diff --git a/ros-baxter-common/DESCR b/ros-baxter-common/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..a099b2447347e6458a549cc62f665d2664ba53df
--- /dev/null
+++ b/ros-baxter-common/DESCR
@@ -0,0 +1 @@
+URDF, meshes, and custom messages describing the Baxter Research Robot from Rethink Robotics
diff --git a/ros-baxter-common/Makefile b/ros-baxter-common/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..b142051f9ee5093f97647997ecdb0b8c27a6745e
--- /dev/null
+++ b/ros-baxter-common/Makefile
@@ -0,0 +1,21 @@
+# robotpkg Makefile for:	wip/ros-moveit
+# Created:			Guilhem Saurel on Wed, 19 Dec 2018
+#
+
+ROS_PKG=		baxter_common
+ROS_METAPKG=	yes
+ROS_VERSION=	1.2.0
+ROS_REPO=		rethinkrobotics
+
+HOMEPAGE=			${MASTER_SITE_GITHUB:=${ROS_REPO}/${ROS_PKG}}
+MASTER_SITES=		${HOMEPAGE}/archive/
+MASTER_REPOSITORY=	git ${HOMEPAGE}.git
+
+CATEGORIES=		wip
+ROS_COMMENT=	ROS Messages and robot description files for the Baxter Research Robot
+
+include ../../meta-pkgs/ros-base/Makefile.common
+
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/robotpkg.mk
diff --git a/ros-baxter-common/PLIST b/ros-baxter-common/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..7257d32a29828616b0a2d274f7242e93fc65cd0b
--- /dev/null
+++ b/ros-baxter-common/PLIST
@@ -0,0 +1,377 @@
+@comment Mon Jan 28 13:07:25 CET 2019
+include/baxter_core_msgs/AnalogIOState.h
+include/baxter_core_msgs/AnalogIOStates.h
+include/baxter_core_msgs/AnalogOutputCommand.h
+include/baxter_core_msgs/AssemblyState.h
+include/baxter_core_msgs/AssemblyStates.h
+include/baxter_core_msgs/CameraControl.h
+include/baxter_core_msgs/CameraSettings.h
+include/baxter_core_msgs/CloseCamera.h
+include/baxter_core_msgs/CloseCameraRequest.h
+include/baxter_core_msgs/CloseCameraResponse.h
+include/baxter_core_msgs/CollisionAvoidanceState.h
+include/baxter_core_msgs/CollisionDetectionState.h
+include/baxter_core_msgs/DigitalIOState.h
+include/baxter_core_msgs/DigitalIOStates.h
+include/baxter_core_msgs/DigitalOutputCommand.h
+include/baxter_core_msgs/EndEffectorCommand.h
+include/baxter_core_msgs/EndEffectorProperties.h
+include/baxter_core_msgs/EndEffectorState.h
+include/baxter_core_msgs/EndpointState.h
+include/baxter_core_msgs/EndpointStates.h
+include/baxter_core_msgs/HeadPanCommand.h
+include/baxter_core_msgs/HeadState.h
+include/baxter_core_msgs/JointCommand.h
+include/baxter_core_msgs/ListCameras.h
+include/baxter_core_msgs/ListCamerasRequest.h
+include/baxter_core_msgs/ListCamerasResponse.h
+include/baxter_core_msgs/NavigatorState.h
+include/baxter_core_msgs/NavigatorStates.h
+include/baxter_core_msgs/OpenCamera.h
+include/baxter_core_msgs/OpenCameraRequest.h
+include/baxter_core_msgs/OpenCameraResponse.h
+include/baxter_core_msgs/RobustControllerStatus.h
+include/baxter_core_msgs/SEAJointState.h
+include/baxter_core_msgs/SolvePositionIK.h
+include/baxter_core_msgs/SolvePositionIKRequest.h
+include/baxter_core_msgs/SolvePositionIKResponse.h
+include/baxter_core_msgs/URDFConfiguration.h
+include/baxter_maintenance_msgs/CalibrateArmData.h
+include/baxter_maintenance_msgs/CalibrateArmEnable.h
+include/baxter_maintenance_msgs/TareData.h
+include/baxter_maintenance_msgs/TareEnable.h
+include/baxter_maintenance_msgs/UpdateSource.h
+include/baxter_maintenance_msgs/UpdateSources.h
+include/baxter_maintenance_msgs/UpdateStatus.h
+lib/pkgconfig/baxter_core_msgs.pc
+lib/pkgconfig/baxter_description.pc
+lib/pkgconfig/baxter_maintenance_msgs.pc
+lib/pkgconfig/rethink_ee_description.pc
+${PYTHON_SITELIB}/baxter_core_msgs/__init__.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_AnalogIOState.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_AnalogIOStates.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_AnalogOutputCommand.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_AssemblyState.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_AssemblyStates.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_CameraControl.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_CameraSettings.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_CollisionAvoidanceState.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_CollisionDetectionState.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_DigitalIOState.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_DigitalIOStates.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_DigitalOutputCommand.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_EndEffectorCommand.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_EndEffectorProperties.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_EndEffectorState.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_EndpointState.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_EndpointStates.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_HeadPanCommand.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_HeadState.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_JointCommand.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_NavigatorState.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_NavigatorStates.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_RobustControllerStatus.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_SEAJointState.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/_URDFConfiguration.py
+${PYTHON_SITELIB}/baxter_core_msgs/msg/__init__.py
+${PYTHON_SITELIB}/baxter_core_msgs/srv/_CloseCamera.py
+${PYTHON_SITELIB}/baxter_core_msgs/srv/_ListCameras.py
+${PYTHON_SITELIB}/baxter_core_msgs/srv/_OpenCamera.py
+${PYTHON_SITELIB}/baxter_core_msgs/srv/_SolvePositionIK.py
+${PYTHON_SITELIB}/baxter_core_msgs/srv/__init__.py
+${PYTHON_SITELIB}/baxter_maintenance_msgs/__init__.py
+${PYTHON_SITELIB}/baxter_maintenance_msgs/msg/_CalibrateArmData.py
+${PYTHON_SITELIB}/baxter_maintenance_msgs/msg/_CalibrateArmEnable.py
+${PYTHON_SITELIB}/baxter_maintenance_msgs/msg/_TareData.py
+${PYTHON_SITELIB}/baxter_maintenance_msgs/msg/_TareEnable.py
+${PYTHON_SITELIB}/baxter_maintenance_msgs/msg/_UpdateSource.py
+${PYTHON_SITELIB}/baxter_maintenance_msgs/msg/_UpdateSources.py
+${PYTHON_SITELIB}/baxter_maintenance_msgs/msg/_UpdateStatus.py
+${PYTHON_SITELIB}/baxter_maintenance_msgs/msg/__init__.py
+share/baxter_common/package.xml
+share/baxter_core_msgs/cmake/baxter_core_msgs-msg-extras.cmake
+share/baxter_core_msgs/cmake/baxter_core_msgs-msg-paths.cmake
+share/baxter_core_msgs/cmake/baxter_core_msgsConfig-version.cmake
+share/baxter_core_msgs/cmake/baxter_core_msgsConfig.cmake
+share/baxter_core_msgs/msg/AnalogIOState.msg
+share/baxter_core_msgs/msg/AnalogIOStates.msg
+share/baxter_core_msgs/msg/AnalogOutputCommand.msg
+share/baxter_core_msgs/msg/AssemblyState.msg
+share/baxter_core_msgs/msg/AssemblyStates.msg
+share/baxter_core_msgs/msg/CameraControl.msg
+share/baxter_core_msgs/msg/CameraSettings.msg
+share/baxter_core_msgs/msg/CollisionAvoidanceState.msg
+share/baxter_core_msgs/msg/CollisionDetectionState.msg
+share/baxter_core_msgs/msg/DigitalIOState.msg
+share/baxter_core_msgs/msg/DigitalIOStates.msg
+share/baxter_core_msgs/msg/DigitalOutputCommand.msg
+share/baxter_core_msgs/msg/EndEffectorCommand.msg
+share/baxter_core_msgs/msg/EndEffectorProperties.msg
+share/baxter_core_msgs/msg/EndEffectorState.msg
+share/baxter_core_msgs/msg/EndpointState.msg
+share/baxter_core_msgs/msg/EndpointStates.msg
+share/baxter_core_msgs/msg/HeadPanCommand.msg
+share/baxter_core_msgs/msg/HeadState.msg
+share/baxter_core_msgs/msg/JointCommand.msg
+share/baxter_core_msgs/msg/NavigatorState.msg
+share/baxter_core_msgs/msg/NavigatorStates.msg
+share/baxter_core_msgs/msg/RobustControllerStatus.msg
+share/baxter_core_msgs/msg/SEAJointState.msg
+share/baxter_core_msgs/msg/URDFConfiguration.msg
+share/baxter_core_msgs/package.xml
+share/baxter_core_msgs/srv/CloseCamera.srv
+share/baxter_core_msgs/srv/ListCameras.srv
+share/baxter_core_msgs/srv/OpenCamera.srv
+share/baxter_core_msgs/srv/SolvePositionIK.srv
+share/baxter_description/cmake/baxter_descriptionConfig-version.cmake
+share/baxter_description/cmake/baxter_descriptionConfig.cmake
+share/baxter_description/meshes/base/PEDESTAL.DAE
+share/baxter_description/meshes/base/PEDESTAL.STL
+share/baxter_description/meshes/base/pedestal_link_collision.DAE
+share/baxter_description/meshes/base/pedestal_link_collision.STL
+share/baxter_description/meshes/head/H0.DAE
+share/baxter_description/meshes/head/H0.STL
+share/baxter_description/meshes/head/H1.DAE
+share/baxter_description/meshes/head/H1.STL
+share/baxter_description/meshes/lower_elbow/E1.DAE
+share/baxter_description/meshes/lower_elbow/E1.STL
+share/baxter_description/meshes/lower_forearm/W1.DAE
+share/baxter_description/meshes/lower_forearm/W1.STL
+share/baxter_description/meshes/lower_shoulder/S1.DAE
+share/baxter_description/meshes/lower_shoulder/S1.STL
+share/baxter_description/meshes/torso/base_link.DAE
+share/baxter_description/meshes/torso/base_link.STL
+share/baxter_description/meshes/torso/base_link_collision.DAE
+share/baxter_description/meshes/torso/base_link_collision.STL
+share/baxter_description/meshes/upper_elbow/E0.DAE
+share/baxter_description/meshes/upper_elbow/E0.STL
+share/baxter_description/meshes/upper_forearm/W0.DAE
+share/baxter_description/meshes/upper_forearm/W0.STL
+share/baxter_description/meshes/upper_shoulder/S0.DAE
+share/baxter_description/meshes/upper_shoulder/S0.STL
+share/baxter_description/meshes/wrist/W2.DAE
+share/baxter_description/meshes/wrist/W2.STL
+share/baxter_description/package.xml
+share/baxter_description/urdf/baxter.urdf
+share/baxter_description/urdf/baxter.urdf.xacro
+share/baxter_description/urdf/baxter_base/baxter_base.gazebo.xacro
+share/baxter_description/urdf/baxter_base/baxter_base.urdf.xacro
+share/baxter_description/urdf/left_end_effector.urdf.xacro
+share/baxter_description/urdf/pedestal/pedestal.xacro
+share/baxter_description/urdf/right_end_effector.urdf.xacro
+share/baxter_maintenance_msgs/cmake/baxter_maintenance_msgs-msg-extras.cmake
+share/baxter_maintenance_msgs/cmake/baxter_maintenance_msgs-msg-paths.cmake
+share/baxter_maintenance_msgs/cmake/baxter_maintenance_msgsConfig-version.cmake
+share/baxter_maintenance_msgs/cmake/baxter_maintenance_msgsConfig.cmake
+share/baxter_maintenance_msgs/msg/CalibrateArmData.msg
+share/baxter_maintenance_msgs/msg/CalibrateArmEnable.msg
+share/baxter_maintenance_msgs/msg/TareData.msg
+share/baxter_maintenance_msgs/msg/TareEnable.msg
+share/baxter_maintenance_msgs/msg/UpdateSource.msg
+share/baxter_maintenance_msgs/msg/UpdateSources.msg
+share/baxter_maintenance_msgs/msg/UpdateStatus.msg
+share/baxter_maintenance_msgs/package.xml
+share/common-lisp/ros/baxter_core_msgs/msg/AnalogIOState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/AnalogIOStates.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/AnalogOutputCommand.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/AssemblyState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/AssemblyStates.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/CameraControl.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/CameraSettings.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/CollisionAvoidanceState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/CollisionDetectionState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/DigitalIOState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/DigitalIOStates.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/DigitalOutputCommand.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/EndEffectorCommand.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/EndEffectorProperties.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/EndEffectorState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/EndpointState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/EndpointStates.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/HeadPanCommand.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/HeadState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/JointCommand.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/NavigatorState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/NavigatorStates.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/RobustControllerStatus.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/SEAJointState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/URDFConfiguration.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/_package.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/_package_AnalogIOState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/_package_AnalogIOStates.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/_package_AnalogOutputCommand.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/_package_AssemblyState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/_package_AssemblyStates.lisp
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+share/common-lisp/ros/baxter_core_msgs/msg/_package_NavigatorState.lisp
+share/common-lisp/ros/baxter_core_msgs/msg/_package_NavigatorStates.lisp
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+share/common-lisp/ros/baxter_core_msgs/msg/_package_URDFConfiguration.lisp
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+share/common-lisp/ros/baxter_core_msgs/srv/OpenCamera.lisp
+share/common-lisp/ros/baxter_core_msgs/srv/SolvePositionIK.lisp
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+share/common-lisp/ros/baxter_core_msgs/srv/_package_ListCameras.lisp
+share/common-lisp/ros/baxter_core_msgs/srv/_package_OpenCamera.lisp
+share/common-lisp/ros/baxter_core_msgs/srv/_package_SolvePositionIK.lisp
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+share/common-lisp/ros/baxter_maintenance_msgs/msg/CalibrateArmEnable.lisp
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+share/common-lisp/ros/baxter_maintenance_msgs/msg/TareEnable.lisp
+share/common-lisp/ros/baxter_maintenance_msgs/msg/UpdateSource.lisp
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+share/common-lisp/ros/baxter_maintenance_msgs/msg/UpdateStatus.lisp
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+share/common-lisp/ros/baxter_maintenance_msgs/msg/_package_TareData.lisp
+share/common-lisp/ros/baxter_maintenance_msgs/msg/_package_TareEnable.lisp
+share/common-lisp/ros/baxter_maintenance_msgs/msg/_package_UpdateSource.lisp
+share/common-lisp/ros/baxter_maintenance_msgs/msg/_package_UpdateSources.lisp
+share/common-lisp/ros/baxter_maintenance_msgs/msg/_package_UpdateStatus.lisp
+share/common-lisp/ros/baxter_maintenance_msgs/msg/baxter_maintenance_msgs-msg.asd
+share/gennodejs/ros/baxter_core_msgs/_index.js
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+share/gennodejs/ros/baxter_core_msgs/msg/AnalogIOStates.js
+share/gennodejs/ros/baxter_core_msgs/msg/AnalogOutputCommand.js
+share/gennodejs/ros/baxter_core_msgs/msg/AssemblyState.js
+share/gennodejs/ros/baxter_core_msgs/msg/AssemblyStates.js
+share/gennodejs/ros/baxter_core_msgs/msg/CameraControl.js
+share/gennodejs/ros/baxter_core_msgs/msg/CameraSettings.js
+share/gennodejs/ros/baxter_core_msgs/msg/CollisionAvoidanceState.js
+share/gennodejs/ros/baxter_core_msgs/msg/CollisionDetectionState.js
+share/gennodejs/ros/baxter_core_msgs/msg/DigitalIOState.js
+share/gennodejs/ros/baxter_core_msgs/msg/DigitalIOStates.js
+share/gennodejs/ros/baxter_core_msgs/msg/DigitalOutputCommand.js
+share/gennodejs/ros/baxter_core_msgs/msg/EndEffectorCommand.js
+share/gennodejs/ros/baxter_core_msgs/msg/EndEffectorProperties.js
+share/gennodejs/ros/baxter_core_msgs/msg/EndEffectorState.js
+share/gennodejs/ros/baxter_core_msgs/msg/EndpointState.js
+share/gennodejs/ros/baxter_core_msgs/msg/EndpointStates.js
+share/gennodejs/ros/baxter_core_msgs/msg/HeadPanCommand.js
+share/gennodejs/ros/baxter_core_msgs/msg/HeadState.js
+share/gennodejs/ros/baxter_core_msgs/msg/JointCommand.js
+share/gennodejs/ros/baxter_core_msgs/msg/NavigatorState.js
+share/gennodejs/ros/baxter_core_msgs/msg/NavigatorStates.js
+share/gennodejs/ros/baxter_core_msgs/msg/RobustControllerStatus.js
+share/gennodejs/ros/baxter_core_msgs/msg/SEAJointState.js
+share/gennodejs/ros/baxter_core_msgs/msg/URDFConfiguration.js
+share/gennodejs/ros/baxter_core_msgs/msg/_index.js
+share/gennodejs/ros/baxter_core_msgs/srv/CloseCamera.js
+share/gennodejs/ros/baxter_core_msgs/srv/ListCameras.js
+share/gennodejs/ros/baxter_core_msgs/srv/OpenCamera.js
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+share/gennodejs/ros/baxter_maintenance_msgs/msg/CalibrateArmEnable.js
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