diff --git a/py-roscontrol-sot/Makefile b/py-roscontrol-sot/Makefile
index 505ef5d7760acb785467c8bda2bbeafc5dc5ad71..d3c0d47682b7f782b4a7c931f4a124b85a7fc81b 100644
--- a/py-roscontrol-sot/Makefile
+++ b/py-roscontrol-sot/Makefile
@@ -3,14 +3,13 @@
#
ORG= stack-of-tasks
-VERSION= 0.2.0
+VERSION= 0.3.0
NAME= roscontrol-sot
PKGNAME= ${PKGTAG.python-}${NAME}-${VERSION}
ROSNAME= $(subst -,_,${NAME})
DISTNAME= ${ROSNAME}-${VERSION}
WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
DIST_SUBDIR= ${NAME}
-PKGREVISION= 1
CATEGORIES= wip
@@ -42,6 +41,7 @@ include ../../devel/ros-realtime-tools/depend.mk
include ../../interfaces/ros-common-msgs/depend.mk
include ../../interfaces/ros-control-msgs/depend.mk
include ../../math/ros-geometry/depend.mk
+include ../../motion/ros-control-toolbox/depend.mk
include ../../wip/dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/sot-core-v3/depend.mk
diff --git a/py-roscontrol-sot/distinfo b/py-roscontrol-sot/distinfo
index 5e847aa8e596bc8b901dcc52aa44218822d917c5..e428d57d1cd7c21026f197d9f9ab88c6dca2ed81 100644
--- a/py-roscontrol-sot/distinfo
+++ b/py-roscontrol-sot/distinfo
@@ -1,5 +1,3 @@
-SHA1 (roscontrol-sot/roscontrol_sot-0.2.0.tar.gz) = dcc37d0e59a7671a77a72de0b8d51c247b9fabb8
-RMD160 (roscontrol-sot/roscontrol_sot-0.2.0.tar.gz) = 58879b0ba88bf3eda431a6e34df2956c68df18df
-Size (roscontrol-sot/roscontrol_sot-0.2.0.tar.gz) = 1285602 bytes
-SHA1 (patch-aa) = 3826bb4e8794bdc8af94306d2637377d8eeacd11
-SHA1 (patch-ab) = 2f7cb585cafd12a490bf6e1a2d31e05d024b8ba0
+SHA1 (roscontrol-sot/roscontrol_sot-0.3.0.tar.gz) = ccbfbbdf5507cc135526387243adcc708dc6cc1a
+RMD160 (roscontrol-sot/roscontrol_sot-0.3.0.tar.gz) = 377bd857672d35954e62864268f074f657299dfe
+Size (roscontrol-sot/roscontrol_sot-0.3.0.tar.gz) = 1277625 bytes
diff --git a/py-roscontrol-sot/patches/patch-aa b/py-roscontrol-sot/patches/patch-aa
deleted file mode 100644
index 7ddf9a179669bac23ddf763c0325ed32c8c6d347..0000000000000000000000000000000000000000
--- a/py-roscontrol-sot/patches/patch-aa
+++ /dev/null
@@ -1,13 +0,0 @@
-fix version for catkin, as it overrides the .pc
-
---- package.xml.orig 2019-11-05 21:52:59.000000000 +0100
-+++ package.xml 2019-11-12 14:32:27.848246273 +0100
-@@ -1,7 +1,7 @@
- <?xml version="1.0"?>
- <package>
- <name>roscontrol_sot</name>
-- <version>0.1.0</version>
-+ <version>0.2.0</version>
- <description>Wrapping the Stack-of-tasks framework in ros-control</description>
-
- <!-- Maintainer email -->
diff --git a/py-roscontrol-sot/patches/patch-ab b/py-roscontrol-sot/patches/patch-ab
deleted file mode 100644
index 6acae468fbccadce6ed50fc114d5a886d786de49..0000000000000000000000000000000000000000
--- a/py-roscontrol-sot/patches/patch-ab
+++ /dev/null
@@ -1,16 +0,0 @@
---- src/roscontrol-sot-controller.cpp
-+++ src/roscontrol-sot-controller.cpp
-@@ -1068,6 +1068,10 @@ void RCSotController::update(const ros::Time &, const ros::Duration &period) {
- } catch (std::exception &e) {
- throw e;
- }
-+
-+ localStandbyEffortControlMode(period);
-+ localStandbyVelocityControlMode(period);
-+ localStandbyPositionControlMode();
- }
- }
-
---
-2.17.1
-