a/prf-gazebo-ros-pkgs-melodic/depend.mk
+++ /dev/null
@@ -1,31 +0,0 @@
-# robotpkg depend.mk for: wip/prf-gazebo-ros-pkgs-melodic
-# Created: Olivier Stasse on Mer, 2 Jan 2020
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-GAZEBO_ROS_PKGS_MELODIC_DEPEND_MK:= ${GAZEBO_ROS_PKGS_MELODIC_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= prf-gazebo-ros-pkgs-melodic
-endif
-
-ifeq (+,$(GAZEBO_ROS_PKGS_MELODIC_DEPEND_MK)) # ---------------------------
-
-PREFER.prf-gazebo-ros-pkgs-melodic?= robotpkg
-
-DEPEND_USE+= prf-gazebo-ros-pkgs-melodic
-
-DEPEND_ABI.prf-gazebo-ros-pkgs-melodic?= prf-gazebo-ros-pkgs-melodic>=3.0.1
-DEPEND_DIR.prf-gazebo-ros-pkgs-melodic?= ../../wip/prf-gazebo-ros-pkgs-melodic
-
-SYSTEM_SEARCH.prf-gazebo-ros-pkgs-melodic=\
- 'include/gazebo_ros_control/gazebo_ros_control_plugin.h' \
- 'include/gazebo_ros_control/default_robot_hw_sim.h' \
- 'include/gazebo_ros_control/robot_hw_sim.h' \
- 'share/gazebo_ros_control/cmake/gazebo_ros_controlConfig.cmake' \
- 'share/gazebo_ros_control/package.xml:/<version>/s/[^0-9.]//gp' \
- 'lib/pkgconfig/gazebo_ros_control.pc:/Version/s/[^0-9.]//gp'
-
-endif # GAZEBO_ROS_PKGS_DEPEND_MK ---------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/prf-gazebo-ros-pkgs-melodic/distinfo b/prf-gazebo-ros-pkgs-melodic/distinfo
deleted file mode 100644
index cfe4d7e6fd52030e613a27f6f992f2a59cf3dc79..0000000000000000000000000000000000000000
--- a/prf-gazebo-ros-pkgs-melodic/distinfo
+++ /dev/null
@@ -1,4 +0,0 @@
-SHA1 (prf-gazebo-ros-pkgs-melodic/3.0.1.tar.gz) = abc1d1188a8f85cccd3f7aae02ad5025f961a502
-RMD160 (prf-gazebo-ros-pkgs-melodic/3.0.1.tar.gz) = c455e72a1385144d02293285d6310051f81ca393
-Size (prf-gazebo-ros-pkgs-melodic/3.0.1.tar.gz) = 1858951 bytes
-SHA1 (patch-aa) = 47fb92ee7215c46780ebb50d863cb02a7d19c968
diff --git a/prf-gazebo-ros-pkgs/Makefile b/prf-gazebo-ros-pkgs/Makefile
index b594c0b5d7019b39f969cdfad347ec6dc9eec2d9..be1a25aa8eefd96c36bbacac3779a9feefca5827 100644
--- a/prf-gazebo-ros-pkgs/Makefile
+++ b/prf-gazebo-ros-pkgs/Makefile
@@ -1,41 +1,51 @@
# robotpkg Makefile for: wip/prf-gazebo-ros-pkgs
# Created: Olivier Stasse on Mer, 28 April 2018
#
-ORG= pal-robotics-forks
-VERSION= 2.6.8
-PRFNAME= gazebo-ros-pkgs
-PKGBASE= prf-${PRFNAME}
-PKGNAME= ${PKGBASE}-${VERSION}
-DISTNAME= ${VERSION}
-ROSNAME= $(subst -,_,${PRFNAME})
-WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
-DIST_SUBDIR= ${PKGBASE}
-PKGREVISION= 1
-CATEGORIES= wip
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
-CHECKOUT_VCS_OPTS+= --recursive
+ORG= pal-robotics-forks
+NAME= gazebo-ros-pkgs
+VERSION= 3.0.1
-ONLY_FOR_PLATFORM= Ubuntu-16.04-%
+PRFNAME= prf-${NAME}
+ROSNAME= $(subst -,_,${NAME})
-HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
-MASTER_SITES= ${HOMEPAGE}/archive/
+PKGNAME= ${PRFNAME}-${VERSION}
+WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
+DISTNAME= ${VERSION}
+DIST_SUBDIR= ${PRFNAME}
-COMMENT= Wrappers, tools and additional API for using ROS with Gazebo.
-LICENSE= 2-clause-bsd
+CONFLICTS+= ${NAME}-[0-9]*
+CATEGORIES= wip
-CONFLICTS+= gazebo-ros-pkgs-[0-9]*
-ROS_METAPKG= yes
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${ROSNAME}.git
+HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
+MASTER_SITES= ${HOMEPAGE}/archive/
-CMAKE_ARGS+=\
- -Dgazebo_INCLUDE_DIRS=$(filter include/%,${SYSTEM_SEARCH.gazebo}) \
- -Dgazebo_LIBRARIES=$(filter %.so,${SYSTEM_SEARCH.gazebo})
+COMMENT= Wrappers, tools and additional API for using ROS with Gazebo.
+LICENSE= 2-clause-bsd
-CMAKE_PREFIX_PATH+= ${PREFIX}
+ROS_METAPKG= yes
+CMAKE_ARGS+= -Dgazebo_INCLUDE_DIRS=$(filter include/%,${SYSTEM_SEARCH.gazebo})
+CMAKE_ARGS+= -Dgazebo_LIBRARIES=$(filter %.so,${SYSTEM_SEARCH.gazebo})
+
+CMAKE_PREFIX_PATH+= ${PREFIX}
+
+# According to PAL instructions, we stay on the kinetic branch on 16.04
+include ../../mk/robotpkg.prefs.mk
+ifeq (16.04,${OS_VERSION})
+ VERSION= 2.6.9
+ DISTINFO_FILE= ${ROBOTPKG_DIR}/${CATEGORIES}/${PRFNAME}/distinfo.${OS_VERSION}
+ PATCHDIR= ${ROBOTPKG_DIR}/${CATEGORIES}/${PRFNAME}/patches.${OS_VERSION}
+endif
+
+include ../../wip/py-prf-ros-control/depend.mk
+
+include ../../devel/ros-cmake-modules/depend.mk
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../devel/ros-catkin/depend.mk
+include ../../devel/ros-nodelet-core/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../devel/ros-pluginlib/depend.mk
include ../../devel/ros-ros/depend.mk
@@ -52,7 +62,6 @@ include ../../middleware/ros-actionlib/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
include ../../sysutils/ros-diagnostics/depend.mk
-include ../../wip/py-prf-ros-control/depend.mk
include ../../mk/sysdep/gazebo.mk
include ../../mk/sysdep/libogre.mk
include ../../mk/language/c++.mk
diff --git a/prf-gazebo-ros-pkgs/PLIST b/prf-gazebo-ros-pkgs/PLIST
index a33e6b215c1d7df3068886781238c965792bca75..c1f131eee4186719a57d9d235c160ba491ee5657 100644
--- a/prf-gazebo-ros-pkgs/PLIST
+++ b/prf-gazebo-ros-pkgs/PLIST
@@ -155,6 +155,7 @@ lib/libgazebo_ros_force.so
lib/libgazebo_ros_ft_sensor.so
lib/libgazebo_ros_gpu_laser.so
lib/libgazebo_ros_hand_of_god.so
+lib/libgazebo_ros_harness.so
lib/libgazebo_ros_imu.so
lib/libgazebo_ros_imu_sensor.so
lib/libgazebo_ros_joint_pose_trajectory.so
diff --git a/prf-gazebo-ros-pkgs/depend.mk b/prf-gazebo-ros-pkgs/depend.mk
index 6c1f853746b6f78ee808daa26d742501fba5f45b..c8fcc8f730f4b0ccfffd4f1c6d3f4612ae2770fd 100644
--- a/prf-gazebo-ros-pkgs/depend.mk
+++ b/prf-gazebo-ros-pkgs/depend.mk
@@ -1,4 +1,4 @@
-# robotpkg depend.mk for: wip/gazebo_ros_pkgs
+# robotpkg depend.mk for: wip/prf-gazebo-ros-pkgs
# Created: Olivier Stasse on Mer, 3 May 2017
#
@@ -11,11 +11,18 @@ endif
ifeq (+,$(GAZEBO_ROS_PKGS_DEPEND_MK)) # ---------------------------
+include ../../mk/robotpkg.prefs.mk # for OS_VERSION
+
PREFER.prf-gazebo-ros-pkgs?= robotpkg
DEPEND_USE+= prf-gazebo-ros-pkgs
-DEPEND_ABI.prf-gazebo-ros-pkgs?= prf-gazebo-ros-pkgs>=2.6.5
+ifneq (,$(filter 16.04,${OS_VERSION}))
+ DEPEND_ABI.prf-gazebo-ros-pkgs?= prf-gazebo-ros-pkgs>=2.6.5<3.0.0
+else
+ DEPEND_ABI.prf-gazebo-ros-pkgs?= prf-gazebo-ros-pkgs>=3.0.1
+endif
+
DEPEND_DIR.prf-gazebo-ros-pkgs?= ../../wip/prf-gazebo-ros-pkgs
SYSTEM_SEARCH.prf-gazebo-ros-pkgs=\
diff --git a/prf-gazebo-ros-pkgs/distinfo b/prf-gazebo-ros-pkgs/distinfo
index 62e7468fc447ac5f47c5c09e7ae66a855ef4ecfa..d28784f6aa222cfb4586f984461617ba45f5102c 100644
--- a/prf-gazebo-ros-pkgs/distinfo
+++ b/prf-gazebo-ros-pkgs/distinfo
@@ -1,3 +1,4 @@
-SHA1 (prf-gazebo-ros-pkgs/2.6.8.tar.gz) = a2d4e4164ba615a9e5c2b4852ce603cc896e7854
-RMD160 (prf-gazebo-ros-pkgs/2.6.8.tar.gz) = ee90a8f843774a7307c37ef76ebb5f1c6fce9e8a
-Size (prf-gazebo-ros-pkgs/2.6.8.tar.gz) = 1856656 bytes
+SHA1 (prf-gazebo-ros-pkgs/3.0.1.tar.gz) = abc1d1188a8f85cccd3f7aae02ad5025f961a502
+RMD160 (prf-gazebo-ros-pkgs/3.0.1.tar.gz) = c455e72a1385144d02293285d6310051f81ca393
+Size (prf-gazebo-ros-pkgs/3.0.1.tar.gz) = 1858951 bytes
+SHA1 (patch-aa) = 47fb92ee7215c46780ebb50d863cb02a7d19c968
diff --git a/prf-gazebo-ros-pkgs/distinfo.16.04 b/prf-gazebo-ros-pkgs/distinfo.16.04
new file mode 100644
index 0000000000000000000000000000000000000000..0db9a92e5e17eb49d69ab3f97ada2877618c1c9c
--- /dev/null
+++ b/prf-gazebo-ros-pkgs/distinfo.16.04
@@ -0,0 +1,3 @@
+SHA1 (prf-gazebo-ros-pkgs/2.6.9.tar.gz) = 63572e89937dfbd87d04ed4c05ec51c65ea4fd48
+RMD160 (prf-gazebo-ros-pkgs/2.6.9.tar.gz) = 62f55280fadfbe8848d812f4ccf0e25f72eb7972
+Size (prf-gazebo-ros-pkgs/2.6.9.tar.gz) = 1858897 bytes
diff --git a/prf-gazebo-ros-pkgs-melodic/patches/patch-aa b/prf-gazebo-ros-pkgs/patches/patch-aa
similarity index 100%
rename from prf-gazebo-ros-pkgs-melodic/patches/patch-aa
rename to prf-gazebo-ros-pkgs/patches/patch-aa
diff --git a/prf-roboticsgroup-gazebo-plugins/Makefile b/prf-roboticsgroup-gazebo-plugins/Makefile
index 95663617fbc04d5133476856e23e85d4230b9e6f..420b45e3c888c558177746d9c439a36515791ac0 100644
--- a/prf-roboticsgroup-gazebo-plugins/Makefile
+++ b/prf-roboticsgroup-gazebo-plugins/Makefile
@@ -27,6 +27,11 @@ CMAKE_ARGS+=\
-Dgazebo_INCLUDE_DIRS=$(filter include/%,${SYSTEM_SEARCH.gazebo}) \
-Dgazebo_LIBRARIES=$(filter %.so,${SYSTEM_SEARCH.gazebo})
+CMAKE_PREFIX_PATH+= ${PREFIX}
+
+include ../../wip/prf-gazebo-ros-pkgs/depend.mk
+include ../../wip/pal-hardware-interfaces/depend.mk
+
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../devel/ros-catkin/depend.mk
@@ -40,13 +45,6 @@ include ../../math/ros-geometry/depend.mk
include ../../middleware/ros-actionlib/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
-include ../../wip/sysdep/ubuntu-distro.mk
-ifeq (xenial,${UBUNTUDISTRO})
- include ../../wip/prf-gazebo-ros-pkgs/depend.mk
-else
- include ../../wip/prf-gazebo-ros-pkgs-melodic/depend.mk
-endif
-include ../../wip/pal-hardware-interfaces/depend.mk
include ../../mk/sysdep/gazebo.mk
include ../../mk/language/c++.mk
include ../../mk/language/c.mk
diff --git a/py-prf-ros-controllers/Makefile b/py-prf-ros-controllers/Makefile
index b851492f1385edff8df55bed2dd6300b75e65d75..5e6f4ee6657d7455179d50867b7240581e103c1a 100644
--- a/py-prf-ros-controllers/Makefile
+++ b/py-prf-ros-controllers/Makefile
@@ -23,7 +23,7 @@ CONFLICTS+= talos-${NAME}-[0-9]*
CATEGORIES= wip
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${ROSNAME}.git
HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
MASTER_SITES= ${HOMEPAGE}/archive/
diff --git a/py-talos-dev/Makefile b/py-talos-dev/Makefile
index 37611df546ae1cdad476828d7241b9c4f2ef69ab..39134e60e25b3b4a0ef627cf112d52c0bf5b01ea 100644
--- a/py-talos-dev/Makefile
+++ b/py-talos-dev/Makefile
@@ -11,11 +11,7 @@ COMMENT= Talos dev Software
META_PACKAGE= yes
-ifneq (,$(filter 16.04,${OS_VERSION}))
- include ../../wip/prf-gazebo-ros-pkgs/depend.mk
-else
- include ../../wip/prf-gazebo-ros-pkgs-melodic/depend.mk
-endif
+include ../../wip/prf-gazebo-ros-pkgs/depend.mk
include ../../wip/py-prf-ros-control/depend.mk
include ../../wip/py-sot-talos/depend.mk
diff --git a/talos-data/Makefile b/talos-data/Makefile
index ee61812c2fa60147952ed02bf1983b842a8f131d..63f75eef187bfdac2a203cb77ff125eabc53e29f 100644
--- a/talos-data/Makefile
+++ b/talos-data/Makefile
@@ -21,6 +21,8 @@ CMAKE_PREFIX_PATH+= ${PREFIX}
DYNAMIC_PLIST_DIRS+= share/doc/${ROSNAME}
+include ../../wip/prf-gazebo-ros-pkgs/depend.mk
+
include ../../devel/jrl-cmakemodules/Makefile.common
include ../../devel/ros-catkin/depend.mk
include ../../interfaces/ros-common-msgs/depend.mk
@@ -31,13 +33,6 @@ include ../../lang/ros-message-runtime/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../pkgtools/pkg-config/depend.mk
-include ../../wip/sysdep/ubuntu-distro.mk
-ifeq (xenial,${UBUNTUDISTRO})
- include ../../wip/prf-gazebo-ros-pkgs/depend.mk
-else
- include ../../wip/prf-gazebo-ros-pkgs-melodic/depend.mk
-endif
-
include ../../mk/sysdep/gazebo.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
diff --git a/talos-simulation/Makefile b/talos-simulation/Makefile
index 666a6f250f89ae6815a02caa3f9dc78427318daa..0b1f25dad2fe946c0f122924983fd0e27fe767b3 100644
--- a/talos-simulation/Makefile
+++ b/talos-simulation/Makefile
@@ -63,11 +63,7 @@ include ../../wip/talos-robot/depend.mk
include ../../wip/talos-moveit-config/depend.mk
include ../../wip/prf-roboticsgroup-gazebo-plugins/depend.mk
include ../../wip/py-prf-ros-controllers/depend.mk
-ifeq (xenial,${UBUNTUDISTRO})
- include ../../wip/pal-gazebo-plugins/depend.mk
-else
- include ../../wip/pal-gazebo-plugins-melodic/depend.mk
-endif
+include ../../wip/pal-gazebo-plugins/depend.mk
include ../../wip/pal-gazebo-worlds/depend.mk
include ../../wip/head-action/depend.mk
diff --git a/tiago-dev/Makefile b/tiago-dev/Makefile
index 1147a5c45316bbe070c73712d8fd8d28afee0d77..2d40589fdc2c0f8b841d44bf1e49e8d95faa0103 100644
--- a/tiago-dev/Makefile
+++ b/tiago-dev/Makefile
@@ -11,14 +11,10 @@ COMMENT= Tiago dev Software
META_PACKAGE= yes
-include ../py-sot-tiago/depend.mk
-include ../tiago-metapkg-ros-control-sot/depend.mk
-include ../../wip/sysdep/ubuntu-distro.mk
-ifeq (xenial,${UBUNTUDISTRO})
- include ../../wip/prf-gazebo-ros-pkgs/depend.mk
-else
- include ../../wip/prf-gazebo-ros-pkgs-melodic/depend.mk
-endif
-include ../tiago-simulation/depend.mk
-include ../pal-wsg-gripper/depend.mk
+include ../../wip/py-sot-tiago/depend.mk
+include ../../wip/pal-wsg-gripper/depend.mk
+include ../../wip/prf-gazebo-ros-pkgs/depend.mk
+include ../../wip/tiago-metapkg-ros-control-sot/depend.mk
+include ../../wip/tiago-simulation/depend.mk
+
include ../../mk/robotpkg.mk
diff --git a/tiago-simulation/Makefile b/tiago-simulation/Makefile
index 8f9a8b5cd78478e77169c21507652b9bf82789ce..0c3c197b7b7d2b63ebd3395a09878fbc349a1873 100644
--- a/tiago-simulation/Makefile
+++ b/tiago-simulation/Makefile
@@ -37,11 +37,10 @@ $(info $(UBUNTUDISTRO))
ifeq (xenial,${UBUNTUDISTRO})
include ../../wip/pal-hardware-gazebo/depend.mk
- include ../../wip/pal-gazebo-plugins/depend.mk
else
- include ../../wip/pal-gazebo-plugins-melodic/depend.mk
include ../../wip/pal-hardware-gazebo-melodic/depend.mk
endif
+include ../../wip/pal-gazebo-plugins/depend.mk
include ../../wip/pal-gazebo-worlds/depend.mk
include ../../wip/py-prf-ros-controllers/depend.mk
include ../../wip/tiago-moveit-config/depend.mk