diff --git a/Makefile b/Makefile
index 977d91c02eee655d4b636d9bdcf43f08dca9e1cf..fb48b379a8af3301570effcd54a8f973159abcbf 100644
--- a/Makefile
+++ b/Makefile
@@ -11,7 +11,6 @@ SUBDIR+= certi
SUBDIR+= chilitags
SUBDIR+= dptu-genom3
SUBDIR+= dynamic-graph-v3
-SUBDIR+= dynamic-graph-bridge
SUBDIR+= dynamic-graph-bridge-v3
SUBDIR+= FRILibrary
SUBDIR+= gdalwrap
diff --git a/dynamic-graph-bridge/DESCR b/dynamic-graph-bridge/DESCR
deleted file mode 100644
index 1da5459e8e2d7703912f1427b9a4f1b620aa81b3..0000000000000000000000000000000000000000
--- a/dynamic-graph-bridge/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-This ROS package binds together the ROS framework with the dynamic-graph real-time control architecture.
diff --git a/dynamic-graph-bridge/Makefile b/dynamic-graph-bridge/Makefile
deleted file mode 100755
index 303f484588b31fae4dcf31224002649c587d6cfb..0000000000000000000000000000000000000000
--- a/dynamic-graph-bridge/Makefile
+++ /dev/null
@@ -1,47 +0,0 @@
-# robotpkg Makefile for: motion/dynamic-graph-bridge
-#
-
-VERSION= 2.0.6
-DISTNAME= dynamic_graph_bridge-${VERSION}
-PKGNAME= dynamic-graph-bridge-${VERSION}
-
-CATEGORIES= motion
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=dynamic-graph-bridge/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}stack-of-tasks/dynamic_graph_bridge/
-
-COMMENT= This ROS package binds together the ROS framework with the dynamic-graph real-time control architecture.
-LICENSE= gnu-lgpl-v3
-MAINTAINER= hpp@laas.fr
-
-DYNAMIC_PLIST_DIRS+= share/doc/dynamic_graph_bridge
-
-# disable -Werror because of x86_64 warnings (must be fixed upstream) and
-# boost + gcc that don't cohabit well depending on their respective versions
-CMAKE_ARGS+= -DCXX_DISABLE_WERROR=yes
-
-# man pages location
-CMAKE_ARGS+= -DMANDIR=${PREFIX}/${PKGMANDIR}
-# library location
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
-
-include ../../sysutils/ros-rospack/depend.mk
-include ../../motion/dynamic-graph-bridge-msgs/depend.mk
-include ../../devel/ros-realtime-tools/depend.mk
-include ../../simulation/bullet/depend.mk
-include ../../interfaces/jrl-mal/depend.mk
-include ../../motion/dynamic-graph/depend.mk
-include ../../motion/py-dynamic-graph/depend.mk
-include ../../motion/sot-core/depend.mk
-include ../../motion/sot-dynamic/depend.mk
-include ../../math/jrl-dynamics-urdf/depend.mk
-include ../../interfaces/jrl-mal/depend.mk
-include ../../simulation/bullet/depend.mk
-include ../../devel/ros-roscpp-core/depend.mk
-include ../../devel/ros-catkin/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/python.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/robotpkg.mk
-
diff --git a/dynamic-graph-bridge/PLIST b/dynamic-graph-bridge/PLIST
deleted file mode 100644
index 241638670f6f0986dabcff5066a10d66ef20d0b2..0000000000000000000000000000000000000000
--- a/dynamic-graph-bridge/PLIST
+++ /dev/null
@@ -1,37 +0,0 @@
-@comment Fri Oct 17 15:25:56 CEST 2014
-include/dynamic_graph_bridge/config.h
-include/dynamic_graph_bridge/config.hh
-include/dynamic_graph_bridge/deprecated.hh
-include/dynamic_graph_bridge/ros_init.hh
-include/dynamic_graph_bridge/ros_interpreter.hh
-include/dynamic_graph_bridge/warning.hh
-include/dynamic_graph_bridge/sot_loader.hh
-lib/librobot_model.so
-lib/libros_bridge.so
-lib/libros_interpreter.so
-lib/libros_joint_state.so
-lib/libros_publish.so
-lib/libros_subscribe.so
-lib/libros_time.so
-lib/libsot_loader.so
-lib/pkgconfig/dynamic_graph_bridge.pc
-${PYTHON_SITELIB}/dynamic_graph/ros/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/robot_model/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/robot_model/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/ros/ros.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_joint_state/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_joint_state/wrap.so
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_publish/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/ros/ros_publish/wrap.so
-${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
-share/dynamic_graph_bridge/robot_pose_publisher
-share/dynamic_graph_bridge/tf_publisher
-share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig-version.cmake
-share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig.cmake
-share/dynamic_graph_bridge/package.xml
-share/dynamic_graph_bridge/run_command
-share/dynamic_graph_bridge/robot_pose_publisher
-share/dynamic_graph_bridge/geometric_simu
diff --git a/dynamic-graph-bridge/depend.mk b/dynamic-graph-bridge/depend.mk
deleted file mode 100755
index 2f50e316b3ca51e68325c896fcba93523f99906b..0000000000000000000000000000000000000000
--- a/dynamic-graph-bridge/depend.mk
+++ /dev/null
@@ -1,34 +0,0 @@
-# robotpkg depend.mk for: devel/ros-realtime-tools
-# Created: Aurelie Clodic on Thu, 28 Nov 2013
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-ROS_DYNAMICGRAPHBRIDGE_DEPEND_MK:= ${ROS_DYNAMICGRAPHBRIDGE_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= dynamic-graph-bridge
-endif
-
-ifeq (+,$(ROS_DYNAMICGRAPHBRIDGE_DEPEND_MK)) # --------------------------------------
-
-DEPEND_USE+= dynamic-graph-bridge
-ROS_DEPEND_USE+= dynamic-graph-bridge
-
-DEPEND_ABI.ros+= ros>=groovy
-
-DEPEND_ABI.dynamic-graph-bridge?= dynamic-graph-bridge>=1.0.0
-DEPEND_DIR.dynamic-graph-bridge?= ../../wip/dynamic-graph-bridge
-
-DEPEND_ABI.dynamic-graph-bridge.groovy?= dynamic-graph-bridge>=1.0.0
-DEPEND_ABI.dynamic-graph-bridge.hydro?= dynamic-graph-bridge>=1.0.0
-
-SYSTEM_SEARCH.dynamic-graph-bridge=\
- 'include/dynamic_graph_bridge/config.h'\
- 'lib/pkgconfig/dynamic_graph_bridge.pc'\
- 'lib/librobot_model.so'\
- 'share/dynamic_graph_bridge/robot_pose_publisher'\
- '${PYTHON_SITELIB}/dynamic_graph/ros/ros.py'
-
-endif # ROS_REALTIMETOOLS_DEPEND_MK --------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/dynamic-graph-bridge/distinfo b/dynamic-graph-bridge/distinfo
deleted file mode 100644
index c819cafbc7ec1da3d707d28e7952b63a6a6a130b..0000000000000000000000000000000000000000
--- a/dynamic-graph-bridge/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (dynamic_graph_bridge-2.0.6.tar.gz) = ec7cb9d5fceb25f3cf71ee6d6a398f7c2e60d65d
-RMD160 (dynamic_graph_bridge-2.0.6.tar.gz) = f8fbbe3eb9669c2df14fe46347bd8c53e86d04c0
-Size (dynamic_graph_bridge-2.0.6.tar.gz) = 753357 bytes
diff --git a/sot-hrp2/Makefile b/sot-hrp2/Makefile
index 9e752d59b8cb531fed5cbc9e78e8046fb6ad34e7..ee83c94b86b4402d2ec7a17c298655a3383e772b 100644
--- a/sot-hrp2/Makefile
+++ b/sot-hrp2/Makefile
@@ -21,7 +21,7 @@ include ../../motion/sot-pattern-generator/depend.mk
include ../../wip/sot-application/depend.mk
include ../../wip/sot-dyninv/depend.mk
include ../../motion/dynamic-graph-bridge-msgs/depend.mk
-include ../../wip/dynamic-graph-bridge/depend.mk
+include ../../motion/dynamic-graph-bridge/depend.mk
include ../../robots/hrp2-14/depend.mk
include ../../math/hrp2-dynamics/depend.mk
include ../../motion/sot-dynamic/depend.mk
diff --git a/sot-hrprtc-hrp2/Makefile b/sot-hrprtc-hrp2/Makefile
index 729ca99e7c16190bd9078bbb049443a9498316d4..42209084b55a84075c978776dd73dc8881535a1a 100644
--- a/sot-hrprtc-hrp2/Makefile
+++ b/sot-hrprtc-hrp2/Makefile
@@ -29,7 +29,7 @@ include ../../motion/sot-pattern-generator/depend.mk
include ../../wip/sot-application/depend.mk
include ../../wip/sot-dyninv/depend.mk
include ../../motion/dynamic-graph-bridge-msgs/depend.mk
-include ../../wip/dynamic-graph-bridge/depend.mk
+include ../../motion/dynamic-graph-bridge/depend.mk
include ../../robots/hrp2-14/depend.mk
include ../../math/hrp2-dynamics/depend.mk
include ../../motion/sot-dynamic/depend.mk
diff --git a/sot-romeo/Makefile b/sot-romeo/Makefile
index 68c2fc55fe97752c1b129c63f80d34902e6de8cf..9ebe73833fb7cc46af3bcdeba8bd3a35ea3119f0 100644
--- a/sot-romeo/Makefile
+++ b/sot-romeo/Makefile
@@ -12,7 +12,7 @@ MAINTAINER= hpp@laas.fr
DYNAMIC_PLIST_DIRS+= share/doc/sot-romeo
-include ../../wip/dynamic-graph-bridge/depend.mk
+include ../../motion/dynamic-graph-bridge/depend.mk
include ../../motion/sot-dynamic/depend.mk
include ../../motion/py-sot-tools/depend.mk
include ../../motion/sot-core/depend.mk