diff --git a/sot-romeo/Makefile b/sot-romeo/Makefile
index 800bd90c11e11bc559649ce3d372c45768e4c0f3..68c2fc55fe97752c1b129c63f80d34902e6de8cf 100644
--- a/sot-romeo/Makefile
+++ b/sot-romeo/Makefile
@@ -1,7 +1,7 @@
# robotpkg Makefile for: robots/sot-romeo
# Created: Aurélie Clodic on Wed, 11 Jun 2014
#
-DISTNAME= sot-romeo-1.0.0
+DISTNAME= sot-romeo-1.1.0
MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=sot-romeo/}
MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}stack-of-tasks/sot-romeo
@@ -12,8 +12,12 @@ MAINTAINER= hpp@laas.fr
DYNAMIC_PLIST_DIRS+= share/doc/sot-romeo
-include ../../motion/sot-core/depend.mk
+include ../../wip/dynamic-graph-bridge/depend.mk
include ../../motion/sot-dynamic/depend.mk
+include ../../motion/py-sot-tools/depend.mk
+include ../../motion/sot-core/depend.mk
+include ../../motion/py-dynamic-graph/depend.mk
+include ../../motion/dynamic-graph/depend.mk
include ../../pkgtools/pkg-config/depend.mk
include ../../mk/sysdep/cmake.mk
include ../../mk/sysdep/doxygen.mk
diff --git a/sot-romeo/distinfo b/sot-romeo/distinfo
index f200bf0547b4aba93823680f89af0bb8b1779c7b..57c4628c5c390baf7c4b622662d8aa9c7ef808bc 100644
--- a/sot-romeo/distinfo
+++ b/sot-romeo/distinfo
@@ -1,7 +1,5 @@
-SHA1 (sot-romeo-1.0.0.tar.gz) = dde2bce7ea28d87d19efab063e7e65dd677373a4
-RMD160 (sot-romeo-1.0.0.tar.gz) = d59a533bc63ae903573bd44658b95c827241ee92
-Size (sot-romeo-1.0.0.tar.gz) = 78526 bytes
-SHA1 (patch-aa) = 7ae47f592603815b2e2e5dc1d7592239394cbf81
-SHA1 (patch-ab) = 24a2cd1971de45d0673d5a9a8a9ca3d7aaebc1bd
-SHA1 (patch-ac) = 05b37096f1911e69d5188a75b313953cad74ab08
-SHA1 (patch-ad) = 258fe8ca64a5dc6246ac98f4a4721a18fbc3eb5d
+SHA1 (sot-romeo-1.1.0.tar.gz) = 74eff77714633d38e487352a2da00ed8803e98e1
+RMD160 (sot-romeo-1.1.0.tar.gz) = 9fd4029434c145a259c9e6937c284e993bb35085
+Size (sot-romeo-1.1.0.tar.gz) = 105099 bytes
+SHA1 (patch-ae) = f6092a02cb05bbb92358f3a8e302ccc9f16732cd
+SHA1 (patch-af) = 35472f406d801952265f5c6f1436be176b3d76d3
diff --git a/sot-romeo/patches/patch-aa b/sot-romeo/patches/patch-aa
deleted file mode 100644
index 300ebf0bcd8f62f746487daad4913fb7fe7767b6..0000000000000000000000000000000000000000
--- a/sot-romeo/patches/patch-aa
+++ /dev/null
@@ -1,14 +0,0 @@
-Use cmake's idea of the "make" program, so that it can be tuned by robotpkg
-https://github.com/jrl-umi3218/jrl-cmakemodules/issues/34
-
---- cmake/doxygen.cmake.orig 2014-10-10 08:56:13.675804000 +0200
-+++ cmake/doxygen.cmake 2014-10-10 08:56:37.025633000 +0200
-@@ -66,7 +66,7 @@
- COMMENT "Generating Doxygen documentation"
- )
-
-- INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${MAKE} doc)")
-+ INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_MAKE_PROGRAM} doc)")
- ENDIF(MSVC)
-
- ADD_CUSTOM_COMMAND(
diff --git a/sot-romeo/patches/patch-ab b/sot-romeo/patches/patch-ab
deleted file mode 100644
index 1487099293dbf31d73cf9aa20a09c6317beaeaa5..0000000000000000000000000000000000000000
--- a/sot-romeo/patches/patch-ab
+++ /dev/null
@@ -1,14 +0,0 @@
-Use cmake's idea of the "make" program, so that it can be tuned by robotpkg
-https://github.com/jrl-umi3218/jrl-cmakemodules/issues/34
-
---- cmake/sphinx.cmake.orig 2014-10-14 13:31:09.340006000 +0200
-+++ cmake/sphinx.cmake 2014-10-14 13:31:32.648893000 +0200
-@@ -55,7 +55,7 @@
- COMMENT "Generating sphinx documentation"
- )
-
-- INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${MAKE} sphinx-doc)")
-+ INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_MAKE_PROGRAM} sphinx-doc)")
- ELSE() #UNIX
- # THE LD_LIBRARY_PATH should be completed to run the sphinx command.
- # otherwise some symbols won't be found.
diff --git a/sot-romeo/patches/patch-ac b/sot-romeo/patches/patch-ac
deleted file mode 100644
index c0fbb2110912324c75fdc20844a46eb5ac007c0d..0000000000000000000000000000000000000000
--- a/sot-romeo/patches/patch-ac
+++ /dev/null
@@ -1,14 +0,0 @@
-Use cmake's idea of the "make" program, so that it can be tuned by robotpkg
-https://github.com/jrl-umi3218/jrl-cmakemodules/issues/34
-
---- cmake/man.cmake.orig 2014-10-14 13:31:48.433140000 +0200
-+++ cmake/man.cmake 2014-10-14 13:32:35.437907000 +0200
-@@ -43,7 +43,7 @@
- DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${NAME}.1)
-
- # Trigger man page generation at install.
-- INSTALL(CODE "EXECUTE_PROCESS(COMMAND make man)")
-+ INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_MAKE_PROGRAM} man)")
-
- # Detects if PKGMAN has been specified
- SET(DESTINATION_MAN_PAGE share/man/man1)
diff --git a/sot-romeo/patches/patch-ad b/sot-romeo/patches/patch-ad
deleted file mode 100644
index b04d4d29627b58999635ca1720c7f37b08e24bdb..0000000000000000000000000000000000000000
--- a/sot-romeo/patches/patch-ad
+++ /dev/null
@@ -1,13 +0,0 @@
-There is a dependency problem concerning TAGFILES that leads to segmentation fault.
-
---- doc/Doxyfile.extra.in.orig 2014-10-14 14:04:19.430102000 +0200
-+++ doc/Doxyfile.extra.in 2014-10-14 14:05:24.713992000 +0200
-@@ -2,7 +2,4 @@
-
- FILE_PATTERNS = *.cc *.cpp *.h *.hh *.hxx
-
--TAGFILES = \
--"@JRL_MAL_DOXYGENDOCDIR@/jrl-mal.doxytag = @JRL_MAL_DOXYGENDOCDIR@" \
--"@DYNAMIC_GRAPH_DOXYGENDOCDIR@/dynamic-graph.doxytag = @DYNAMIC_GRAPH_DOXYGENDOCDIR@" \
--"@SOT_CORE_DOXYGENDOCDIR@/sot-core.doxytag = @SOT_CORE_DOXYGENDOCDIR@"
-+
diff --git a/sot-romeo/patches/patch-ae b/sot-romeo/patches/patch-ae
new file mode 100644
index 0000000000000000000000000000000000000000..e702cc91655db39da348daae80442740e01ee4a9
--- /dev/null
+++ b/sot-romeo/patches/patch-ae
@@ -0,0 +1,15 @@
+Do not know how to handle rospack with robotpkg
+
+--- CMakeLists.txt.orig 2014-10-23 14:06:15.000050000 +0200
++++ CMakeLists.txt 2014-10-23 14:07:49.358651000 +0200
+@@ -44,7 +44,9 @@
+ ADD_REQUIRED_DEPENDENCY("sot-tools")
+ ADD_REQUIRED_DEPENDENCY("sot-dynamic >= 2.6")
+
+-ADD_ROSPACK_DEPENDENCY("dynamic_graph_bridge")
++#ADD_ROSPACK_DEPENDENCY("dynamic_graph_bridge")
++ADD_REQUIRED_DEPENDENCY("dynamic_graph_bridge")
++
+ # Search for dependencies.
+ # Boost
+ SET(BOOST_COMPONENTS filesystem system thread)
diff --git a/sot-romeo/patches/patch-af b/sot-romeo/patches/patch-af
new file mode 100644
index 0000000000000000000000000000000000000000..34b3876b4ae8ffdc97d11eb6e9f7e4731d38d086
--- /dev/null
+++ b/sot-romeo/patches/patch-af
@@ -0,0 +1,14 @@
+Dont know how to use rospack with robotpkg
+
+--- src/CMakeLists.txt.orig 2014-10-23 14:10:27.557276000 +0200
++++ src/CMakeLists.txt 2014-10-23 14:11:55.897182000 +0200
+@@ -71,7 +71,8 @@
+ PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic-graph-python")
+ PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "sot-core")
+
+-ROSPACK_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic_graph_bridge")
++#ROSPACK_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic_graph_bridge")
++PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic_graph_bridge")
+
+
+ IF(UNIX AND NOT APPLE)