diff --git a/Makefile b/Makefile
index ae89d3c45d2a5ffe66546c6e4cf201a8fde0a40e..ac7485e953069ad3be5661eb85d591a07ed5fc80 100644
--- a/Makefile
+++ b/Makefile
@@ -86,6 +86,7 @@ SUBDIR+=	rednav-genom
 SUBDIR+=	rfid-genom
 SUBDIR+=	robotModelParser-libs
 SUBDIR+=	robot-viewer
+SUBDIR+=	ros-interactive-markers
 SUBDIR+=	ros-realtime-tools
 SUBDIR+= 	rtslam-genom
 SUBDIR+=	spark-genom
diff --git a/ros-interactive-markers/DESCR b/ros-interactive-markers/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..087a57bdeb6654d57346c3f4359ccb47e81efbee
--- /dev/null
+++ b/ros-interactive-markers/DESCR
@@ -0,0 +1 @@
+3D interactive marker communication library for RViz and similar tools.
diff --git a/ros-interactive-markers/Makefile b/ros-interactive-markers/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..33b930158b388342bd3cf1216a5168ecbc3c3f2d
--- /dev/null
+++ b/ros-interactive-markers/Makefile
@@ -0,0 +1,23 @@
+# robotpkg Makefile for:	graphics/ros-interactive-markers
+# Created:			Charles Lesire on Tue, 08 March 2014
+#
+
+ROS_PKG=	interactive_markers
+ROS_VERSION=	1.9.9
+ROS_REPO=	ros-visualization
+
+CATEGORIES=	graphics
+ROS_COMMENT=	interactive marker library for RViz and similar visualizers.
+
+include ../../meta-pkgs/ros-base/Makefile.common
+
+include ../../sysutils/ros-console-bridge/depend.mk
+include ../../lang/ros-gencpp/depend.mk
+include ../../devel/ros-roscpp-core/depend.mk
+include ../../lang/ros-genpy/depend.mk
+include ../../interfaces/ros-std-msgs/depend.mk
+include ../../math/ros-geometry/depend.mk
+include ../../interfaces/ros-common-msgs/depend.mk
+
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/robotpkg.mk
diff --git a/ros-interactive-markers/PLIST b/ros-interactive-markers/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..a0e0e84877b337183cd9ba8a1a5b1cfe2eec1eb9
--- /dev/null
+++ b/ros-interactive-markers/PLIST
@@ -0,0 +1,18 @@
+@comment Tue Apr 8 21:26:02 CEST 2014
+include/interactive_markers/detail/message_context.h
+include/interactive_markers/detail/single_client.h
+include/interactive_markers/detail/state_machine.h
+include/interactive_markers/interactive_marker_client.h
+include/interactive_markers/interactive_marker_server.h
+include/interactive_markers/menu_handler.h
+include/interactive_markers/tools.h
+lib/libinteractive_markers.so
+lib/pkgconfig/interactive_markers.pc
+${PYTHON_SITELIB}/interactive_markers-${PKGVERSION}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/interactive_markers/__init__.py
+${PYTHON_SITELIB}/interactive_markers/interactive_marker_server.py
+${PYTHON_SITELIB}/interactive_markers/menu_handler.py
+share/interactive_markers/cmake/interactive_markersConfig-version.cmake
+share/interactive_markers/cmake/interactive_markersConfig.cmake
+share/interactive_markers/package.xml
+
diff --git a/ros-interactive-markers/depend.mk b/ros-interactive-markers/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..cc6157f23dac070ec564e47dc7da796ac2266196
--- /dev/null
+++ b/ros-interactive-markers/depend.mk
@@ -0,0 +1,36 @@
+# robotpkg depend.mk for:	graphics/ros-interactive-markers
+# Created:			Charles Lesire on Tue, 8 Mar 2014
+#
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
+ROS_INTERACTIVE_MARKERS_DEPEND_MK:=	${ROS_INTERACTIVE_MARKERS_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=			ros-interactive-markers
+endif
+
+ifeq (+,$(ROS_INTERACTIVE_MARKERS_DEPEND_MK)) # ------------------------------------
+
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-interactive-markers?=	${PREFER.ros-base}
+SYSTEM_PREFIX.ros-interactive-markers?=	${SYSTEM_PREFIX.ros-base}
+
+DEPEND_USE+=			ros-interactive-markers
+ROS_DEPEND_USE+=		ros-interactive-markers
+
+DEPEND_ABI.ros+=		ros>=groovy
+DEPEND_ABI.ros-interactive-markers?=	ros-interactive-markers>=1.9
+DEPEND_DIR.ros-interactive-markers?=	../../graphics/ros-interactive-markers
+
+DEPEND_ABI.ros-interactive-markers.groovy?=	ros-interactive-markers>=1.9<1.10
+DEPEND_ABI.ros-interactive-markers.hydro?=	ros-interactive-markers>=1.10<1.11
+
+SYSTEM_SEARCH.ros-interactive-markers=\
+	include/interactive_markers/tools.h \
+	lib/libinteractive_markers.so \
+	lib/pkgconfig/interactive_markers.pc \
+	share/interactive_markers/package.xml
+
+endif # ROS_INTERACTIVE_MARKERS_DEPEND_MK ------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/ros-interactive-markers/distinfo b/ros-interactive-markers/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..bf018e1d7185da4bc6f6cc80fd475313fa27cd7f
--- /dev/null
+++ b/ros-interactive-markers/distinfo
@@ -0,0 +1,3 @@
+SHA1 (ros/interactive_markers-1.9.9.tar.gz) = 3162e54694f0ab4ee6a206b0adbfb19a9a795bd5
+RMD160 (ros/interactive_markers-1.9.9.tar.gz) = c6c53b94b8e9e792a691775d689f6b45d3601f66
+Size (ros/interactive_markers-1.9.9.tar.gz) = 28917 bytes