diff --git a/Makefile b/Makefile
index 28cb46c243dfc57fde7e111f0ec3660b9aacacf9..dc05b08c6b0609c9c9c9cb6a3e4aed8618e953d3 100644
--- a/Makefile
+++ b/Makefile
@@ -122,6 +122,7 @@ SUBDIR+= pyrene-motions
SUBDIR+= roralink
SUBDIR+= ros-aicp-mapping
SUBDIR+= ros-baxter-common
+SUBDIR+= ros-four-wheel-steering-msgs
SUBDIR+= ros-moveit
SUBDIR+= ros-moveit-msgs
SUBDIR+= ros-moveit-resources
diff --git a/prf-ros-controllers/Makefile b/prf-ros-controllers/Makefile
index 85e0be890e3f04deff2db578e4b8822cf69c232a..5fbe7f067cd9abb77b9b1714b387aa45e36fe282 100644
--- a/prf-ros-controllers/Makefile
+++ b/prf-ros-controllers/Makefile
@@ -48,7 +48,7 @@ include ../../middleware/ros-actionlib/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
include ../../wip/pal-hardware-interfaces/depend.mk
-include ../../wip/sysdep/ros-four-wheel-steering-msgs.mk
+include ../../wip/ros-four-wheel-steering-msgs/depend.mk
include ../../wip/ros-urdf-geometry-parser/depend.mk
include ../../mk/language/c++.mk
include ../../mk/language/c.mk
diff --git a/prf-teleop-tools/Makefile b/prf-teleop-tools/Makefile
index 3dac3065a98b5b87f7c3643f7d5ea69cb559b008..2c903b561e5cf7934c4eeef1db4adc62e97238e7 100644
--- a/prf-teleop-tools/Makefile
+++ b/prf-teleop-tools/Makefile
@@ -48,7 +48,7 @@ include ../../middleware/ros-actionlib/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../motion/ros-control-toolbox/depend.mk
include ../../wip/pal-hardware-interfaces/depend.mk
-include ../../wip/sysdep/ros-four-wheel-steering-msgs.mk
+include ../../wip/ros-four-wheel-steering-msgs/depend.mk
include ../../wip/ros-urdf-geometry-parser/depend.mk
include ../../mk/language/c++.mk
include ../../mk/language/c.mk
diff --git a/ros-four-wheel-steering-msgs/DESCR b/ros-four-wheel-steering-msgs/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..b846b2e64f27971a94242648c642b4979a7be023
--- /dev/null
+++ b/ros-four-wheel-steering-msgs/DESCR
@@ -0,0 +1 @@
+ROS messages for vehicles using four wheel steering.
diff --git a/ros-four-wheel-steering-msgs/Makefile b/ros-four-wheel-steering-msgs/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..e8f13be771d0172a53225b46fca9e179467638bb
--- /dev/null
+++ b/ros-four-wheel-steering-msgs/Makefile
@@ -0,0 +1,23 @@
+# robotpkg Makefile for: wip/ros-four-wheel-steering-msgs
+# Created: Guilhem Saurel on Mon, 27 Jan 2020
+#
+
+ROS_PKG= four_wheel_steering_msgs
+ROS_VERSION= 1.0.0
+ROS_REPO= ros-drivers
+
+HOMEPAGE= ${MASTER_SITE_GITHUB:=${ROS_REPO}/${ROS_PKG}}
+MASTER_SITES= ${HOMEPAGE}/archive/
+MASTER_REPOSITORY= git ${HOMEPAGE}.git
+
+CATEGORIES= wip
+ROS_COMMENT= ROS messages for vehicles using four wheel steering.
+
+include ../../meta-pkgs/ros-base/Makefile.common
+
+include ../../lang/ros-message-generation/depend.mk
+include ../../interfaces/ros-std-msgs/depend.mk
+
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/robotpkg.mk
diff --git a/ros-four-wheel-steering-msgs/PLIST b/ros-four-wheel-steering-msgs/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..0d27da2408bcf84ba75b5a77aa01fee2f87be7c1
--- /dev/null
+++ b/ros-four-wheel-steering-msgs/PLIST
@@ -0,0 +1,21 @@
+@comment Mon Jan 27 14:33:31 CET 2020
+include/four_wheel_steering_msgs/FourWheelSteering.h
+include/four_wheel_steering_msgs/FourWheelSteeringStamped.h
+lib/pkgconfig/four_wheel_steering_msgs.pc
+${PYTHON_SITELIB}/four_wheel_steering_msgs/__init__.py
+${PYTHON_SITELIB}/four_wheel_steering_msgs/msg/_FourWheelSteering.py
+${PYTHON_SITELIB}/four_wheel_steering_msgs/msg/_FourWheelSteeringStamped.py
+${PYTHON_SITELIB}/four_wheel_steering_msgs/msg/__init__.py
+share/common-lisp/ros/four_wheel_steering_msgs/msg/FourWheelSteering.lisp
+share/common-lisp/ros/four_wheel_steering_msgs/msg/FourWheelSteeringStamped.lisp
+share/common-lisp/ros/four_wheel_steering_msgs/msg/_package.lisp
+share/common-lisp/ros/four_wheel_steering_msgs/msg/_package_FourWheelSteering.lisp
+share/common-lisp/ros/four_wheel_steering_msgs/msg/_package_FourWheelSteeringStamped.lisp
+share/common-lisp/ros/four_wheel_steering_msgs/msg/four_wheel_steering_msgs-msg.asd
+share/four_wheel_steering_msgs/cmake/four_wheel_steering_msgs-msg-extras.cmake
+share/four_wheel_steering_msgs/cmake/four_wheel_steering_msgs-msg-paths.cmake
+share/four_wheel_steering_msgs/cmake/four_wheel_steering_msgsConfig-version.cmake
+share/four_wheel_steering_msgs/cmake/four_wheel_steering_msgsConfig.cmake
+share/four_wheel_steering_msgs/msg/FourWheelSteering.msg
+share/four_wheel_steering_msgs/msg/FourWheelSteeringStamped.msg
+share/four_wheel_steering_msgs/package.xml
diff --git a/ros-four-wheel-steering-msgs/depend.mk b/ros-four-wheel-steering-msgs/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..115e102832ee506282976ef96ab6a7f414a81c93
--- /dev/null
+++ b/ros-four-wheel-steering-msgs/depend.mk
@@ -0,0 +1,34 @@
+# robotpkg depend.mk for: wip/ros-four-wheel-steering-msgs
+# Created: Guilhem Saurel on Mon, 27 Jan 2020
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+ROS_FOUR_WHEEL_STEERING_MSGS_DEPEND_MK:= ${ROS_FOUR_WHEEL_STEERING_MSGS_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= ros-four-wheel-steering-msgs
+endif
+
+ifeq (+,$(ROS_FOUR_WHEEL_STEERING_MSGS_DEPEND_MK)) # --------------------------------------
+
+include ../../meta-pkgs/ros-base/depend.common
+include ../../mk/robotpkg.prefs.mk
+
+PREFER.ros-four-wheel-steering-msgs?= ${PREFER.ros-base}
+SYSTEM_PREFIX.ros-four-wheel-steering-msgs?= ${SYSTEM_PREFIX.ros-base}
+
+DEPEND_USE+= ros-four-wheel-steering-msgs
+ROS_DEPEND_USE+= ros-four-wheel-steering-msgs
+
+DEPEND_ABI.ros-four-wheel-steering-msgs?= ros-four-wheel-steering-msgs>=1.0.1
+DEPEND_DIR.ros-four-wheel-steering-msgs?= ../../wip/ros-four-wheel-steering-msgs
+
+SYSTEM_SEARCH.ros-four-wheel-steering-msgs=\
+ include/four_wheel_steering_msgs/FourWheelSteering.h \
+ 'lib/pkgconfig/four_wheel_steering_msgs.pc:/Version/s/[^0-9.]//gp' \
+ 'share/four_wheel_steering_msgs/cmake/four_wheel_steering_msgsConfig-version.cmake:/PACKAGE_VERSION/s/[^0-9.]//gp' \
+ 'share/four_wheel_steering_msgs/package.xml:/<version>/s/[^.0-9]//gp'
+
+endif # ROS_FOUR_WHEEL_STEERING_MSGS_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/ros-four-wheel-steering-msgs/distinfo b/ros-four-wheel-steering-msgs/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..95bac4a5411eb820c3c587fdf181c1465ef34429
--- /dev/null
+++ b/ros-four-wheel-steering-msgs/distinfo
@@ -0,0 +1,3 @@
+SHA1 (ros/four_wheel_steering_msgs/1.0.0.tar.gz) = b2ec0d48cd2f4d327a5cc322bb6fe144a8bdc69e
+RMD160 (ros/four_wheel_steering_msgs/1.0.0.tar.gz) = a4c9f82750cc05dec17c788523b880641782ad4c
+Size (ros/four_wheel_steering_msgs/1.0.0.tar.gz) = 2206 bytes
diff --git a/sysdep/ros-four-wheel-steering-msgs.mk b/sysdep/ros-four-wheel-steering-msgs.mk
deleted file mode 100644
index ac4c964a99ae6b604bfe574862bc53d2579303d2..0000000000000000000000000000000000000000
--- a/sysdep/ros-four-wheel-steering-msgs.mk
+++ /dev/null
@@ -1,31 +0,0 @@
-# robotpkg sysdep/ros-four-wheel-steering-msgs
-# Created: Olivier Stasse on Mon 11 2018
-#
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-FOUR_WHEEL_STEERING_MSGS_DEPEND_MK:= ${FOUR_WHEEL_STEERING_MSGS_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= ros-four-wheel-steering-msgs
-endif
-
-ifeq (+,$(FOUR_WHEEL_STEERING_MSGS_DEPEND_MK)) # ---------------------------------------------
-
-include ../../meta-pkgs/ros-base/depend.common
-
-PREFER.ros-four-wheel-steering-msgs?= system
-SYSTEM_PREFIX.ros-four-wheel-steering-msgs?= ${SYSTEM_PREFIX.ros-base}
-CMAKE_PREFIX_PATH+= ${SYSTEM_PREFIX.ros-four-wheel-steering-msgs}
-
-DEPEND_USE+= ros-four-wheel-steering-msgs
-ROS_DEPEND_USE+= ros-four-wheel-steering-msgs
-
-DEPEND_ABI.ros-four-wheel-steering-msgs?= ros-four-wheel-steering-msgs>=1
-
-DEPEND_METHOD.ros-four-wheel-steering-msgs+= build
-
-SYSTEM_SEARCH.ros-four-wheel-steering-msgs+= 'share/four_wheel_steering_msgs/package.xml:/<version>/s/[^.0-9]//gp'
-
-
-endif # FOUR_WHEEL_STEERING_MSGS_DEPEND_MK ---------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}