diff --git a/jrl-dynamics-urdf/Makefile b/jrl-dynamics-urdf/Makefile
index 17e04466046cb8a7a6532931de6dc3f3c10c49b1..c848c7614d2f9b617ce6ffa47c41f4e59897e11b 100644
--- a/jrl-dynamics-urdf/Makefile
+++ b/jrl-dynamics-urdf/Makefile
@@ -11,23 +11,20 @@ LICENSE= gnu-lgpl-v3
MAINTAINER= openrobots@laas.fr
DYNAMIC_PLIST_DIRS+= share/doc/jrl-dynamics-urdf
+USE_BOOST_LIBS+= filesystem system
-CONFIGURE_ENV+=\
- ROS_ROOT=${PREFIX.ros-ros}/share/ros \
- ROS_PACKAGE_PATH=${WRKSRC}:${PREFIX.ros-ros}/share \
- CMAKE_PREFIX_PATH=${PREFIX.ros-ros}
+CMAKE_ARGS+= -DGTEST_ROOT=${PREFIX.googletest}
-# TODO
-# missing dependencies: bullet
-# missing dependencies: ros-robot-model
-#
-
-include ../../devel/ros-ros/depend.mk
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../graphics/ros-robot-model/depend.mk
include ../../interfaces/jrl-mal/depend.mk
include ../../math/jrl-dynamics/depend.mk
include ../../pkgtools/pkg-config/depend.mk
+include ../../simulation/bullet/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
+include ../../mk/sysdep/googletest.mk
include ../../mk/sysdep/graphviz.mk
include ../../mk/sysdep/pdflatex.mk
include ../../mk/language/c.mk
diff --git a/jrl-dynamics-urdf/PLIST b/jrl-dynamics-urdf/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..0f3d7b0feb6ca28b1c8ba09870329786d5ca8de6
--- /dev/null
+++ b/jrl-dynamics-urdf/PLIST
@@ -0,0 +1,4 @@
+@comment Wed Jul 10 15:12:11 CEST 2013
+bin/display-robot
+include/jrl/dynamics/urdf/parser.hh
+lib/libjrl-dynamics-urdf.so
diff --git a/jrl-dynamics-urdf/depend.mk b/jrl-dynamics-urdf/depend.mk
index 3df784a7e285fcd968d1a59459885d54911b55b5..62b327e7bef8740bebaf9fe9e4b28d24fc1ffb1a 100644
--- a/jrl-dynamics-urdf/depend.mk
+++ b/jrl-dynamics-urdf/depend.mk
@@ -2,25 +2,27 @@
# Created: Olivier Stasse on Fri, Jun 28
#
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-JRL_DYNAMICS_URDF_DEPEND_MK:=${JRL_DYNAMICS_URDF_DEPEND_MK}+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+JRL_DYNAMICS_URDF_DEPEND_MK:= ${JRL_DYNAMICS_URDF_DEPEND_MK}+
ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= jrl-dynamics-urdf
+DEPEND_PKG+= jrl-dynamics-urdf
endif
ifeq (+,$(JRL_DYNAMICS_DEPEND_MK)) # ---------------------------------
-include ../../meta-pkgs/ros-base/depend.common
-PREFER.jrl-dynamics-urdf?= ${PREFER.ros-base}
-SYSTEM_PREFIX.jrl-dynamics-urdf?= ${SYSTEM_PREFIX.ros-base}
+PREFER.jrl-dynamics-urdf?= robotpkg
-DEPEND_USE+= jrl-dynamics-urdf
+DEPEND_USE+= jrl-dynamics-urdf
-DEPEND_ABI.jrl-dynamics-urdf?=jrl-dynamics-urdf>=1.0.0
-DEPEND_DIR.jrl-dynamics-urdf?=../../wip/jrl-dynamics-urdf
+DEPEND_ABI.jrl-dynamics-urdf?= jrl-dynamics-urdf>=1.0.0
+DEPEND_DIR.jrl-dynamics-urdf?= ../../wip/jrl-dynamics-urdf
-endif # JRL_DYNAMICS_URDF_DEPEND_MK ---------------------------------------
+SYSTEM_SEARCH.jrl-dynamics-urdf=\
+ 'bin/display-robot' \
+ 'include/jrl/dynamics/urdf/parser.hh' \
+ 'lib/libjrl-dynamics-urdf.so'
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
+endif # JRL_DYNAMICS_URDF_DEPEND_MK ---------------------------------------
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/jrl-dynamics-urdf/distinfo b/jrl-dynamics-urdf/distinfo
index e369682a0aa962892b3d9f3efddaa14ca38665dd..c157559dbc6fceda8fc8459872410b9d73047728 100644
--- a/jrl-dynamics-urdf/distinfo
+++ b/jrl-dynamics-urdf/distinfo
@@ -1,5 +1,5 @@
SHA1 (jrl-dynamics-urdf-1.0.0.tar.gz) = 778d4acecc57e44f09203070ea22b2878d75eebd
RMD160 (jrl-dynamics-urdf-1.0.0.tar.gz) = 64ce87fbbb8df2f8303e4c7b48dd22fc9dafdc1f
Size (jrl-dynamics-urdf-1.0.0.tar.gz) = 84627 bytes
-SHA1 (patch-aa) = 8d2542534c4c7c4137a51a2e463cd7cc3279e641
-SHA1 (patch-ab) = 8997549d8c4c42211ae76a67cab7ed43b8d6277a
+SHA1 (patch-aa) = 1ce30933014528baac5b78a49a44f766145d9535
+SHA1 (patch-ab) = b372d20b214cfabac8af4f6a5dd80c3ffeb27cad
diff --git a/jrl-dynamics-urdf/patches/patch-aa b/jrl-dynamics-urdf/patches/patch-aa
index c1e11a66459beefab1b7682f08fade38c154f550..bf139a03453b3e44814378c5907fe6af31ba8648 100644
--- a/jrl-dynamics-urdf/patches/patch-aa
+++ b/jrl-dynamics-urdf/patches/patch-aa
@@ -1,15 +1,18 @@
-XXX: just a sample patch illustratin how to remove rosbuild
-XXX: upstream should decide on a strategy: either plain cmake or ros-catkin
+XXX: just a sample patch illustratin how to remove rosbuild for ros-groovy
+XXX: this patch should be integrated upstream (either this plain cmake or by using
+XXX: ros-catkin) before inclusion in robotpkg
---- CMakeLists.txt.orig 2013-06-28 18:51:23.371807126 +0200
-+++ CMakeLists.txt 2013-06-28 18:51:29.299785429 +0200
-@@ -1,5 +1,4 @@
- cmake_minimum_required(VERSION 2.4.6)
+--- CMakeLists.txt.orig 2013-07-10 13:40:55.435865605 +0200
++++ CMakeLists.txt 2013-07-10 13:41:09.599819977 +0200
+@@ -1,5 +1,5 @@
+-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
++cmake_minimum_required(VERSION 2.6)
++cmake_policy(SET CMP0003 NEW)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/dist.cmake)
-@@ -23,30 +22,26 @@
+@@ -23,30 +23,30 @@
# end of the partial extraction from SETUP_PROJECT
@@ -36,22 +39,25 @@ XXX: upstream should decide on a strategy: either plain cmake or ros-catkin
-rosbuild_link_boost(${PROJECT_NAME} filesystem system)
-PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} jrl-dynamics)
+find_package(PkgConfig)
-+pkg_check_modules(JRL jrl-dynamics jrl-mal)
++pkg_check_modules(DEPS bullet jrl-dynamics jrl-mal resource_retriever>=1.9 urdf>=1.9)
+find_package(Boost 1.36.0 REQUIRED filesystem system)
+
-+# targets
-+add_library(${PROJECT_NAME} SHARED src/parser.cc)
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include)
+include_directories(${Boost_INCLUDE_DIRS})
-+include_directories(${JRL_INCLUDE_DIRS})
-+link_directories(${JRL_LIBRARY_DIRS})
-+target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${JRL_LIBRARIES})
++include_directories(${DEPS_INCLUDE_DIRS})
++link_directories(${DEPS_LIBRARY_DIRS})
++
++# targets
++add_library(${PROJECT_NAME} SHARED src/parser.cc)
++target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${DEPS_LIBRARIES})
++install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION lib)
-rosbuild_add_executable(display-robot examples/display-robot.cc)
-target_link_libraries(display-robot ${PROJECT_NAME})
+add_executable(display-robot examples/display-robot.cc)
-+target_link_libraries(display-robot ${PROJECT_NAME} ${JRL_LIBRARIES})
++target_link_libraries(display-robot ${PROJECT_NAME} ${DEPS_LIBRARIES})
++install(TARGETS display-robot RUNTIME DESTINATION bin)
++
++install(DIRECTORY include/ DESTINATION include FILES_MATCHING PATTERN "*.hh")
--add_subdirectory(tests)
-+# later...
-+# add_subdirectory(tests)
+ add_subdirectory(tests)
diff --git a/jrl-dynamics-urdf/patches/patch-ab b/jrl-dynamics-urdf/patches/patch-ab
new file mode 100644
index 0000000000000000000000000000000000000000..b8344f5b6d03a5054bf6174e1c927e0a8d3bf73b
--- /dev/null
+++ b/jrl-dynamics-urdf/patches/patch-ab
@@ -0,0 +1,32 @@
+XXX: just a sample patch illustratin how to remove rosbuild for ros-groovy
+XXX: this patch should be integrated upstream (either this plain cmake or by using
+XXX: ros-catkin) before inclusion in robotpkg
+
+--- tests/CMakeLists.txt.orig 2013-07-10 14:15:53.812973665 +0200
++++ tests/CMakeLists.txt 2013-07-10 14:31:17.505944506 +0200
+@@ -1,6 +1,22 @@
+ # Set the tests model directory.
+ add_definitions(
+- "-DTEST_MODEL_DIRECTORY='\"${PROJECT_SOURCE_DIR}/tests/models\"'")
++ -DTEST_MODEL_DIRECTORY=\"${PROJECT_SOURCE_DIR}/tests/models\")
+
+-rosbuild_add_gtest(one_dof_revolute_x one_dof_revolute_x.cpp)
+-target_link_libraries(one_dof_revolute_x ${PROJECT_NAME})
++enable_testing()
++find_path(GTEST_INCLUDE_DIR gtest/gtest.h HINTS ${GTEST_ROOT}/include /usr/include)
++include_directories(${GTEST_INCLUDE_DIR})
++find_library(GTEST_LIBRARY gtest HINTS ${GTEST_ROOT}/lib /usr/lib)
++if(NOT GTEST_LIBRARY)
++ # for debian derivatives not shipping libgtest anymore ...
++ find_path(GTEST_SRC_DIR gtest/CMakeLists.txt HINTS ${GTEST_ROOT}/src /usr/src)
++ if(NOT GTEST_SRC_DIR)
++ message(FATAL_ERROR "gtest not found")
++ endif(NOT GTEST_SRC_DIR)
++ add_subdirectory(${GTEST_SRC_DIR}/gtest gtest EXCLUDE_FROM_ALL)
++endif(NOT GTEST_LIBRARY)
++
++add_executable(one_dof_revolute_x one_dof_revolute_x.cpp)
++target_link_libraries(one_dof_revolute_x ${PROJECT_NAME} gtest)
++add_dependencies(one_dof_revolute_x gtest)
++
++add_test(NAME one_dof_revolute_x COMMAND one_dof_revolute_x)