diff --git a/Makefile b/Makefile
index ce34c07e44697f0e673dec797e5792a60d0b4bcd..154f881c8b4d18a3b1a602bdbfba5e7f75ea7905 100644
--- a/Makefile
+++ b/Makefile
@@ -96,6 +96,7 @@ SUBDIR+= py-parametric-curves
SUBDIR+= py-qpoases
SUBDIR+= py-qt-gepetto-pythonqt
SUBDIR+= py-quadprog
+SUBDIR+= py-roscontrol-sot
SUBDIR+= py-skeleton-model
SUBDIR+= py-solo-pybullet
SUBDIR+= py-sot-application-v3
@@ -112,7 +113,6 @@ SUBDIR+= py-talos-rbprm
SUBDIR+= py-tsid
SUBDIR+= pyrene-motions
SUBDIR+= roralink
-SUBDIR+= roscontrol-sot
SUBDIR+= ros-baxter-common
SUBDIR+= ros-moveit
SUBDIR+= ros-moveit-msgs
diff --git a/prf-ros-controllers/Makefile b/prf-ros-controllers/Makefile
index 9eb00f9a1dfea83ad5dd27b3710dd111f5609a7d..f8002da59f6527a4942dc10e411d7af727f90ad7 100644
--- a/prf-ros-controllers/Makefile
+++ b/prf-ros-controllers/Makefile
@@ -28,6 +28,7 @@ CONFLICTS= talos-ros-controllers
# over system ros packages.
# http://wiki.ros.org/catkin/what
CMAKE_PREFIX_PATH+= ${PREFIX}
+CMAKE_PREFIX_PATH+= /opt/ros/melodic
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
diff --git a/roscontrol-sot/DESCR b/py-roscontrol-sot/DESCR
similarity index 100%
rename from roscontrol-sot/DESCR
rename to py-roscontrol-sot/DESCR
diff --git a/roscontrol-sot/Makefile b/py-roscontrol-sot/Makefile
similarity index 79%
rename from roscontrol-sot/Makefile
rename to py-roscontrol-sot/Makefile
index dbf6588a360e7a18019c8cfb6aa5a86ba0293a2a..3f5348867795d4b7b18b70bc679b16e0b9ec467b 100644
--- a/roscontrol-sot/Makefile
+++ b/py-roscontrol-sot/Makefile
@@ -1,21 +1,17 @@
-# robotpkg Makefile for: wip/roscontrol_sot
+# robotpkg Makefile for: wip/py36-roscontrol-sot
+# Created: Guilhem Saurel on Tue, 5 Nov 2019
#
-VERSION= 0.1.0
-PKGBASE= roscontrol-sot
-PKGNAME= ${PKGBASE}-${VERSION}
-ROSNAME= $(subst -,_,${PKGBASE})
+ORG= stack-of-tasks
+VERSION= 0.2.0
+NAME= roscontrol-sot
+PKGNAME= ${PKGTAG.python-}${NAME}-${VERSION}
+ROSNAME= $(subst -,_,${NAME})
DISTNAME= ${ROSNAME}-${VERSION}
WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
-DIST_SUBDIR= ${PKGBASE}
-PKGREVISION= 1
+DIST_SUBDIR= ${NAME}
CATEGORIES= wip
-#MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=roscontrol_sot/}
-HOMEPAGE= ${MASTER_SITE_GITHUB:=stack-of-tasks/${ROSNAME}}
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${ROSNAME}/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/stack-of-tasks/${ROSNAME}
-CHECKOUT_VCS_OPTS= --recursive
COMMENT= This ROS package binds together the ROS control framework with the dynamic-graph real-time control architecture.
LICENSE= 2-clause-bsd
@@ -29,15 +25,15 @@ CMAKE_ARGS+= -DCXX_DISABLE_WERROR=yes
# man pages location
CMAKE_ARGS+= -DMANDIR=${PREFIX}/${PKGMANDIR}
-# library location
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
# Allows to have robotpkg ros packages with the highest priority
# over system ros packages.
# http://wiki.ros.org/catkin/what
-CMAKE_PREFIX_PATH+= ${PREFIX}
+CMAKE_PREFIX_PATH+= ${PREFIX}
+USE_PYTHON= true
+include ../../devel/jrl-cmakemodules/Makefile.common
include ../../sysutils/ros-rospack/depend.mk
include ../../motion/dynamic-graph-bridge-msgs/depend.mk
include ../../wip/py-dynamic-graph-bridge-v3/depend.mk
@@ -80,6 +76,6 @@ include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/bullet.mk
include ../../mk/sysdep/python.mk
include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
+include ../../mk/language/c++11.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/robotpkg.mk
diff --git a/roscontrol-sot/PLIST b/py-roscontrol-sot/PLIST
similarity index 89%
rename from roscontrol-sot/PLIST
rename to py-roscontrol-sot/PLIST
index d6594792d0dbf239c639c3a9a30683f8b64efa92..45e35027fdc03cfe478f233bc63d203d2523e2f1 100644
--- a/roscontrol-sot/PLIST
+++ b/py-roscontrol-sot/PLIST
@@ -8,7 +8,7 @@ lib/libsot-test-controller.so
lib/libsot-test-device.so
lib/pkgconfig/roscontrol_sot.pc
${PYTHON_SITELIB}/dynamic_graph/sot/test/sot_test_device/__init__.py
-${PYTHON_SITELIB}/dynamic_graph/sot/test/sot_test_device/wrap${PYTHON_EXT_SUFFIX}
+${PYTHON_SITELIB}/dynamic_graph/sot/test/sot_test_device/wrap.so
share/roscontrol_sot/cmake/roscontrol_sotConfig-version.cmake
share/roscontrol_sot/cmake/roscontrol_sotConfig.cmake
share/roscontrol_sot/config/roscontrol_sot_controller_plugins.xml
diff --git a/py-roscontrol-sot/depend.mk b/py-roscontrol-sot/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..28874b62333c02f22154f946d4596c59f4055c76
--- /dev/null
+++ b/py-roscontrol-sot/depend.mk
@@ -0,0 +1,34 @@
+# robotpkg depend.mk for: wip/py36-roscontrol-sot
+# Created: Guilhem Saurel on Tue, 5 Nov 2019
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+PY_ROSCONTROL_SOT_DEPEND_MK:= ${PY_ROSCONTROL_SOT_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= py-roscontrol-sot
+endif
+
+ifeq (+,$(PY_ROSCONTROL_SOT_DEPEND_MK)) # --------------------------------------
+
+DEPEND_USE+= py-roscontrol-sot
+ROS_DEPEND_USE+= py-roscontrol-sot
+
+DEPEND_ABI.py-roscontrol-sot?= ${PKGTAG.python-}roscontrol-sot>=0.2.0
+DEPEND_DIR.py-roscontrol-sot?= ../../wip/py-roscontrol-sot
+
+SYSTEM_SEARCH.py-roscontrol-sot=\
+ 'include/roscontrol/sot/config.hh' \
+ 'lib/librcsot_controller.so' \
+ '${PYTHON_SYSLIBSEARCH}/dynamic_graph/sot/test/sot_test_device/__init__.py' \
+ 'lib/pkgconfig/roscontrol_sot.pc:/Version/s/[^0-9.]//gp' \
+ 'share/controller_interface/cmake/controller_interfaceConfig.cmake'
+
+# headers leak the ros dependency ...
+include ../../middleware/ros-comm/depend.mk
+
+include ../../mk/sysdep/python.mk
+
+endif # PY_ROSCONTROL_SOT_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/py-roscontrol-sot/distinfo b/py-roscontrol-sot/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..65917785a0727e352dab577f929c0a1e9412260a
--- /dev/null
+++ b/py-roscontrol-sot/distinfo
@@ -0,0 +1,4 @@
+SHA1 (roscontrol-sot/roscontrol_sot-0.2.0.tar.gz) = dcc37d0e59a7671a77a72de0b8d51c247b9fabb8
+RMD160 (roscontrol-sot/roscontrol_sot-0.2.0.tar.gz) = 58879b0ba88bf3eda431a6e34df2956c68df18df
+Size (roscontrol-sot/roscontrol_sot-0.2.0.tar.gz) = 1285602 bytes
+SHA1 (patch-aa) = 3826bb4e8794bdc8af94306d2637377d8eeacd11
diff --git a/py-roscontrol-sot/patches/patch-aa b/py-roscontrol-sot/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..7ddf9a179669bac23ddf763c0325ed32c8c6d347
--- /dev/null
+++ b/py-roscontrol-sot/patches/patch-aa
@@ -0,0 +1,13 @@
+fix version for catkin, as it overrides the .pc
+
+--- package.xml.orig 2019-11-05 21:52:59.000000000 +0100
++++ package.xml 2019-11-12 14:32:27.848246273 +0100
+@@ -1,7 +1,7 @@
+ <?xml version="1.0"?>
+ <package>
+ <name>roscontrol_sot</name>
+- <version>0.1.0</version>
++ <version>0.2.0</version>
+ <description>Wrapping the Stack-of-tasks framework in ros-control</description>
+
+ <!-- Maintainer email -->
diff --git a/roscontrol-sot/depend.mk b/roscontrol-sot/depend.mk
deleted file mode 100644
index 275cead96756c01ef79a15cba7ee273e4d3d6a5e..0000000000000000000000000000000000000000
--- a/roscontrol-sot/depend.mk
+++ /dev/null
@@ -1,37 +0,0 @@
-# robotpkg Makefile for: wip/dynamic-graph-bridge
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-ROSCONTROL_SOT_DEPEND_MK:= ${ROSCONTROL_SOT_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= roscontrol-sot
-endif
-
-ifeq (+,$(ROSCONTROL_SOT_DEPEND_MK)) # --------------------------------------
-
-DEPEND_USE+= roscontrol-sot
-ROS_DEPEND_USE+= roscontrol-sot
-
-DEPEND_ABI.ros+= ros>=groovy
-
-DEPEND_ABI.roscontrol-sot?= roscontrol-sot>=0.0.3
-DEPEND_DIR.roscontrol-sot?= ../../wip/roscontrol-sot
-
-DEPEND_ABI.roscontrol-sot.groovy?= roscontrol-sot>=0.0.3
-DEPEND_ABI.roscontrol-sot.hydro?= roscontrol-sot>=0.0.3
-
-SYSTEM_SEARCH.roscontrol-sot=\
- 'include/roscontrol/sot/config.hh' \
- 'lib/librcsot_controller.so' \
- 'lib/pkgconfig/roscontrol_sot.pc:/Version/s/[^0-9.]//gp' \
- 'share/controller_interface/cmake/controller_interfaceConfig.cmake'
-
-# headers leak the ros dependency ...
-include ../../middleware/ros-comm/depend.mk
-
-include ../../mk/sysdep/python.mk
-
-endif # ROS_REALTIMETOOLS_DEPEND_MK --------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/roscontrol-sot/distinfo b/roscontrol-sot/distinfo
deleted file mode 100644
index dae0130d49cf406e9db4fc1ae6e23a66c770706f..0000000000000000000000000000000000000000
--- a/roscontrol-sot/distinfo
+++ /dev/null
@@ -1,4 +0,0 @@
-SHA1 (roscontrol-sot/roscontrol_sot-0.1.0.tar.gz) = 76143a98396369ab8e5ea6ff8f54e64b7e6d0265
-RMD160 (roscontrol-sot/roscontrol_sot-0.1.0.tar.gz) = 2202fa977745faff51772be35d6ddaab3a82771e
-Size (roscontrol-sot/roscontrol_sot-0.1.0.tar.gz) = 1265429 bytes
-SHA1 (patch-aa) = caf3d236c6669f99220139ccf071b42a4faa5336
diff --git a/roscontrol-sot/patches/patch-aa b/roscontrol-sot/patches/patch-aa
deleted file mode 100644
index 1dbfc10af4d797a1ad7b798fe7300388286bc629..0000000000000000000000000000000000000000
--- a/roscontrol-sot/patches/patch-aa
+++ /dev/null
@@ -1,11 +0,0 @@
---- tests/sot-test-controller.cpp.orig 2019-08-26 08:45:34.000000000 +0200
-+++ tests/sot-test-controller.cpp 2019-10-09 13:30:06.505324824 +0200
-@@ -8,6 +8,8 @@
- *
- */
-
-+#include <pinocchio/fwd.hpp>
-+
- #include <sot/core/debug.hh>
- #include <sot/core/exception-abstract.hh>
- #include <dynamic_graph_bridge/ros_init.hh>
diff --git a/talos-metapkg-ros-control-sot/Makefile b/talos-metapkg-ros-control-sot/Makefile
index 965632d1f12cb3f17e256da3b6c948f426b3149b..da544c32f5a073387f604bfad70b357ae02f8ea3 100644
--- a/talos-metapkg-ros-control-sot/Makefile
+++ b/talos-metapkg-ros-control-sot/Makefile
@@ -63,8 +63,7 @@ displaytalosmetapkg:
endif
-include ../../wip/roscontrol-sot/depend.mk
+include ../../wip/py-roscontrol-sot/depend.mk
include ../../mk/language/c++.mk
include ../../mk/language/c.mk
include ../../mk/robotpkg.mk
-
diff --git a/tiago-metapkg-ros-control-sot/Makefile b/tiago-metapkg-ros-control-sot/Makefile
index c3265ad8402d5f653620bd94886bdc1e3d5fb931..20484d5cbafdf71a7f4a6acc6afef744095c6241 100644
--- a/tiago-metapkg-ros-control-sot/Makefile
+++ b/tiago-metapkg-ros-control-sot/Makefile
@@ -61,8 +61,7 @@ displaytiagometapkg:
endif
-include ../../wip/roscontrol-sot/depend.mk
+include ../../wip/py-roscontrol-sot/depend.mk
include ../../mk/language/c++.mk
include ../../mk/language/c.mk
include ../../mk/robotpkg.mk
-