diff --git a/infuse-asn1-conversions/DESCR b/infuse-asn1-conversions/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..1b0114224ee5fb7331cc30e90f7cc394b794eb5c
--- /dev/null
+++ b/infuse-asn1-conversions/DESCR
@@ -0,0 +1 @@
+Conversions from/to ASN.1 types for InFuse.
\ No newline at end of file
diff --git a/infuse-asn1-conversions/Makefile b/infuse-asn1-conversions/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..e32fb96414f707020c404680d09df4cb3163dbad
--- /dev/null
+++ b/infuse-asn1-conversions/Makefile
@@ -0,0 +1,52 @@
+# robotpkg Makefile for:    wip/infuse-asn1-conversions
+# Created:                  Ellon Paiva Mendes on wed, 25 July 2018
+
+NAME=				infuse-asn1-conversions
+VERSION=			0.1
+DISTNAME=			${NAME}-${VERSION}
+CATEGORIES=			devel
+MASTER_SITES=		http://homepages.laas.fr/emendes/infuse/
+MASTER_REPOSITORY=	git ssh://git@redmine.laas.fr/laas/users/simon/infuse-asn1-conversions.git 
+MAINTAINER=			ellon.mendes@laas.fr
+HOMEPAGE=			https://redmine.laas.fr/projects/infuse
+COMMENT=			Conversions from/to ASN.1 types for InFuse.
+LICENSE=			2-clause-bsd
+
+
+# Options
+PKG_SUPPORTED_OPTIONS= eigen3 pcl ros  
+
+PKG_OPTION_DESCR.eigen3= Enable the conversions from/to Eigen3 types
+define PKG_OPTION_SET.eigen3
+	CMAKE_ARGS+= -DWITH_EIGEN=ON
+	include ../../math/eigen3/depend.mk
+endef
+define PKG_OPTION_UNSET.eigen3
+	CMAKE_ARGS+= -DWITH_EIGEN=OFF
+endef
+
+PKG_OPTION_DESCR.ros= Enable the conversions from/to ROS types
+define PKG_OPTION_SET.ros
+	CMAKE_ARGS+= -DWITH_ROS=ON
+	include ../../devel/ros-roscpp-core/depend.mk
+endef
+define PKG_OPTION_UNSET.ros
+	CMAKE_ARGS+= -DWITH_ROS=OFF
+endef
+
+PKG_OPTION_DESCR.pcl= Enable the conversions from/to PCL types
+define PKG_OPTION_SET.pcl
+	CMAKE_ARGS+= -DWITH_PCL=ON
+	include ../mk/sysdep/pcl.mk
+endef
+define PKG_OPTION_UNSET.pcl
+	CMAKE_ARGS+= -DWITH_PCL=OFF
+endef
+
+# Dependencies
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
+
diff --git a/infuse-asn1-conversions/PLIST b/infuse-asn1-conversions/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..1ff81fc9fa0e14bbba9c83353fe3136b88d5caa1
--- /dev/null
+++ b/infuse-asn1-conversions/PLIST
@@ -0,0 +1,17 @@
+@comment Thu Jul 26 11:19:15 CEST 2018
+include/infuse_asn1_conversions/asn1_base_conversions.hpp
+lib/libinfuse_asn1_conversions_base.so
+lib/libinfuse_asn1_conversions_base.so.${PKGVERSION}
+${PLIST.eigen3}include/infuse_asn1_conversions/asn1_eigen_conversions.hpp
+${PLIST.eigen3}lib/libinfuse_asn1_conversions_eigen.so
+${PLIST.eigen3}lib/libinfuse_asn1_conversions_eigen.so.${PKGVERSION}
+${PLIST.pcl}include/infuse_asn1_conversions/asn1_pcl_conversions.hpp
+${PLIST.pcl}lib/libinfuse_asn1_conversions_pcl.so
+${PLIST.pcl}lib/libinfuse_asn1_conversions_pcl.so.${PKGVERSION}
+${PLIST.ros}include/infuse_asn1_conversions/asn1_ros_conversions.hpp
+${PLIST.ros}lib/libinfuse_asn1_conversions_ros.so
+${PLIST.ros}lib/libinfuse_asn1_conversions_ros.so.${PKGVERSION}
+lib/cmake/infuse_asn1_conversions/infuse_asn1_conversionsConfig.cmake
+lib/cmake/infuse_asn1_conversions/infuse_asn1_conversionsConfigVersion.cmake
+lib/cmake/infuse_asn1_conversions/infuse_asn1_conversionsTargets-release.cmake
+lib/cmake/infuse_asn1_conversions/infuse_asn1_conversionsTargets.cmake
diff --git a/infuse-asn1-conversions/distinfo b/infuse-asn1-conversions/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..759d70d394484bf6579b34fa8f3aedd9fdb795a3
--- /dev/null
+++ b/infuse-asn1-conversions/distinfo
@@ -0,0 +1,3 @@
+SHA1 (infuse-asn1-conversions-0.1.tar.gz) = 58b5cf9528cc172e4dd105b0fb633296cbd13bcf
+RMD160 (infuse-asn1-conversions-0.1.tar.gz) = 5a49ba03d32ddd54bebe6691b90d5615c0b83632
+Size (infuse-asn1-conversions-0.1.tar.gz) = 6035 bytes