diff --git a/dynamic-graph-bridge/Makefile b/dynamic-graph-bridge/Makefile
index cb2ab3b9d2066250760782f591143cf22d0b5606..a41ebd19e5f2c6dcf40a5e9f2964fe3f30ea188b 100755
--- a/dynamic-graph-bridge/Makefile
+++ b/dynamic-graph-bridge/Makefile
@@ -1,7 +1,7 @@
# robotpkg Makefile for: motion/dynamic-graph-bridge
#
-VERSION= 1.0.0
+VERSION= 2.0.0
DISTNAME= dynamic_graph_bridge-${VERSION}
PKGNAME= dynamic-graph-bridge-${VERSION}
@@ -24,6 +24,8 @@ CMAKE_ARGS+= -DMANDIR=${PREFIX}/${PKGMANDIR}
# library location
CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
+include ../../sysutils/ros-rospack/depend.mk
+include ../../wip/dynamic-graph-bridge-msgs/depend.mk
include ../../wip/ros-realtime-tools/depend.mk
include ../../simulation/bullet/depend.mk
include ../../interfaces/jrl-mal/depend.mk
@@ -37,6 +39,7 @@ include ../../simulation/bullet/depend.mk
include ../../devel/ros-roscpp-core/depend.mk
include ../../devel/ros-catkin/depend.mk
include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/python.mk
include ../../mk/language/c.mk
include ../../mk/language/c++.mk
include ../../mk/sysdep/cmake.mk
diff --git a/dynamic-graph-bridge/PLIST b/dynamic-graph-bridge/PLIST
index b16d95e98d3e38a42cc83657413b173ca25b6222..55177b87203c406d48affa72d2bdab8cf08f27ad 100644
--- a/dynamic-graph-bridge/PLIST
+++ b/dynamic-graph-bridge/PLIST
@@ -1,9 +1,4 @@
-@comment Thu Oct 16 10:43:52 CEST 2014
-include/dynamic_graph_bridge/Matrix.h
-include/dynamic_graph_bridge/RunCommand.h
-include/dynamic_graph_bridge/RunCommandRequest.h
-include/dynamic_graph_bridge/RunCommandResponse.h
-include/dynamic_graph_bridge/Vector.h
+@comment Fri Oct 17 15:25:56 CEST 2014
include/dynamic_graph_bridge/config.h
include/dynamic_graph_bridge/config.hh
include/dynamic_graph_bridge/deprecated.hh
@@ -33,31 +28,3 @@ ${PYTHON_SITELIB}/dynamic_graph/ros/ros_subscribe/__init__.py
${PYTHON_SITELIB}/dynamic_graph/ros/ros_subscribe/wrap.so
${PYTHON_SITELIB}/dynamic_graph/ros/ros_time/__init__.py
${PYTHON_SITELIB}/dynamic_graph/ros/ros_time/wrap.so
-${PYTHON_SITELIB}/dynamic_graph_bridge/__init__.py
-${PYTHON_SITELIB}/dynamic_graph_bridge/msg/_Matrix.py
-${PYTHON_SITELIB}/dynamic_graph_bridge/msg/_Vector.py
-${PYTHON_SITELIB}/dynamic_graph_bridge/msg/__init__.py
-${PYTHON_SITELIB}/dynamic_graph_bridge/srv/_RunCommand.py
-${PYTHON_SITELIB}/dynamic_graph_bridge/srv/__init__.py
-share/common-lisp/ros/dynamic_graph_bridge/msg/Matrix.lisp
-share/common-lisp/ros/dynamic_graph_bridge/msg/Vector.lisp
-share/common-lisp/ros/dynamic_graph_bridge/msg/_package.lisp
-share/common-lisp/ros/dynamic_graph_bridge/msg/_package_Matrix.lisp
-share/common-lisp/ros/dynamic_graph_bridge/msg/_package_Vector.lisp
-share/common-lisp/ros/dynamic_graph_bridge/msg/dynamic_graph_bridge-msg.asd
-share/common-lisp/ros/dynamic_graph_bridge/srv/RunCommand.lisp
-share/common-lisp/ros/dynamic_graph_bridge/srv/_package.lisp
-share/common-lisp/ros/dynamic_graph_bridge/srv/_package_RunCommand.lisp
-share/common-lisp/ros/dynamic_graph_bridge/srv/dynamic_graph_bridge-srv.asd
-share/dynamic_graph_bridge/cmake/dynamic_graph_bridge-msg-extras.cmake
-share/dynamic_graph_bridge/cmake/dynamic_graph_bridge-msg-paths.cmake
-share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig-version.cmake
-share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig.cmake
-share/dynamic_graph_bridge/msg/Matrix.msg
-share/dynamic_graph_bridge/msg/Vector.msg
-share/dynamic_graph_bridge/package.xml
-share/dynamic_graph_bridge/robot_pose_publisher
-share/dynamic_graph_bridge/run_command
-share/dynamic_graph_bridge/srv/RunCommand.srv
-share/dynamic_graph_bridge/tf_publisher
-
diff --git a/dynamic-graph-bridge/depend.mk b/dynamic-graph-bridge/depend.mk
index 1a1f6b4ad00af345d35a4f74022019d090e5efbd..2a3993bcb6d3e01659f5caa8d12bb6ec98d724d1 100755
--- a/dynamic-graph-bridge/depend.mk
+++ b/dynamic-graph-bridge/depend.mk
@@ -11,6 +11,8 @@ endif
ifeq (+,$(ROS_DYNAMICGRAPHBRIDGE_DEPEND_MK)) # --------------------------------------
+include ../../wip/dynamic-graph-bridge-msgs/depend.mk
+
PREFER.dynamic-graph-bridge?= ${PREFER.ros-base}
SYSTEM_PREFIX.dynamic-graph-bridge?= ${SYSTEM_PREFIX.ros-base}
diff --git a/dynamic-graph-bridge/distinfo b/dynamic-graph-bridge/distinfo
index e98f04e21ae0104aee26fdf988eb869494e09648..f1d1b921412cee18f083229ea5c4564214db999e 100644
--- a/dynamic-graph-bridge/distinfo
+++ b/dynamic-graph-bridge/distinfo
@@ -1,6 +1,6 @@
-SHA1 (dynamic_graph_bridge-1.0.0.tar.gz) = 644116a81529fdd606db567e8de3e5739a96eef9
-RMD160 (dynamic_graph_bridge-1.0.0.tar.gz) = 9c55c95353479bda4b5e3cde79790c18788499a9
-Size (dynamic_graph_bridge-1.0.0.tar.gz) = 101838 bytes
-SHA1 (patch-aa) = 9b131ca3ce53dc8bbe54aa94cd301ddb45d49897
-SHA1 (patch-ab) = acf1b743f11302c2123a49febbe48c4e53be3ef4
-SHA1 (patch-ac) = 5d5cd10313d9f5e5195c8f6f2314e84eae094eaf
+SHA1 (dynamic_graph_bridge-2.0.0.tar.gz) = 645e44c0ce1694637dd8f8f511e4a852b73e96ee
+RMD160 (dynamic_graph_bridge-2.0.0.tar.gz) = 559a55ac1b054afef45daace36fda3b33b2ab5c7
+Size (dynamic_graph_bridge-2.0.0.tar.gz) = 103040 bytes
+SHA1 (patch-aa) = a8378c7f6f80aa1d3f3ab4f59d54f6cff65c4d5f
+SHA1 (patch-ac) = e22fbd7cfd2deb1698f6204b4718f7e39c0883e1
+SHA1 (patch-ad) = e824aa27467ef11cb0a75223c984f46899c82cab
diff --git a/dynamic-graph-bridge/patches/patch-aa b/dynamic-graph-bridge/patches/patch-aa
index d56ce52b3ad4282f857c4e116b15bc3274fb277a..75928fd1a000f905da220b83db22e2278f2ef82b 100644
--- a/dynamic-graph-bridge/patches/patch-aa
+++ b/dynamic-graph-bridge/patches/patch-aa
@@ -1,8 +1,7 @@
in robotpkg, realtime_tools is not installed as a catkin package
-
---- CMakeLists.txt~ 2013-12-02 15:54:49.000000000 +0100
-+++ CMakeLists.txt 2013-12-15 07:48:25.678062000 +0100
+--- CMakeLists.txt.orig 2014-10-17 16:12:06.141631000 +0200
++++ CMakeLists.txt 2014-10-17 16:12:30.447490000 +0200
@@ -21,7 +21,8 @@
project(dynamic_graph_bridge)
@@ -12,4 +11,4 @@ in robotpkg, realtime_tools is not installed as a catkin package
+find_package(realtime_tools)
find_package(Boost REQUIRED COMPONENTS program_options)
- add_message_files(FILES Matrix.msg Vector.msg)
+ catkin_package(CATKIN_DEPENDS message_runtime)
diff --git a/dynamic-graph-bridge/patches/patch-ab b/dynamic-graph-bridge/patches/patch-ab
deleted file mode 100644
index d1b17ffec7498ffab397c8d8a169ff6d02da9ca9..0000000000000000000000000000000000000000
--- a/dynamic-graph-bridge/patches/patch-ab
+++ /dev/null
@@ -1,15 +0,0 @@
-add libros_bridge installation to allow standalone use
-
---- CMakeLists.txt2 2013-12-19 08:36:09.598413000 +0100
-+++ CMakeLists.txt 2013-12-19 08:36:33.642277000 +0100
-@@ -79,9 +79,9 @@
- include/dynamic_graph_bridge/ros_init.hh src/ros_init.cpp
- src/sot_to_ros.hh src/sot_to_ros.cpp
- )
--
- pkg_config_use_dependency(ros_bridge jrl-mal)
- pkg_config_use_dependency(ros_bridge bullet)
-+install(TARGETS ros_bridge DESTINATION lib)
-
- # Make sure rpath are preserved during the install as ROS dependencies
- # are not installed.
diff --git a/dynamic-graph-bridge/patches/patch-ac b/dynamic-graph-bridge/patches/patch-ac
index 3977a272d35eaddea26b4ec60e7167a0c322aa07..383a4cb7dd933147a2e5cb92869c06ef18a20fe3 100644
--- a/dynamic-graph-bridge/patches/patch-ac
+++ b/dynamic-graph-bridge/patches/patch-ac
@@ -5,9 +5,9 @@ this issue has already been raised by ros community
(e.g. https://github.com/ros/xacro/issues/2)
should be possible to remove the patch with Hydro version (need to be tested)
---- CMakeLists.txt-old 2013-12-20 13:22:01.741374000 +0100
-+++ CMakeLists.txt 2013-12-20 13:23:06.659322000 +0100
-@@ -161,5 +161,14 @@
+--- CMakeLists.txt.orig 2014-10-17 16:12:06.141631000 +0200
++++ CMakeLists.txt 2014-10-17 16:16:08.350214000 +0200
+@@ -160,5 +160,14 @@
${CMAKE_SOURCE_DIR}/scripts/tf_publisher
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
diff --git a/dynamic-graph-bridge/patches/patch-ad b/dynamic-graph-bridge/patches/patch-ad
new file mode 100644
index 0000000000000000000000000000000000000000..39e37daea31383646988765468af83e77288930c
--- /dev/null
+++ b/dynamic-graph-bridge/patches/patch-ad
@@ -0,0 +1,58 @@
+Don't know how to use rospack facilities in robotpkg for now
+
+--- CMakeLists.txt.orig 2014-10-17 15:12:46.857055000 +0200
++++ CMakeLists.txt 2014-10-17 15:14:35.183918000 +0200
+@@ -64,7 +64,7 @@
+ add_required_dependency(sot-core)
+ add_required_dependency(sot-dynamic)
+ add_required_dependency(jrl-dynamics-urdf)
+-ADD_ROSPACK_DEPENDENCY(dynamic_graph_bridge_msgs)
++add_required_dependency(dynamic_graph_bridge_msgs)
+
+ add_library(ros_bridge
+ src/converter.hh
+@@ -73,7 +73,7 @@
+ )
+ pkg_config_use_dependency(ros_bridge jrl-mal)
+ pkg_config_use_dependency(ros_bridge bullet)
+-rospack_use_dependency(ros_bridge dynamic_graph_bridge_msgs)
++pkg_config_use_dependency(ros_bridge dynamic_graph_bridge_msgs)
+ install(TARGETS ros_bridge DESTINATION lib)
+
+ # Make sure rpath are preserved during the install as ROS dependencies
+@@ -89,7 +89,7 @@
+ pkg_config_use_dependency(${NAME} dynamic-graph)
+ pkg_config_use_dependency(${NAME} sot-core)
+ pkg_config_use_dependency(${NAME} jrl-dynamics-urdf)
+- rospack_use_dependency(${NAME} dynamic_graph_bridge_msgs)
++ pkg_config_use_dependency(${NAME} dynamic_graph_bridge_msgs)
+ add_dependencies(${NAME} ros_bridge)
+ target_link_libraries(${NAME} ros_bridge)
+ set_target_properties(${NAME} PROPERTIES BUILD_WITH_INSTALL_RPATH True)
+@@ -105,7 +105,7 @@
+ PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap jrl-mal)
+ PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph)
+ PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap sot-core)
+- ROSPACK_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph_bridge_msgs)
++ PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph_bridge_msgs)
+ endmacro()
+
+ include(cmake/python.cmake)
+@@ -125,7 +125,7 @@
+ pkg_config_use_dependency(ros_interpreter dynamic-graph)
+ pkg_config_use_dependency(ros_interpreter sot-core)
+ pkg_config_use_dependency(ros_interpreter roscpp)
+-rospack_use_dependency(ros_interpreter dynamic_graph_bridge_msgs)
++pkg_config_use_dependency(ros_interpreter dynamic_graph_bridge_msgs)
+
+ add_dependencies(ros_interpreter ros_bridge)
+ target_link_libraries(ros_interpreter ros_bridge)
+@@ -142,7 +142,7 @@
+ pkg_config_use_dependency(interpreter dynamic-graph)
+ pkg_config_use_dependency(interpreter sot-core)
+ pkg_config_use_dependency(interpreter sot-dynamic)
+-rospack_use_dependency(interpreter dynamic_graph_bridge_msgs)
++pkg_config_use_dependency(interpreter dynamic_graph_bridge_msgs)
+ # set_target_properties(interpreter PROPERTIES BUILD_WITH_INSTALL_RPATH True)
+ #install(TARGETS interpreter DESTINATION bin)
+