diff --git a/dynamic-graph-bridge-v3/Makefile b/dynamic-graph-bridge-v3/Makefile
index c692878a5e8aac689f8f74c50761de32e61b1dd8..8137bb38f706d84f2de4b6d127c11a4533086dbd 100644
--- a/dynamic-graph-bridge-v3/Makefile
+++ b/dynamic-graph-bridge-v3/Makefile
@@ -1,29 +1,28 @@
-# robotpkg Makefile for: wip/dynamic-graph-bridge
+# robotpkg Makefile for: wip/dynamic-graph-bridge-v3
#
-VERSION= 3.0.10
-DISTNAME= dynamic_graph_bridge-v3-${VERSION}
-PKGNAME= dynamic-graph-bridge-v3-${VERSION}
-PKGREVISION= 3
-CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=dynamic-graph-bridge-v3/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}stack-of-tasks/dynamic_graph_bridge/
+ORG= stack-of-tasks
+NAME= dynamic-graph-bridge
+VERSION= 3.1.0
+
+ROSNAME= $(subst -,_,${NAME})
+DISTNAME= ${ROSNAME}-${VERSION}
+PKGNAME= ${NAME}-v3-${VERSION}
+
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
+MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${ROSNAME}
CHECKOUT_VCS_OPTS+= --recursive
+CATEGORIES= wip
COMMENT= This ROS package binds together the ROS framework with the dynamic-graph real-time control architecture.
-LICENSE= gnu-lgpl-v3
-MAINTAINER= hpp@laas.fr
+LICENSE= 2-clause-bsd
+MAINTAINER= gepetto-soft@laas.fr
-DYNAMIC_PLIST_DIRS+= share/doc/doxygen-html
+CONFLICTS+= ${ROSNAME}
-# disable -Werror because of x86_64 warnings (must be fixed upstream) and
-# boost + gcc that don't cohabit well depending on their respective versions
-CMAKE_ARGS+= -DCXX_DISABLE_WERROR=yes
+CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
-# man pages location
-CMAKE_ARGS+= -DMANDIR=${PREFIX}/${PKGMANDIR}
-# library location
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
+DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
include ../../devel/ros-catkin/depend.mk
include ../../devel/ros-realtime-tools/depend.mk
@@ -37,11 +36,10 @@ include ../../simulation/bullet/depend.mk
include ../../simulation/bullet/depend.mk
include ../../sysutils/ros-rospack/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
-include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/sot-core-v3/depend.mk
include ../../wip/sot-dynamic-pinocchio-v3/depend.mk
+include ../../math/pinocchio/depend.mk
include ../../mk/sysdep/cmake.mk
-include ../../mk/sysdep/python.mk
include ../../mk/language/c.mk
include ../../mk/language/c++.mk
include ../../mk/robotpkg.mk
diff --git a/dynamic-graph-bridge-v3/PLIST b/dynamic-graph-bridge-v3/PLIST
index a7416bb693dff24b59614cfdb0c4f9693cbd1527..c1e303f267f1a735328928f1cc522485f4a5eac8 100644
--- a/dynamic-graph-bridge-v3/PLIST
+++ b/dynamic-graph-bridge-v3/PLIST
@@ -19,24 +19,6 @@ lib/plugin/ros_queued_subscribe.so
lib/plugin/ros_subscribe.so
lib/plugin/ros_tf_listener.so
lib/plugin/ros_time.so
-${PYTHON_SITELIB}/dynamic_graph/ros/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/dgcompleter.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_joint_state/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_joint_state/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_publish/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_publish/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_queued_subscribe/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_queued_subscribe/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_subscribe/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_subscribe/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_tf_listener/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_tf_listener/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_time/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_time/wrap.so
-${PYTHON_SITELIB}/dynamic_graph_bridge/__init__.py
-${PYTHON_SITELIB}/dynamic_graph_bridge/srv/_RunPythonFile.py
-${PYTHON_SITELIB}/dynamic_graph_bridge/srv/__init__.py
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
diff --git a/dynamic-graph-bridge-v3/depend.mk b/dynamic-graph-bridge-v3/depend.mk
index d3ffc5177ecc7808302ff7e951cb683ee9552995..aa440922dc5f10c04af46bb51e704cb159a4b895 100644
--- a/dynamic-graph-bridge-v3/depend.mk
+++ b/dynamic-graph-bridge-v3/depend.mk
@@ -1,4 +1,4 @@
-# robotpkg Makefile for: wip/dynamic-graph-bridge
+# robotpkg Makefile for: wip/dynamic-graph-bridge-v3
#
DEPEND_DEPTH:= ${DEPEND_DEPTH}+
@@ -18,14 +18,10 @@ DEPEND_ABI.ros+= ros>=groovy
DEPEND_ABI.dynamic-graph-bridge-v3?= dynamic-graph-bridge-v3>=3.0.0
DEPEND_DIR.dynamic-graph-bridge-v3?= ../../wip/dynamic-graph-bridge-v3
-DEPEND_ABI.dynamic-graph-bridge-v3.groovy?= dynamic-graph-bridge-v3>=3.0.0
-DEPEND_ABI.dynamic-graph-bridge-v3.hydro?= dynamic-graph-bridge-v3>=3.0.0
-
SYSTEM_SEARCH.dynamic-graph-bridge-v3=\
'include/dynamic_graph_bridge/config.hh' \
'lib/pkgconfig/dynamic_graph_bridge.pc:/Version/s/[^0-9.]//gp' \
'share/dynamic_graph_bridge/robot_pose_publisher' \
- '${PYTHON_SITELIB}/dynamic_graph/ros/ros.py' \
'share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig.cmake'
diff --git a/dynamic-graph-bridge-v3/distinfo b/dynamic-graph-bridge-v3/distinfo
index 3cb8bcceabe97f547b768447e8283b6f929ea813..ec8b7363fbddc20ecf885fa5f7b853c47a490257 100644
--- a/dynamic-graph-bridge-v3/distinfo
+++ b/dynamic-graph-bridge-v3/distinfo
@@ -1,3 +1,3 @@
-SHA1 (dynamic_graph_bridge-v3-3.0.10.tar.gz) = 3be3f4345cabf86f3d5ac681be2a929bcf13af0a
-RMD160 (dynamic_graph_bridge-v3-3.0.10.tar.gz) = 5f9ea5fdcef6a788564d28e0ba6562afeb60fc15
-Size (dynamic_graph_bridge-v3-3.0.10.tar.gz) = 774807 bytes
+SHA1 (dynamic_graph_bridge-3.1.0.tar.gz) = 41817cb7dfb7e847706d4b53c3718fc5d17fae17
+RMD160 (dynamic_graph_bridge-3.1.0.tar.gz) = 46f63bc04c63f40c4c98cda7be6c73bc26259f5a
+Size (dynamic_graph_bridge-3.1.0.tar.gz) = 799662 bytes