diff --git a/Makefile b/Makefile
index b01ff9f23946d5d9539f47ec6a6f80334877251c..02bcd6a2ff712d9e715969f239cae30c6e4f2aa0 100644
--- a/Makefile
+++ b/Makefile
@@ -39,7 +39,6 @@ SUBDIR+= hpp-romeo
SUBDIR+= hpp-spline
SUBDIR+= hpp-universal-robot
SUBDIR+= hrp2-14-description
-SUBDIR+= hrp2-bringup
SUBDIR+= hrp2-dev
SUBDIR+= infuse-asn1-conversions
SUBDIR+= infuse-asn1-types
diff --git a/hrp2-bringup/DESCR b/hrp2-bringup/DESCR
deleted file mode 100644
index fc9524e5dc364aa07d884e8911cf7d9ee10e7ce3..0000000000000000000000000000000000000000
--- a/hrp2-bringup/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-The package allowing to start the SoT for HRP-2
diff --git a/hrp2-bringup/Makefile b/hrp2-bringup/Makefile
deleted file mode 100644
index d72054a4ce196cc2bda6c528b410d255fe80bbe4..0000000000000000000000000000000000000000
--- a/hrp2-bringup/Makefile
+++ /dev/null
@@ -1,31 +0,0 @@
-# robotpkg Makefile for: robots/hrp2-bringup
-# Created: Olivier Stasse on Wed, 14 Jav 2015
-#
-VERSION= 1.0.6
-DISTNAME= hrp2-bringup-${VERSION}
-CATEGORIES= motion
-MASTER_SITES= ${MASTER_SITE_JRL}ros/${PKGBASE}/
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_JRL}robots/ros-hrp2/${PKGBASE}
-
-MAINTAINER= gepetto@laas.fr
-COMMENT= Hrp2 ros package to start HRP-2
-LICENSE= openhrp-grx-license
-WRKSRC= ${WRKDIR}/hrp2_bringup-${VERSION}
-
-RESTRICTED= Redistribution of repackaged binaries not permitted
-NO_PUBLIC_SRC= ${RESTRICTED}
-NO_PUBLIC_BIN= ${RESTRICTED}
-
-DYNAMIC_PLIST_DIRS+= share/doc/hrp2_bringup
-
-include ../../pkgtools/pkg-config/depend.mk
-include ../../robots/hrp2-machine/depend.mk
-include ../../sysutils/hrp2-computer-monitor/depend.mk
-include ../../wip/hrp2-14-description/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/sysdep/doxygen.mk
-include ../../mk/sysdep/graphviz.mk
-include ../../mk/sysdep/pdflatex.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/robotpkg.mk
diff --git a/hrp2-bringup/PLIST b/hrp2-bringup/PLIST
deleted file mode 100644
index 6fd24d69bd48ab0480947153a8f7f497123ce4de..0000000000000000000000000000000000000000
--- a/hrp2-bringup/PLIST
+++ /dev/null
@@ -1,25 +0,0 @@
-@comment Tue May 31 15:38:22 CEST 2016
-include/hrp2/bringup/config.h
-include/hrp2/bringup/config.hh
-include/hrp2/bringup/deprecated.hh
-include/hrp2/bringup/warning.hh
-lib/pkgconfig/hrp2_bringup.pc
-share/hrp2_bringup/config/chrony/README
-share/hrp2_bringup/config/chrony/chrony.conf.hrp2014c
-share/hrp2_bringup/config/chrony/chrony.conf.hrp2014v
-share/hrp2_bringup/config/dynamics_markers/hrp2.yaml
-share/hrp2_bringup/diagnostics/analyzers.yaml
-share/hrp2_bringup/launch/cameras.launch
-share/hrp2_bringup/launch/common.launch
-share/hrp2_bringup/launch/geometric_simu.launch
-share/hrp2_bringup/launch/geometric_simu_context.launch
-share/hrp2_bringup/launch/hand_camera.launch
-share/hrp2_bringup/launch/mocap.launch
-share/hrp2_bringup/launch/openhrp_bridge.launch
-share/hrp2_bringup/launch/record.launch
-share/hrp2_bringup/launch/simulated_cameras.launch
-share/hrp2_bringup/launch/simulated_localization.launch
-share/hrp2_bringup/launch/walking_geometric_simu.launch
-share/hrp2_bringup/launch/xtion.launch
-share/hrp2_bringup/package.xml
-share/hrp2_bringup/rosdoc.yaml
diff --git a/hrp2-bringup/depend.mk b/hrp2-bringup/depend.mk
deleted file mode 100644
index 38a7ab28fd28cad2a14bf9383f16e118cb509690..0000000000000000000000000000000000000000
--- a/hrp2-bringup/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for: robots/hrp2-bringup
-# Created: Olivier Stasse on Thu, 14 Jan 2016
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-HRP2_BRINGUP_DEPEND_MK:= ${HRP2_BRINGUP_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= hrp2-bringup
-endif
-
-ifeq (+,$(HRP2_BRINGUP_DEPEND_MK)) # ---------------------------------------
-
-PREFER.hrp2-bringup?= robotpkg
-
-SYSTEM_SEARCH.hrp2-bringup=\
- 'lib/pkgconfig/hrp2_bringup.pc:/Version/s/[^0-9.]//gp'
-
-DEPEND_USE+= hrp2-bringup
-
-DEPEND_ABI.hrp2-bringup?= hrp2-bringup>=1.0.0
-DEPEND_DIR.hrp2-bringup?= ../hrp2-bringup
-
-endif # HRP2_14_DESCRIPTION_DEPEND_MK --------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/hrp2-bringup/distinfo b/hrp2-bringup/distinfo
deleted file mode 100644
index 66248deceb24eebf584f56fc19fea4268e046c3e..0000000000000000000000000000000000000000
--- a/hrp2-bringup/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (hrp2-bringup-1.0.6.tar.gz) = 1220bbd74292407e508b4568fa9bbbf4b63f5e1d
-RMD160 (hrp2-bringup-1.0.6.tar.gz) = 87327aa0209835186b0f2062c995abc0d0e6ec24
-Size (hrp2-bringup-1.0.6.tar.gz) = 143796 bytes
diff --git a/sot-hrp2/Makefile b/sot-hrp2/Makefile
index 3ccc855f2e16ee8e2f8641fe50e3860d504ca36b..7036239f1724b7df50b6f955d369ed111e160191 100644
--- a/sot-hrp2/Makefile
+++ b/sot-hrp2/Makefile
@@ -26,9 +26,9 @@ include ../../robots/hrp2-14/depend.mk
include ../../robots/hrp2-14/depend.mk
include ../../robots/hrp2-machine/depend.mk
include ../../scripts/py-sot-application/depend.mk
+include ../../sysutils/hrp2-bringup/depend.mk
include ../../sysutils/hrp2-computer-monitor/depend.mk
include ../../wip/hrp2-14-description/depend.mk
-include ../../wip/hrp2-bringup/depend.mk
include ../../wip/sot-dyninv/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
diff --git a/sot-hrprtc-hrp2/Makefile b/sot-hrprtc-hrp2/Makefile
index 0ea15a76ac85fd6fb57dd7758d182ba1fdc55cb0..812fa00811286ec4505db2d032cdd8ccc563846c 100644
--- a/sot-hrprtc-hrp2/Makefile
+++ b/sot-hrprtc-hrp2/Makefile
@@ -34,8 +34,8 @@ include ../../robots/hrp2-14/depend.mk
include ../../robots/hrp2-machine/depend.mk
include ../../scripts/py-sot-application/depend.mk
include ../../sysutils/hrp2-computer-monitor/depend.mk
+include ../../sysutils/hrp2-bringup/depend.mk
include ../../wip/hrp2-14-description/depend.mk
-include ../../wip/hrp2-bringup/depend.mk
include ../../wip/sot-dyninv/depend.mk
include ../../wip/sot-hrp2/depend.mk
include ../../mk/sysdep/cmake.mk