diff --git a/Makefile b/Makefile
index 0d429ed9aae7eebacadbbee11dc6f35169d3efc4..9208198d66f6214e43339742eed7bdf89296757c 100644
--- a/Makefile
+++ b/Makefile
@@ -36,6 +36,7 @@ SUBDIR+=	mhp-genom
 SUBDIR+=	morse-pocolibs
 SUBDIR+=	move3d-assets
 SUBDIR+=	move3d-studio
+SUBDIR+=	msgconnector
 SUBDIR+=	mumps
 SUBDIR+=	oro-view
 SUBDIR+=	poisson
diff --git a/msgconnector/DESCR b/msgconnector/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..e49453b0fd20c8daf3b9353c97e22ec29d837b66
--- /dev/null
+++ b/msgconnector/DESCR
@@ -0,0 +1,9 @@
+msgconnector is the communication library for HATP
+
+This library includes a server and client definition. It should be used in
+any software that has to communicate with HATP.
+When a client starts, it registeres itself to the server. Then when another
+client wnats to communicate it needs to use the name of the first client, 
+the server will relay the message to the correct client. There must not
+be two clients with the same name because if one leaves then when the second
+will leave ther server will crash. 
diff --git a/msgconnector/Makefile b/msgconnector/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..6d435f0de2d45397e3d6ffa44b02fe96bedad61c
--- /dev/null
+++ b/msgconnector/Makefile
@@ -0,0 +1,63 @@
+# robotpkg Makefile for:	planning/msgconnector
+# Created:			Raphaël Lallement, 21/01/2013
+#
+
+DISTNAME=		msgconnector-${VERSION}
+VERSION=		2.1.0
+PKGREVISION=
+CATEGORIES=		planning
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=msgconnector/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_OPENROBOTS}msgconnector
+
+
+MAINTAINER=		raphael.lallement@laas.fr
+COMMENT=		Library to handle HATP communications
+LICENSE=		2-clause-bsd
+
+MAKE_JOBS_SAFE=		yes
+
+#--- Options : msgconnector can be build with different bridges
+PKG_SUPPORTED_OPTIONS+= bridge-print
+PKG_SUPPORTED_OPTIONS+= openprs
+PKG_SUPPORTED_OPTIONS+= yarp
+PKG_SUPPORTED_OPTIONS+= liboro
+#PKG_SUPPORTED_OPTIONS+= server
+
+PKG_OPTION_DESCR.bridge-print=	Enable the print bridge that simply display messages sent through msgconnector
+PKG_OPTION_DESCR.openprs=	Enable the bridge to openprs
+PKG_OPTION_DESCR.yarp=	Enable the bridge to yarp
+PKG_OPTION_DESCR.liboro=	Enable the bridge to the ORO ontology server
+#PKG_OPTION_DESCR.server=	Enable the server to be build
+
+define PKG_OPTION_SET.bridge-print
+  CMAKE_ARGS+= -DCOMPILE_BRIDGE_PRINT=ON
+endef
+
+define PKG_OPTION_SET.openprs
+  CMAKE_ARGS+= -DCOMPILE_BRIDGE_OPRS=ON
+  CMAKE_ARGS+= -DlibhatpROOT=${PREFIX.libhatp}
+  include ../../wip/libhatp/depend.mk
+  include ../../supervision/openprs/depend.mk
+endef
+
+define PKG_OPTION_SET.yarp
+  CMAKE_ARGS+= -DCOMPILE_BRIDGE_YARP=ON
+  include ../../middleware/yarp/depend.mk
+endef
+
+define PKG_OPTION_SET.liboro
+  CMAKE_ARGS+= -DCOMPILE_BRIDGE_ORO=ON
+  include ../../knowledge/liboro/depend.mk
+endef
+
+#define PKG_OPTION_SET.server
+#  CMAKE_ARGS+= -DCOMPILE_SERVER=ON
+#endef
+
+#PKG_SUGGESTED_OPTIONS= server
+
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/msgconnector/PLIST b/msgconnector/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..e234571d8d21113cbb47fe1ecb2636643cbb013a
--- /dev/null
+++ b/msgconnector/PLIST
@@ -0,0 +1,25 @@
+@comment Mon Jan 21 17:38:48 CET 2013
+include/msgconnector/iclient.hh
+include/msgconnector/imsg.hh
+include/msgconnector/message.hh
+include/msgconnector/msgClient.hh
+include/msgconnector/msgConstants.hh
+lib/libmsgconnectorClient.so
+lib/libmsgconnectorClient.so.${PKGVERSION}
+lib/pkgconfig/msgconnector.pc
+bin/MsgServer
+bin/MsgServer-${PKGVERSION}
+lib/libmsgconnectorServer.so
+lib/libmsgconnectorServer.so.${PKGVERSION}
+@comment ${PLIST.server}bin/MsgServer
+@comment ${PLIST.server}bin/MsgServer-${PKGVERSION}
+@comment ${PLIST.server}lib/libmsgconnectorServer.so
+@comment ${PLIST.server}lib/libmsgconnectorServer.so.${PKGVERSION}
+${PLIST.yarp}bin/msgconnector-YARP-bridge
+${PLIST.yarp}bin/msgconnector-YARP-bridge-${PKGVERSION}
+${PLIST.liboro}bin/msgconnector-ORO-bridge
+${PLIST.liboro}bin/msgconnector-ORO-bridge-${PKGVERSION}
+${PLIST.bridge-print}bin/msgconnector-PRINT-bridge
+${PLIST.bridge-print}bin/msgconnector-PRINT-bridge-${PKGVERSION}
+${PLIST.openprs}bin/msgconnector-OPRS-bridge
+${PLIST.openprs}bin/msgconnector-OPRS-bridge-${PKGVERSION}
diff --git a/msgconnector/depend.mk b/msgconnector/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..5745beadbd343d2cb3f45d28109470170f76aaa0
--- /dev/null
+++ b/msgconnector/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	planning/msgconnector
+# Created:			Raphaël Lallement, 22/01/2013
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+MSGCONNECTOR_DEPEND_MK:=${MSGCONNECTOR_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		msgconnector
+endif
+
+ifeq (+,$(MSGCONNECTOR_DEPEND_MK))
+PREFER.msgconnector?=	robotpkg
+
+DEPEND_USE+=		msgconnector
+
+DEPEND_ABI.msgconnector?=	msgconnector>=2.1.0
+DEPEND_DIR.msgconnector?=	../../wip/msgconnector
+
+SYSTEM_SEARCH.msgconnector=\
+	include/msgconnector/msgClient.hh\
+	lib/libmsgconnectorClient.so\
+	bin/MsgServer\
+	lib/pkgconfig/msgconnector.pc
+endif
+
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/msgconnector/distinfo b/msgconnector/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..3e544d1c571be5921f062f3db89ed4b5849b7363
--- /dev/null
+++ b/msgconnector/distinfo
@@ -0,0 +1,3 @@
+SHA1 (msgconnector-2.1.0.tar.gz) = ec96eb84768611e0356c964fcc68d6fe0b686e57
+RMD160 (msgconnector-2.1.0.tar.gz) = a0f59a10dc84c252958ed38ef83f40793c324c82
+Size (msgconnector-2.1.0.tar.gz) = 17094 bytes