diff --git a/Makefile b/Makefile
index 6e46ee1b7ce8bbd6573e4466af34224f27a760f5..97bcf9b4d889e3c39803cc3bb964a5a000a5a665 100644
--- a/Makefile
+++ b/Makefile
@@ -21,7 +21,6 @@ SUBDIR+= icu-genom
SUBDIR+= jafar-lgl
SUBDIR+= jafar-rednav
SUBDIR+= jafar-qdisplay
-SUBDIR+= jafar-gdhe
SUBDIR+= jafar-rtslam
SUBDIR+= jointStateMapper
SUBDIR+= joystick-genom
diff --git a/jafar-gdhe/DESCR b/jafar-gdhe/DESCR
deleted file mode 100644
index 3dd1b124d176d4e3f2f8057372144701db8b18ae..0000000000000000000000000000000000000000
--- a/jafar-gdhe/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-Jafar module to talk to a gdhe server in c++
diff --git a/jafar-gdhe/Makefile b/jafar-gdhe/Makefile
deleted file mode 100644
index 13e7e819427a12dad515555f4335ea2d5d9882e4..0000000000000000000000000000000000000000
--- a/jafar-gdhe/Makefile
+++ /dev/null
@@ -1,37 +0,0 @@
-# robotpkg Makefile for: wip/jafar-gdhe
-# Created: Cyril Roussillon on Wed, 15 Jun 2011
-#
-
-VERSION= 0.1
-PKGREVISION= 2
-DISTNAME= jafar-gdhe-0.1
-PKGNAME= jafar-gdhe-0.1
-CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-gdhe/}
-MAINTAINER= jafar@laas.fr
-HOMEPAGE= https://intranet.laas.fr/intranet/robots/wiki/Jafar
-COMMENT= Jafar module to talk to a gdhe server in c++
-LICENSE= isc
-
-USE_PKGLOCALEDIR= yes
-
-CPPFLAGS += -DJFR_NDEBUG
-CXXFLAGS += -pthread
-
-CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
-CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
-
-include ../../devel/jafar-kernel/depend.mk
-include ../../math/jafar-jmath/depend.mk
-include ../../graphics/gdhe/depend.mk
-include ../../math/boost-numeric-bindings/depend.mk
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-
-include ../../pkgtools/libtool/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/language/fortran.mk
-include ../../mk/robotpkg.mk
diff --git a/jafar-gdhe/PLIST b/jafar-gdhe/PLIST
deleted file mode 100644
index fb8cd80ed3ee12c2f9cdc5ddf7fc5b6cebca8b68..0000000000000000000000000000000000000000
--- a/jafar-gdhe/PLIST
+++ /dev/null
@@ -1,10 +0,0 @@
-@comment Wed Jun 15 20:32:17 CEST 2011
-include/jafar/gdhe/client.hpp
-include/jafar/gdhe/gdheException.hpp
-lib/libjafar-gdhe.so
-lib/libjafar-gdhe.so.${PKGVERSION}
-lib/libjafar-gdhe.so.0
-lib/pkgconfig/jafar-gdhe.pc
-share/cmake/jafar/gdhe-headers.cmake
-share/cmake/jafar/gdhe-release.cmake
-share/cmake/jafar/gdhe.cmake
diff --git a/jafar-gdhe/depend.mk b/jafar-gdhe/depend.mk
deleted file mode 100644
index 0aa3f19a495e79f21c21d20cdea1990b2647a627..0000000000000000000000000000000000000000
--- a/jafar-gdhe/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for: wip/jafar-gdhe
-# Created: Cyril Roussillon on Wed, 15 Jun 2011
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-jafar-gdhe_DEPEND_MK:= ${jafar-gdhe_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= jafar-gdhe
-endif
-
-ifeq (+,$(jafar-gdhe_DEPEND_MK)) # -----------------------------------------------
-
-PREFER.jafar-gdhe?= robotpkg
-
-DEPEND_USE+= jafar-gdhe
-DEPEND_ABI.jafar-gdhe?= jafar-gdhe>=0.1
-DEPEND_DIR.jafar-gdhe?= ../../wip/jafar-gdhe
-
-SYSTEM_SEARCH.jafar-gdhe=\
- include/jafar/gdhe/gdheException.hpp \
- lib/libjafar-gdhe.so
-
-endif # jafar-gdhe_DEPEND_MK ----------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/jafar-gdhe/distinfo b/jafar-gdhe/distinfo
deleted file mode 100644
index 7f4bd3ae0b106ab556891840eeed488ef073e9b4..0000000000000000000000000000000000000000
--- a/jafar-gdhe/distinfo
+++ /dev/null
@@ -1,5 +0,0 @@
-SHA1 (jafar-gdhe-0.1.tar.gz) = 111dacc0840e84313f4b0ed5acf9c90cbf36d385
-RMD160 (jafar-gdhe-0.1.tar.gz) = 84a10b3396fbe60c32e6a31e2c8f442974b30623
-Size (jafar-gdhe-0.1.tar.gz) = 42156 bytes
-SHA1 (patch-aa) = 5c9a4214aa17697ca4f0540888e146dec09dd73e
-SHA1 (patch-ab) = 1d95730de2f1a178df6d28ca2debe71976c29f91
diff --git a/jafar-gdhe/patches/patch-aa b/jafar-gdhe/patches/patch-aa
deleted file mode 100644
index 728cc274e1c5251c98849dae4e9f7d63f38508f4..0000000000000000000000000000000000000000
--- a/jafar-gdhe/patches/patch-aa
+++ /dev/null
@@ -1,60 +0,0 @@
-diff --git a/include/gdhe/client.hpp b/include/gdhe/client.hpp
-Don't use reserved name as variable declaration
-
-index 26a55f4..d7b8de3 100644
---- include/gdhe/client.hpp
-+++ include/gdhe/client.hpp
-@@ -197,8 +197,8 @@ namespace gdhe {
-
- void setBackgroundColor(ColorRGB &_color)
- { backgroundColor = _color; }
-- void setBackgroundColor(unsigned char _R, unsigned char _G, unsigned char _B)
-- { backgroundColor.R = _R; backgroundColor.G = _G; backgroundColor.B = _B; }
-+ void setBackgroundColor(unsigned char R_, unsigned char G_, unsigned char B_)
-+ { backgroundColor.R = R_; backgroundColor.G = G_; backgroundColor.B = B_; }
-
- void addObject(Object *object, bool visible = true);
- void addSubObject(Object *object, Object *parent, std::string suffix, bool visible = true);
-@@ -267,9 +267,9 @@ namespace gdhe {
- Object(double _x, double _y, double _z, double _yaw, double _pitch, double _roll):
- poseModified(true), attributesModified(true), label(NULL), ownId(false), id(0), ids(""), client(NULL)
- { setPose(_x,_y,_z,_yaw,_pitch,_roll); }
-- Object(double _x, double _y, double _z, double _yaw, double _pitch, double _roll, unsigned char _R, unsigned char _G, unsigned char _B):
-+ Object(double _x, double _y, double _z, double _yaw, double _pitch, double _roll, unsigned char R_, unsigned char G_, unsigned char B_):
- poseModified(true), attributesModified(true), label(NULL), ownId(false), id(0), ids(""), client(NULL)
-- { setPose(_x,_y,_z,_yaw,_pitch,_roll); setColor(_R,_G,_B); }
-+ { setPose(_x,_y,_z,_yaw,_pitch,_roll); setColor(R_,G_,B_); }
- virtual ~Object();
-
- virtual const std::string construct_string() const = 0;
-@@ -336,12 +336,12 @@ namespace gdhe {
-
- void setColor(ColorRGB &_color)
- { color = _color; touch(); }
-- void setColor(unsigned char _R, unsigned char _G, unsigned char _B)
-- { color.R = _R; color.G = _G; color.B = _B; touch(); }
-+ void setColor(unsigned char R_, unsigned char G_, unsigned char B_)
-+ { color.R = R_; color.G = G_; color.B = B_; touch(); }
-
- void setLabel(std::string text);
- void setLabelColor(ColorRGB &_color);
-- void setLabelColor(unsigned char _R, unsigned char _G, unsigned char _B);
-+ void setLabelColor(unsigned char R_, unsigned char G_, unsigned char B_);
- void setLabelShift(double x_, double y_, double z_);
-
- friend class Client;
-diff --git a/src/client.cpp b/src/client.cpp
-index 5a1027e..4299c41 100644
---- src/client.cpp
-+++ src/client.cpp
-@@ -60,8 +60,8 @@ namespace gdhe {
- }
- void Object::setLabelColor(ColorRGB &_color)
- { if (!label) createLabel(); label->setColor(_color); }
-- void Object::setLabelColor(unsigned char _R, unsigned char _G, unsigned char _B)
-- { if (!label) createLabel(); label->setColor(_R,_G,_B); }
-+ void Object::setLabelColor(unsigned char R_, unsigned char G_, unsigned char B_)
-+ { if (!label) createLabel(); label->setColor(R_,G_,B_); }
- void Object::setLabelShift(double x_, double y_, double z_)
- { if (!label) createLabel(); label->setShift(x_,y_,z_); }
-
diff --git a/jafar-gdhe/patches/patch-ab b/jafar-gdhe/patches/patch-ab
deleted file mode 100644
index bbacdae3ec3d5dc418f41db15c8c45459dd940c8..0000000000000000000000000000000000000000
--- a/jafar-gdhe/patches/patch-ab
+++ /dev/null
@@ -1,17 +0,0 @@
-Improve pattern used to install module_headers (in particular, avoid installing
-.orig files or temporary emacs files)
-
---- CMakeLists.txt.orig 2011-12-28 14:20:11.679766922 +0100
-+++ CMakeLists.txt 2011-12-28 14:26:36.143776744 +0100
-@@ -110,7 +110,10 @@
-
-
- # add module headers
--file(GLOB module_headers ${jafar-gdhe_SOURCE_DIR}/include/gdhe/*.h*)
-+file(GLOB module_h ${jafar-gdhe_SOURCE_DIR}/include/gdhe/*.h)
-+file(GLOB module_hh ${jafar-gdhe_SOURCE_DIR}/include/gdhe/*.hh)
-+file(GLOB module_hpp ${jafar-gdhe_SOURCE_DIR}/include/gdhe/*.hpp)
-+set(module_headers "${module_h};${module_hh};${module_hpp}")
- # add sources
- file(GLOB module_sources ${jafar-gdhe_SOURCE_DIR}/src/*.cpp)
- #remove jafarConfig.h from included headers
diff --git a/jafar-rtslam/Makefile b/jafar-rtslam/Makefile
index 60bf6ba3a3d08ebcb160bc01aa3dbebf2b4e8e74..f4dbb35169ab1cf086196c787b8c5c422fdd0277 100644
--- a/jafar-rtslam/Makefile
+++ b/jafar-rtslam/Makefile
@@ -27,7 +27,7 @@ PKG_SUPPORTED_OPTIONS+= gdhe
PKG_OPTION_DESCR.gdhe= Enable jafar module gdhe support.
define PKG_OPTION_SET.gdhe
CMAKE_ARGS+= -DHAVE_MODULE_GDHE=ON
- include ../../wip/jafar-gdhe/depend.mk
+ include ../../graphics/jafar-gdhe/depend.mk
endef
define PKG_OPTION_UNSET.gdhe
CMAKE_ARGS+= -DHAVE_MODULE_GDHE=OFF