diff --git a/Makefile b/Makefile
index 4d69c0b7e9b8e99ae0caef65f368d282690d7435..ceb5b26d9c6b6fdbfb90dbbb850f26607dbb65ce 100644
--- a/Makefile
+++ b/Makefile
@@ -118,5 +118,6 @@ SUBDIR+=	tsid
 SUBDIR+= 	ur5-description
 SUBDIR+= 	urg
 SUBDIR+= 	vnet-yarp
+SUBDIR+=        infuse_types_asn1
 
 include ../mk/robotpkg.subdir.mk
diff --git a/infuse_types_asn1/DESCR b/infuse_types_asn1/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..c9f86f0e1a30c9c05c849093f9fe3d6c9d85c6e8
--- /dev/null
+++ b/infuse_types_asn1/DESCR
@@ -0,0 +1 @@
+ASN.1 types for the InFuse project generated in C
diff --git a/infuse_types_asn1/Makefile b/infuse_types_asn1/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..c9a14fd8d92c611b2cc4fc33d415f197fc72ac64
--- /dev/null
+++ b/infuse_types_asn1/Makefile
@@ -0,0 +1,22 @@
+# robotpkg Makefile for:    wip/infuse_types_asn1
+# Created:                  Quentin Labourey on Fri, 6 July 2018
+
+DISTNAME=               QuentinLab-infuse_types_asn1-443fb0e
+CATEGORIES=             devel
+VERSION=                0.1
+PKGNAME=                infuse_types_asn1
+MASTER_SITES=           https://github.com/QuentinLab/infuse_types_asn1/tarball/master/
+MASTER_REPOSITORY=      git https://github.com/QuentinLab/infuse_types_asn1.git
+MAINTAINER=             quentin.labourey@laas.fr
+HOMEPAGE=               ${MASTER_SITES}
+COMMENT=                ASN.1 types for InFuse, compiled in C.
+LICENSE=                2-clause-bsd
+
+
+
+include ../../mk/sysdep/mono.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
+
diff --git a/infuse_types_asn1/PLIST b/infuse_types_asn1/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..8597c442505e0fb85737d295c7099763a89ffa64
--- /dev/null
+++ b/infuse_types_asn1/PLIST
@@ -0,0 +1,23 @@
+@comment Mon Jul 9 10:20:45 CEST 2018
+include/cdff_types/CorrespondenceMap2D.h
+include/cdff_types/CorrespondenceMap3D.h
+include/cdff_types/Covariance.h
+include/cdff_types/Eigen.h
+include/cdff_types/Geometry.h
+include/cdff_types/Image_InFuse.h
+include/cdff_types/Map_InFuse.h
+include/cdff_types/Path_InFuse.h
+include/cdff_types/Point.h
+include/cdff_types/PointCloud_InFuse.h
+include/cdff_types/Pose.h
+include/cdff_types/Pose_InFuse.h
+include/cdff_types/Time.h
+include/cdff_types/TransformWithCovariance.h
+include/cdff_types/TwistWithCovariance.h
+include/cdff_types/Twist_InFuse.h
+include/cdff_types/VisualPointFeatureVector2D.h
+include/cdff_types/VisualPointFeatureVector3D.h
+include/cdff_types/asn1crt.h
+include/cdff_types/taste-extended.h
+include/cdff_types/taste-types.h
+lib/libcdff_types.so
diff --git a/infuse_types_asn1/distinfo b/infuse_types_asn1/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..96a33fe725d75bfb8c1b3f12b36555e2b78eaf9a
--- /dev/null
+++ b/infuse_types_asn1/distinfo
@@ -0,0 +1,3 @@
+SHA1 (QuentinLab-infuse_types_asn1-443fb0e.tar.gz) = 0783943d61dcd795442474f77e2d45780ba10b61
+RMD160 (QuentinLab-infuse_types_asn1-443fb0e.tar.gz) = 3a07a17cad55488144de3f19c0282225bb8a5a04
+Size (QuentinLab-infuse_types_asn1-443fb0e.tar.gz) = 1500708 bytes