diff --git a/ros-swri-nodelet/DESCR b/ros-swri-nodelet/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..72e703ba994fe00f6852413b5e68e6de609f218e
--- /dev/null
+++ b/ros-swri-nodelet/DESCR
@@ -0,0 +1 @@
+Nodelet package created at Southwest Reseach Institute's Intelligent Vehicle Systems section for working with Robot Operating System (ROS)
\ No newline at end of file
diff --git a/ros-swri-nodelet/Makefile b/ros-swri-nodelet/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..0c4b492858fa8bc380e32e61d76311452a91a716
--- /dev/null
+++ b/ros-swri-nodelet/Makefile
@@ -0,0 +1,31 @@
+# robotpkg Makefile for:	devel/ros-swri-nodelet
+# Created:			Ellon Paiva Mendes on Thu,  2 Aug 2018
+#
+
+ROS_REPO=		swri-robotics
+ROS_PKG=		marti_common
+ROS_METAPKG=	no
+ROS_VERSION=	2.3.0
+ROS_COMMENT=	Nodelet package created at Southwest Reseach Institute's Intelligent Vehicle Systems section for working with Robot Operating System (ROS)
+
+# We need to set PKGNAME explicitely, otherwise devel/ros-base/Makefile.common
+# included below will set it to a name using ROS_PKG
+PKGNAME=		ros-swri-nodelet-${ROS_VERSION}
+CATEGORIES=		devel
+MAINTAINER=		laas-infuse@laas.fr
+LICENSE=		modified-bsd
+HOMEPAGE=		https://github.com/swri-robotics/marti_common
+
+CONFIGURE_DIRS+= ${WRKSRC}/swri_nodelet
+
+include ../../meta-pkgs/ros-base/Makefile.common
+
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/sysdep/cmake.mk
+# NOTE in robotpkg, roscpp is packaged inside middleware/ros-comm
+include ../../middleware/ros-comm/depend.mk 
+include ../../devel/ros-nodelet-core/depend.mk
+include ../../interfaces/ros-std-msgs/depend.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/ros-swri-nodelet/PLIST b/ros-swri-nodelet/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..f7505a51cc56ce0e7c5685f1b1105b78b81f4d69
--- /dev/null
+++ b/ros-swri-nodelet/PLIST
@@ -0,0 +1,10 @@
+@comment Wed Aug 1 08:59:13 UTC 2018
+include/swri_nodelet/class_list_macros.h
+lib/pkgconfig/swri_nodelet.pc
+lib/swri_nodelet/nodelet
+share/swri_nodelet/cmake/swri_nodelet-extras.cmake
+share/swri_nodelet/cmake/swri_nodeletConfig-version.cmake
+share/swri_nodelet/cmake/swri_nodeletConfig.cmake
+share/swri_nodelet/nodelet.cpp.in
+share/swri_nodelet/nodelet_plugins.xml
+share/swri_nodelet/package.xml
diff --git a/ros-swri-nodelet/depend.mk b/ros-swri-nodelet/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..04180fe15fda0c664a936b2448365e6db4fcd449
--- /dev/null
+++ b/ros-swri-nodelet/depend.mk
@@ -0,0 +1,46 @@
+# robotpkg depend.mk for:	devel/ros-swri-nodelet
+# Created:			Ellon Paiva Mendes on Thu,  2 Aug 2018
+#
+
+DEPEND_DEPTH:=      ${DEPEND_DEPTH}+
+ROS_SWRI_NODELET_DEPEND_MK:= ${ROS_SWRI_NODELET_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=      ros-swri-nodelet
+endif
+
+ifeq (+,$(ROS_SWRI_NODELET_DEPEND_MK)) # ---------------------------------------
+
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-swri-nodelet?=    ${PREFER.ros-base}
+SYSTEM_PREFIX.ros-swri-nodelet?= ${SYSTEM_PREFIX.ros-base}
+
+DEPEND_USE+=      ros-swri-nodelet
+ROS_DEPEND_USE+=    ros-swri-nodelet
+
+DEPEND_ABI.ros-swri-nodelet?=  ros-swri-nodelet>=2.3.0
+DEPEND_DIR.ros-swri-nodelet= ../../wip/ros-swri-nodelet
+
+DEPEND_ABI.ros-swri-nodelet.groovy += ros-swri-nodelet>=2.3.0
+DEPEND_ABI.ros-swri-nodelet.hydro += ros-swri-nodelet>=2.3.0
+DEPEND_ABI.ros-swri-nodelet.indigo += ros-swri-nodelet>=2.3.0
+DEPEND_ABI.ros-swri-nodelet.jade += ros-swri-nodelet>=2.3.0
+DEPEND_ABI.ros-swri-nodelet.kinetic += ros-swri-nodelet>=2.3.0
+DEPEND_ABI.ros-swri-nodelet.lunar += ros-swri-nodelet>=2.3.0
+DEPEND_ABI.ros-swri-nodelet.melodic += ros-swri-nodelet>=2.3.0
+
+SYSTEM_SEARCH.ros-swri-nodelet=\
+  'share/swri_nodelet/nodelet.cpp.in' \
+  'share/swri_nodelet/package.xml' \
+  'share/swri_nodelet/nodelet_plugins.xml' \
+  'share/swri_nodelet/cmake/swri_nodelet-extras.cmake' \
+  'share/swri_nodelet/cmake/swri_nodeletConfig.cmake' \
+  'share/swri_nodelet/cmake/swri_nodeletConfig-version.cmake' \
+  'include/swri_nodelet/class_list_macros.h' \
+  'lib/pkgconfig/swri_nodelet.pc:/Version/s/[^0-9.]//gp' \
+  'lib/swri_nodelet/nodelet'
+
+endif # ROS_SWRI_NODELET_DEPEND_MK ---------------------------------------------
+
+DEPEND_DEPTH:=    ${DEPEND_DEPTH:+=}
+
diff --git a/ros-swri-nodelet/distinfo b/ros-swri-nodelet/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..480452bd90d4a7f95f3227b1e8b4c1673357eef6
--- /dev/null
+++ b/ros-swri-nodelet/distinfo
@@ -0,0 +1,3 @@
+SHA1 (ros/marti_common/2.3.0.tar.gz) = 9a11ee2aaef0047d6b205d5568b45afcf805005e
+RMD160 (ros/marti_common/2.3.0.tar.gz) = b98c6ce797c0e1b1adc8fdeca5a7dc50da6442b1
+Size (ros/marti_common/2.3.0.tar.gz) = 183765 bytes