diff --git a/Makefile b/Makefile
index a479cedd035db4d8e91383eb8bc812e41166aa84..291ae8085a3abe6ce07712c8bddc166207d9144a 100644
--- a/Makefile
+++ b/Makefile
@@ -8,7 +8,7 @@ SUBDIR+= agimus-demos
SUBDIR+= agimus-hpp
SUBDIR+= agimus-sot
SUBDIR+= agimus-vision
-SUBDIR+= agimus_sot_msgs
+SUBDIR+= agimus-sot-msgs
SUBDIR+= antlr2
SUBDIR+= aruco-ros
SUBDIR+= backward-ros
diff --git a/agimus-hpp/Makefile b/agimus-hpp/Makefile
index f9146fcc704920b0a08ed05954387488b95de452..23a84ed74935401273cef77872731ae86faa2b51 100644
--- a/agimus-hpp/Makefile
+++ b/agimus-hpp/Makefile
@@ -17,7 +17,7 @@ CMAKE_ARGS+= -DBUILD_HPP_PLUGIN=ON
CMAKE_ARGS+= -DBUILD_ROS_INTERFACE=ON
include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../wip/agimus_sot_msgs/depend.mk
+include ../../wip/agimus-sot-msgs/depend.mk
include ../../motion/dynamic-graph-bridge-msgs/depend.mk
include ../../middleware/py-omniORBpy/depend.mk
include ../../middleware/omniORB/depend.mk
diff --git a/agimus_sot_msgs/DESCR b/agimus-sot-msgs/DESCR
similarity index 100%
rename from agimus_sot_msgs/DESCR
rename to agimus-sot-msgs/DESCR
diff --git a/agimus_sot_msgs/Makefile b/agimus-sot-msgs/Makefile
similarity index 50%
rename from agimus_sot_msgs/Makefile
rename to agimus-sot-msgs/Makefile
index 21b115fb5fccd4b1f5a3198fb69ff434867e92e8..72b48f994d790a8571ce05e9428c5da6a35e2a02 100644
--- a/agimus_sot_msgs/Makefile
+++ b/agimus-sot-msgs/Makefile
@@ -1,22 +1,26 @@
-# robotpkg Makefile for: wip/agimus_sot_msgs
+# robotpkg Makefile for: wip/agimus-sot-msgs
# Created: Long Ha Thuc on Tue, 18 Aug 2020
#
ORG= agimus
-NAME= agimus_sot_msgs
+NAME= agimus-sot-msgs
VERSION= 1.0.0
-DISTNAME= ${NAME}-${VERSION}
-MASTER_SITES?= ${MASTER_SITE_GITHUB:=${ORG}/${NAME}}/releases/download/v${VERSION}/
-MASTER_REPOSITORY?= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
+ROSNAME= $(subst -,_,${NAME})
+PKGNAME= ${NAME}-${VERSION}
+DISTNAME= ${ROSNAME}-${VERSION}
+
+MASTER_SITES?= ${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}/releases/download/v${VERSION}/
+MASTER_REPOSITORY?= ${MASTER_REPOSITORY_GITHUB}${ORG}/${ROSNAME}.git
LICENSE= 2-clause-bsd
CATEGORIES= wip
COMMENT= Messages and services for the agimus_sot package
+DYNAMIC_PLIST_DIRS+= share/doc/${ROSNAME}
+
include ../../devel/jrl-cmakemodules/Makefile.common
include ../../devel/ros-catkin/depend.mk
include ../../mk/language/c.mk
include ../../mk/language/c++.mk
include ../../mk/robotpkg.mk
-
diff --git a/agimus-sot-msgs/PLIST b/agimus-sot-msgs/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..6ff1c2c8299a62ae70ddb1919c5a90cb1f4efb30
--- /dev/null
+++ b/agimus-sot-msgs/PLIST
@@ -0,0 +1,114 @@
+@comment Mon Nov 16 18:17:15 CET 2020
+include/agimus/sot/msgs/config.hh
+include/agimus/sot/msgs/deprecated.hh
+include/agimus/sot/msgs/warning.hh
+include/agimus_sot_msgs/GetInt.h
+include/agimus_sot_msgs/GetIntRequest.h
+include/agimus_sot_msgs/GetIntResponse.h
+include/agimus_sot_msgs/PlanningGoal.h
+include/agimus_sot_msgs/PlugSot.h
+include/agimus_sot_msgs/PlugSotRequest.h
+include/agimus_sot_msgs/PlugSotResponse.h
+include/agimus_sot_msgs/ProblemSolved.h
+include/agimus_sot_msgs/ReadQueue.h
+include/agimus_sot_msgs/ReadQueueRequest.h
+include/agimus_sot_msgs/ReadQueueResponse.h
+include/agimus_sot_msgs/ReadSubPath.h
+include/agimus_sot_msgs/SetInt.h
+include/agimus_sot_msgs/SetIntRequest.h
+include/agimus_sot_msgs/SetIntResponse.h
+include/agimus_sot_msgs/SetJointNames.h
+include/agimus_sot_msgs/SetJointNamesRequest.h
+include/agimus_sot_msgs/SetJointNamesResponse.h
+include/agimus_sot_msgs/SetPose.h
+include/agimus_sot_msgs/SetPoseRequest.h
+include/agimus_sot_msgs/SetPoseResponse.h
+include/agimus_sot_msgs/SetString.h
+include/agimus_sot_msgs/SetStringRequest.h
+include/agimus_sot_msgs/SetStringResponse.h
+include/agimus_sot_msgs/WaitForMinQueueSize.h
+include/agimus_sot_msgs/WaitForMinQueueSizeRequest.h
+include/agimus_sot_msgs/WaitForMinQueueSizeResponse.h
+lib/pkgconfig/agimus_sot_msgs.pc
+${PYTHON_SITELIB}/agimus_sot_msgs/__init__.py
+${PYTHON_SITELIB}/agimus_sot_msgs/msg/_PlanningGoal.py
+${PYTHON_SITELIB}/agimus_sot_msgs/msg/_ProblemSolved.py
+${PYTHON_SITELIB}/agimus_sot_msgs/msg/_ReadSubPath.py
+${PYTHON_SITELIB}/agimus_sot_msgs/msg/__init__.py
+${PYTHON_SITELIB}/agimus_sot_msgs/srv/_GetInt.py
+${PYTHON_SITELIB}/agimus_sot_msgs/srv/_PlugSot.py
+${PYTHON_SITELIB}/agimus_sot_msgs/srv/_ReadQueue.py
+${PYTHON_SITELIB}/agimus_sot_msgs/srv/_SetInt.py
+${PYTHON_SITELIB}/agimus_sot_msgs/srv/_SetJointNames.py
+${PYTHON_SITELIB}/agimus_sot_msgs/srv/_SetPose.py
+${PYTHON_SITELIB}/agimus_sot_msgs/srv/_SetString.py
+${PYTHON_SITELIB}/agimus_sot_msgs/srv/_WaitForMinQueueSize.py
+${PYTHON_SITELIB}/agimus_sot_msgs/srv/__init__.py
+share/agimus_sot_msgs/cmake/agimus_sot_msgs-msg-extras.cmake
+share/agimus_sot_msgs/cmake/agimus_sot_msgs-msg-paths.cmake
+share/agimus_sot_msgs/cmake/agimus_sot_msgsConfig-version.cmake
+share/agimus_sot_msgs/cmake/agimus_sot_msgsConfig.cmake
+share/agimus_sot_msgs/msg/PlanningGoal.msg
+share/agimus_sot_msgs/msg/ProblemSolved.msg
+share/agimus_sot_msgs/msg/ReadSubPath.msg
+share/agimus_sot_msgs/package.xml
+share/agimus_sot_msgs/srv/GetInt.srv
+share/agimus_sot_msgs/srv/PlugSot.srv
+share/agimus_sot_msgs/srv/ReadQueue.srv
+share/agimus_sot_msgs/srv/SetInt.srv
+share/agimus_sot_msgs/srv/SetJointNames.srv
+share/agimus_sot_msgs/srv/SetPose.srv
+share/agimus_sot_msgs/srv/SetString.srv
+share/agimus_sot_msgs/srv/WaitForMinQueueSize.srv
+share/common-lisp/ros/agimus_sot_msgs/msg/PlanningGoal.lisp
+share/common-lisp/ros/agimus_sot_msgs/msg/ProblemSolved.lisp
+share/common-lisp/ros/agimus_sot_msgs/msg/ReadSubPath.lisp
+share/common-lisp/ros/agimus_sot_msgs/msg/_package.lisp
+share/common-lisp/ros/agimus_sot_msgs/msg/_package_PlanningGoal.lisp
+share/common-lisp/ros/agimus_sot_msgs/msg/_package_ProblemSolved.lisp
+share/common-lisp/ros/agimus_sot_msgs/msg/_package_ReadSubPath.lisp
+share/common-lisp/ros/agimus_sot_msgs/msg/agimus_sot_msgs-msg.asd
+share/common-lisp/ros/agimus_sot_msgs/srv/GetInt.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/PlugSot.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/ReadQueue.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/SetInt.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/SetJointNames.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/SetPose.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/SetString.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/WaitForMinQueueSize.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/_package.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/_package_GetInt.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/_package_PlugSot.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/_package_ReadQueue.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/_package_SetInt.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/_package_SetJointNames.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/_package_SetPose.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/_package_SetString.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/_package_WaitForMinQueueSize.lisp
+share/common-lisp/ros/agimus_sot_msgs/srv/agimus_sot_msgs-srv.asd
+share/gennodejs/ros/agimus_sot_msgs/_index.js
+share/gennodejs/ros/agimus_sot_msgs/msg/PlanningGoal.js
+share/gennodejs/ros/agimus_sot_msgs/msg/ProblemSolved.js
+share/gennodejs/ros/agimus_sot_msgs/msg/ReadSubPath.js
+share/gennodejs/ros/agimus_sot_msgs/msg/_index.js
+share/gennodejs/ros/agimus_sot_msgs/srv/GetInt.js
+share/gennodejs/ros/agimus_sot_msgs/srv/PlugSot.js
+share/gennodejs/ros/agimus_sot_msgs/srv/ReadQueue.js
+share/gennodejs/ros/agimus_sot_msgs/srv/SetInt.js
+share/gennodejs/ros/agimus_sot_msgs/srv/SetJointNames.js
+share/gennodejs/ros/agimus_sot_msgs/srv/SetPose.js
+share/gennodejs/ros/agimus_sot_msgs/srv/SetString.js
+share/gennodejs/ros/agimus_sot_msgs/srv/WaitForMinQueueSize.js
+share/gennodejs/ros/agimus_sot_msgs/srv/_index.js
+share/roseus/ros/agimus_sot_msgs/manifest.l
+share/roseus/ros/agimus_sot_msgs/msg/PlanningGoal.l
+share/roseus/ros/agimus_sot_msgs/msg/ProblemSolved.l
+share/roseus/ros/agimus_sot_msgs/msg/ReadSubPath.l
+share/roseus/ros/agimus_sot_msgs/srv/GetInt.l
+share/roseus/ros/agimus_sot_msgs/srv/PlugSot.l
+share/roseus/ros/agimus_sot_msgs/srv/ReadQueue.l
+share/roseus/ros/agimus_sot_msgs/srv/SetInt.l
+share/roseus/ros/agimus_sot_msgs/srv/SetJointNames.l
+share/roseus/ros/agimus_sot_msgs/srv/SetPose.l
+share/roseus/ros/agimus_sot_msgs/srv/SetString.l
+share/roseus/ros/agimus_sot_msgs/srv/WaitForMinQueueSize.l
diff --git a/agimus_sot_msgs/depend.mk b/agimus-sot-msgs/depend.mk
similarity index 69%
rename from agimus_sot_msgs/depend.mk
rename to agimus-sot-msgs/depend.mk
index 4ca58855c8813ec20c14eb3877901140df659097..7a6370cef8b27b0afe88274778ba50770c00bb81 100644
--- a/agimus_sot_msgs/depend.mk
+++ b/agimus-sot-msgs/depend.mk
@@ -1,4 +1,4 @@
-# robotpkg depend.mk for: wip/agimus_sot_msgs
+# robotpkg depend.mk for: wip/agimus-sot-msgs
# Created: Long Ha Thuc on Wed, 19 Aug 2020
#
@@ -6,19 +6,19 @@ DEPEND_DEPTH:= ${DEPEND_DEPTH}+
AGIMUS_SOT_MSGS_DEPEND_MK:= ${AGIMUS_SOT_MSGS_DEPEND_MK}+
ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= agimus_sot_msgs
+DEPEND_PKG+= agimus-sot-msgs
endif
ifeq (+,$(AGIMUS_SOT_MSGS_DEPEND_MK)) # -------------------------------------------
-PREFER.agimus_sot_msgs= robotpkg
+PREFER.agimus-sot-msgs= robotpkg
-DEPEND_USE+= agimus_sot_msgs
+DEPEND_USE+= agimus-sot-msgs
-DEPEND_ABI.agimus_sot_msgs?= agimus_sot_msgs>=1.0.0
-DEPEND_DIR.agimus_sot_msgs?= ../../wip/agimus_sot_msgs
+DEPEND_ABI.agimus-sot-msgs?= agimus-sot-msgs>=1.0.0
+DEPEND_DIR.agimus-sot-msgs?= ../../wip/agimus-sot-msgs
-SYSTEM_SEARCH.agimus_sot_msgs= \
+SYSTEM_SEARCH.agimus-sot-msgs= \
'lib/pkgconfig/agimus_sot_msgs.pc:/Version/s/[^0-9.]//gp' \
'share/agimus_sot_msgs/cmake/agimus_sot_msgsConfig-version.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp' \
'share/agimus_sot_msgs/cmake/agimus_sot_msgsConfig.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp'
diff --git a/agimus_sot_msgs/distinfo b/agimus-sot-msgs/distinfo
similarity index 100%
rename from agimus_sot_msgs/distinfo
rename to agimus-sot-msgs/distinfo
diff --git a/agimus-sot/Makefile b/agimus-sot/Makefile
index 88571409549f99bdd201888543161db644537e93..fad9b1ff7a657dab02b8e9cc3546f31f8fbb546d 100644
--- a/agimus-sot/Makefile
+++ b/agimus-sot/Makefile
@@ -15,7 +15,7 @@ CATEGORIES= wip
COMMENT= Package to link SoT to the Agimus framework.
include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../wip/agimus_sot_msgs/depend.mk
+include ../../wip/agimus-sot-msgs/depend.mk
include ../../wip/py-dynamic-graph-v3/depend.mk
include ../../wip/py-dynamic-graph-bridge-v3/depend.mk
include ../../wip/py-sot-core-v3/depend.mk
diff --git a/agimus/Makefile b/agimus/Makefile
index 65e2ea50483df86baf550d2dcc3e1c7cef06c919..8c4fe31b6b3cd7ac2d2d5d38837cf0ccb45c3b9e 100644
--- a/agimus/Makefile
+++ b/agimus/Makefile
@@ -15,7 +15,7 @@ CATEGORIES= wip
COMMENT= agimus
include ../../devel/jrl-cmakemodules/Makefile.common
-include ../../wip/agimus_sot_msgs/depend.mk
+include ../../wip/agimus-sot-msgs/depend.mk
include ../../wip/agimus-hpp/depend.mk
include ../../devel/ros-catkin/depend.mk
include ../../mk/language/c.mk
diff --git a/agimus_sot_msgs/PLIST b/agimus_sot_msgs/PLIST
deleted file mode 100644
index 5cae7a7c69d90d898770d4280afaeb3d89656e3c..0000000000000000000000000000000000000000
--- a/agimus_sot_msgs/PLIST
+++ /dev/null
@@ -1,57 +0,0 @@
-share/agimus_sot_msgs/package.xml
-share/agimus_sot_msgs/srv/WaitForMinQueueSize.srv
-share/agimus_sot_msgs/srv/PlugSot.srv
-share/agimus_sot_msgs/srv/SetPose.srv
-share/agimus_sot_msgs/srv/SetJointNames.srv
-share/agimus_sot_msgs/srv/GetInt.srv
-share/agimus_sot_msgs/srv/ReadQueue.srv
-share/agimus_sot_msgs/srv/SetString.srv
-share/agimus_sot_msgs/srv/SetInt.srv
-share/agimus_sot_msgs/cmake/agimus_sot_msgsConfig.cmake
-share/agimus_sot_msgs/cmake/agimus_sot_msgs-msg-extras.cmake
-share/agimus_sot_msgs/cmake/agimus_sot_msgs-msg-paths.cmake
-share/agimus_sot_msgs/cmake/agimus_sot_msgsConfig-version.cmake
-share/agimus_sot_msgs/msg/ProblemSolved.msg
-share/agimus_sot_msgs/msg/PlanningGoal.msg
-share/agimus_sot_msgs/msg/ReadSubPath.msg
-include/agimus_sot_msgs/SetJointNames.h
-include/agimus_sot_msgs/GetIntRequest.h
-include/agimus_sot_msgs/WaitForMinQueueSizeRequest.h
-include/agimus_sot_msgs/SetPoseResponse.h
-include/agimus_sot_msgs/SetIntResponse.h
-include/agimus_sot_msgs/SetString.h
-include/agimus_sot_msgs/SetJointNamesResponse.h
-include/agimus_sot_msgs/GetIntResponse.h
-include/agimus_sot_msgs/SetIntRequest.h
-include/agimus_sot_msgs/SetJointNamesRequest.h
-include/agimus_sot_msgs/SetStringRequest.h
-include/agimus_sot_msgs/PlanningGoal.h
-include/agimus_sot_msgs/PlugSotRequest.h
-include/agimus_sot_msgs/PlugSot.h
-include/agimus_sot_msgs/SetPoseRequest.h
-include/agimus_sot_msgs/SetStringResponse.h
-include/agimus_sot_msgs/WaitForMinQueueSizeResponse.h
-include/agimus_sot_msgs/WaitForMinQueueSize.h
-include/agimus_sot_msgs/ReadSubPath.h
-include/agimus_sot_msgs/ReadQueueRequest.h
-include/agimus_sot_msgs/PlugSotResponse.h
-include/agimus_sot_msgs/GetInt.h
-include/agimus_sot_msgs/ProblemSolved.h
-include/agimus_sot_msgs/SetPose.h
-include/agimus_sot_msgs/ReadQueueResponse.h
-include/agimus_sot_msgs/ReadQueue.h
-include/agimus_sot_msgs/SetInt.h
-${PYTHON_SITELIB}/agimus_sot_msgs/srv/_SetPose.py
-${PYTHON_SITELIB}/agimus_sot_msgs/srv/__init__.py
-${PYTHON_SITELIB}/agimus_sot_msgs/srv/_PlugSot.py
-${PYTHON_SITELIB}/agimus_sot_msgs/srv/_GetInt.py
-${PYTHON_SITELIB}/agimus_sot_msgs/srv/_SetInt.py
-${PYTHON_SITELIB}/agimus_sot_msgs/srv/_SetJointNames.py
-${PYTHON_SITELIB}/agimus_sot_msgs/srv/_WaitForMinQueueSize.py
-${PYTHON_SITELIB}/agimus_sot_msgs/srv/_ReadQueue.py
-${PYTHON_SITELIB}/agimus_sot_msgs/srv/_SetString.py
-${PYTHON_SITELIB}/agimus_sot_msgs/msg/__init__.py
-${PYTHON_SITELIB}/agimus_sot_msgs/msg/_ReadSubPath.py
-${PYTHON_SITELIB}/agimus_sot_msgs/msg/_PlanningGoal.py
-${PYTHON_SITELIB}/agimus_sot_msgs/msg/_ProblemSolved.py
-lib/pkgconfig/agimus_sot_msgs.pc