diff --git a/MPC_planner-genom/Makefile b/MPC_planner-genom/Makefile
index ddfcf6a813b0de42dc395722ac7c95398af2fcc7..6548653187bdcaf81e6c4ff194cdecdae3858482 100644
--- a/MPC_planner-genom/Makefile
+++ b/MPC_planner-genom/Makefile
@@ -4,6 +4,7 @@
DISTNAME= MPC_planner-genom-${VERSION}
VERSION= 0.2
+PKGREVISION= 1
CATEGORIES= path
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=MPC_planner-genom/}
MASTER_REPOSITORY= ${MASTER_REPOSITORY_OPENROBOTS}MPC_planner-genom
diff --git a/MPC_planner-genom/distinfo b/MPC_planner-genom/distinfo
index 42761a28f966d6e49a202152d029a7fac905d0c8..f6856fd5cfadc80fc8ae16df72c78a6cbd78e182 100644
--- a/MPC_planner-genom/distinfo
+++ b/MPC_planner-genom/distinfo
@@ -1,3 +1,4 @@
SHA1 (MPC_planner-genom-0.2.tar.gz) = 47906932283c3ae5df813e5271712aadc2f43007
RMD160 (MPC_planner-genom-0.2.tar.gz) = 27d88328defdecf14b9c2be8bc2fb6bc9a158beb
Size (MPC_planner-genom-0.2.tar.gz) = 11935 bytes
+SHA1 (patch-aa) = 22e0cda776b618cc0e733a2ca611e161763cda3e
diff --git a/MPC_planner-genom/patches/patch-aa b/MPC_planner-genom/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..cbc06730b2558d06df5844d840c63060101b5a20
--- /dev/null
+++ b/MPC_planner-genom/patches/patch-aa
@@ -0,0 +1,124 @@
+Don't use directly char[256] in interface to please oprs
+
+diff --git a/MPC_planner.gen b/MPC_planner.gen
+index 14f46c1..951723d 100644
+--- MPC_planner.gen
++++ MPC_planner.gen
+@@ -86,7 +86,6 @@ typedef struct MPC_PLANNER_STR {
+ TRAJRECORDING_I TrajRecording_I;
+
+ /* Path loading / saving requests I/O */
+- char path_filename[256];
+ FILENAME_I Path_filename_I;
+ LOADPATH_I LoadPath_I;
+
+@@ -247,7 +246,7 @@ request LoadPathFromLoc {
+ doc: "Load a reference path from an input file and set its starting point as the current location";
+ type: exec;
+ exec_task: ExecTask;
+- input: path_filename::path_filename;
++ input: Path_filename_I::Path_filename_I;
+ input_info: ""::"Input path filename";
+ codel_start: LoadPathFromLocStart;
+ codel_main: LoadPathFromLocMain;
+@@ -260,7 +259,7 @@ request SavePath {
+ doc: "Save a reference path into an output file";
+ type: exec;
+ exec_task: ExecTask;
+- input: path_filename::path_filename;
++ input: Path_filename_I::Path_filename_I;
+ input_info: ""::"Output path filename";
+ codel_main: SavePathMain;
+ fail_reports: POSTER_NOT_FOUND, EMPTY_PATH, FILE_ERROR;
+@@ -310,7 +309,7 @@ request LoadTraj {
+ doc: "Load a reference trajectory from an input file";
+ type: exec;
+ exec_task: ExecTask;
+- input: path_filename::path_filename;
++ input: Path_filename_I::Path_filename_I;
+ input_info: ""::"Input trajectory filename";
+ codel_main: LoadTrajMain;
+ fail_reports: FILE_NOT_FOUND;
+@@ -322,7 +321,7 @@ request SaveTraj {
+ doc: "Save a reference trajectory into an output file";
+ type: exec;
+ exec_task: ExecTask;
+- input: path_filename::path_filename;
++ input: Path_filename_I::Path_filename_I;
+ input_info: ""::"Output trajectory filename";
+ codel_main: SaveTrajMain;
+ fail_reports: POSTER_NOT_FOUND, EMPTY_TRAJ, FILE_ERROR;
+diff --git a/codels/MPC_plannerExecTaskCodels.cc b/codels/MPC_plannerExecTaskCodels.cc
+index 73f2c77..b0e81cd 100644
+--- codels/MPC_plannerExecTaskCodels.cc
++++ codels/MPC_plannerExecTaskCodels.cc
+@@ -1134,7 +1134,7 @@ LoadPathMain(LOADPATH_I *LoadPath_I, int *report)
+ /* LoadPathFromLocStart - codel START of LoadPathFromLoc
+ Returns: START EXEC END ETHER FAIL ZOMBIE */
+ ACTIVITY_EVENT
+-LoadPathFromLocStart(char path_filename[256], int *report)
++LoadPathFromLocStart(FILENAME_I* Path_filename_I, int *report)
+ {
+ if(pomPosterId == NULL)
+ {
+@@ -1148,14 +1148,14 @@ LoadPathFromLocStart(char path_filename[256], int *report)
+ /* LoadPathFromLocMain - codel EXEC of LoadPathFromLoc
+ Returns: EXEC END ETHER FAIL ZOMBIE */
+ ACTIVITY_EVENT
+-LoadPathFromLocMain(char path_filename[256], int *report)
++LoadPathFromLocMain(FILENAME_I* Path_filename_I, int *report)
+ {
+ // reset the current reference path
+ SDI_F->pathRef.nbPos = 0;
+
+ // load a mpc path from the input filename
+ DPMPath path_mpc;
+- bool resLoad = path_mpc.load(path_filename);
++ bool resLoad = path_mpc.load(Path_filename_I->filename);
+
+ // read the current location (POM poster)
+ POM_POS pos;
+@@ -1206,7 +1206,7 @@ LoadPathFromLocMain(char path_filename[256], int *report)
+ /* SavePathMain - codel EXEC of SavePath
+ Returns: EXEC END ETHER FAIL ZOMBIE */
+ ACTIVITY_EVENT
+-SavePathMain(char path_filename[256], int *report)
++SavePathMain(FILENAME_I* Path_filename_I, int *report)
+ {
+ // check if the current path is empty
+ if(SDI_F->pathRec.nbPos == 0)
+@@ -1226,7 +1226,7 @@ SavePathMain(char path_filename[256], int *report)
+ }
+
+ // save the path into the output file
+- bool resSave = path_xy->save(path_filename);
++ bool resSave = path_xy->save(Path_filename_I->filename);
+ if(!resSave)
+ {
+ cerr << "MPC_planner::SavePathMain : Unable to save the current path (Wrong path filename?)" << endl;
+@@ -1301,14 +1301,14 @@ ConcatPathMain(LOADPATH_I *LoadPath_I, int *report)
+ /* LoadTrajMain - codel EXEC of LoadTraj
+ Returns: EXEC END ETHER FAIL ZOMBIE */
+ ACTIVITY_EVENT
+-LoadTrajMain(char path_filename[256], int *report)
++LoadTrajMain(FILENAME_I* Path_filename_I, int *report)
+ {
+ // reset the current reference path
+ SDI_F->mana_strajRef.nbPos = 0;
+
+ // load a mpc path from the input filename
+ DD2STraj traj_mpc;
+- bool resLoad = traj_mpc.load(path_filename);
++ bool resLoad = traj_mpc.load(Path_filename_I->filename);
+
+ // check if the loading process succeeded
+ if(!resLoad)
+@@ -1340,7 +1340,7 @@ LoadTrajMain(char path_filename[256], int *report)
+ /* SaveTrajMain - codel EXEC of SaveTraj
+ Returns: EXEC END ETHER FAIL ZOMBIE */
+ ACTIVITY_EVENT
+-SaveTrajMain(char path_filename[256], int *report)
++SaveTrajMain(FILENAME_I* Path_filename_I, int *report)
+ {
+ /* ... add your code here ... */
+ return ETHER;