diff --git a/pal-gazebo-plugins/DESCR b/pal-gazebo-plugins/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..99816da6543f793de285b7bfa4b4aa5d24fb82ff
--- /dev/null
+++ b/pal-gazebo-plugins/DESCR
@@ -0,0 +1 @@
+pal-gazebo-plugins add gazebo plugins for PAL robots
diff --git a/talos-pal-gazebo-plugins/Makefile b/pal-gazebo-plugins/Makefile
similarity index 64%
rename from talos-pal-gazebo-plugins/Makefile
rename to pal-gazebo-plugins/Makefile
index 6ae248bcfa9fbd74953c42781af2547a804195c8..1f3cc55042828d3d5d413180f1b33fb5fe0e4f6a 100644
--- a/talos-pal-gazebo-plugins/Makefile
+++ b/pal-gazebo-plugins/Makefile
@@ -1,22 +1,17 @@
-# robotpkg Makefile for: wip/talos-pal-gazebo-plugins
+# robotpkg Makefile for: wip/pal-gazebo-plugins
# Created: Olivier Stasse on Fri, 21 Apr 2017
#
-VERSION= 1.1.6
-PKGBASE= talos-pal-gazebo-plugins
-PKGNAME= ${PKGBASE}-${VERSION}
-DISTNAME= $(subst -,_,${PKGBASE})-${VERSION}
-ROS_GITTAG= ${DISTNAME}
-WRKSRC= ${WRKDIR}/${ROS_GITTAG}
+VERSION= 1.1.7
+PKGBASE= pal-gazebo-plugins
+DISTNAME= ${VERSION}
+ROSNAME= $(subst -,_,${PKGBASE})
+WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_JRL:=talos/talos_pal_gazebo_plugins/}
-LICENSE= openhrp-grx-license
-
-RESTRICTED= Redistribution of repackaged binaries not permitted
-NO_PUBLIC_SRC= ${RESTRICTED}
-NO_PUBLIC_BIN= ${RESTRICTED}
-
-CMAKE_PREFIX_PATH+= ${ROBOTPKG_BASE}
+HOMEPAGE= ${MASTER_SITE_GITHUB:=pal-robotics/${ROSNAME}}
+MASTER_SITES= ${HOMEPAGE}/archive/
+COMMENT= Common Gazebo v1.9+ plugins used by the PAL Robotics robots
+LICENSE= 2-clause-bsd
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
diff --git a/pal-gazebo-plugins/PLIST b/pal-gazebo-plugins/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..4d4ab3449353ba189d062695ff335ca3d2ce3211
--- /dev/null
+++ b/pal-gazebo-plugins/PLIST
@@ -0,0 +1,17 @@
+@comment Thu May 4 09:48:29 CEST 2017
+include/pal_gazebo_plugins/gazebo_harness.h
+include/pal_gazebo_plugins/gazebo_pal_hand.h
+include/pal_gazebo_plugins/gazebo_ros_forcetorque.h
+include/pal_gazebo_plugins/gazebo_underactuated_finger.h
+include/pal_gazebo_plugins/gazebo_wifi_ap.h
+include/pal_gazebo_plugins/gazebo_world_odometry.h
+lib/libgazebo_harness.so
+lib/libgazebo_pal_hand.so
+lib/libgazebo_ros_forcetorque.so
+lib/libgazebo_underactuated_finger.so
+lib/libgazebo_wifi_ap.so
+lib/libgazebo_world_odometry.so
+lib/pkgconfig/pal_gazebo_plugins.pc
+share/pal_gazebo_plugins/cmake/pal_gazebo_pluginsConfig-version.cmake
+share/pal_gazebo_plugins/cmake/pal_gazebo_pluginsConfig.cmake
+share/pal_gazebo_plugins/package.xml
diff --git a/pal-gazebo-plugins/depend.mk b/pal-gazebo-plugins/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..c08d56342c6bbc846358a0d1c20d9d10b4ab15d3
--- /dev/null
+++ b/pal-gazebo-plugins/depend.mk
@@ -0,0 +1,30 @@
+# robotpkg depend.mk for: wip/pal-gazebo-plugins
+# Created: Olivier Stasse on Mer, 3 May 2017
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+PAL_GAZEBO_PLUGINS_DEPEND_MK:=${PAL_GAZEBO_PLUGINS_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= pal-gazebo-plugins
+endif
+
+ifeq (+,$(PAL_GAZEBO_PLUGINS_DEPEND_MK)) # ---------------------------------
+
+PREFER.pal-gazebo-plugins?= robotpkg
+
+DEPEND_USE+= pal-gazebo-plugins
+
+DEPEND_ABI.pal-gazebo-plugins?=\
+ pal-gazebo-plugins>=1.1.5
+DEPEND_DIR.pal-gazebo-plugins?=\
+ ../../wip/pal-gazebo-plugins
+
+SYSTEM_SEARCH.pal-gazebo-plugins=\
+ 'include/pal_gazebo_plugins/gazebo_pal_hand.h' \
+ 'share/pal_gazebo_plugins/package.xml:/<version>/s/[^0-9.]//gp' \
+ 'lib/pkgconfig/pal_gazebo_plugins.pc:/Version/s/[^0-9.]//gp'
+
+endif # PAL_GAZEBO_PLUGINS_DEPEND_MK ---------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/pal-gazebo-plugins/distinfo b/pal-gazebo-plugins/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..ebb674faa294ae7a7f060b1d5ef8d2e45f2e86e4
--- /dev/null
+++ b/pal-gazebo-plugins/distinfo
@@ -0,0 +1,3 @@
+SHA1 (1.1.7.tar.gz) = 9b218f626499f574c7f9966c839f993be2227420
+RMD160 (1.1.7.tar.gz) = 31fdfb22bb9364d16b69239d3268ec5f3baf3279
+Size (1.1.7.tar.gz) = 14411 bytes
diff --git a/talos-pal-gazebo-plugins/DESCR b/talos-pal-gazebo-plugins/DESCR
deleted file mode 100644
index 41c4e9f6a49a89fc3250c272d1a4e392d8131e7f..0000000000000000000000000000000000000000
--- a/talos-pal-gazebo-plugins/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-talos-pal-gazebo-plugins add gazebo plugins
diff --git a/talos-pal-gazebo-plugins/PLIST b/talos-pal-gazebo-plugins/PLIST
deleted file mode 100644
index 6370a06775e5e472feadae1eab876004ad14888c..0000000000000000000000000000000000000000
--- a/talos-pal-gazebo-plugins/PLIST
+++ /dev/null
@@ -1,17 +0,0 @@
-@comment Thu May 4 09:48:29 CEST 2017
-include/talos_pal_gazebo_plugins/gazebo_harness.h
-include/talos_pal_gazebo_plugins/gazebo_pal_hand.h
-include/talos_pal_gazebo_plugins/gazebo_ros_forcetorque.h
-include/talos_pal_gazebo_plugins/gazebo_underactuated_finger.h
-include/talos_pal_gazebo_plugins/gazebo_wifi_ap.h
-include/talos_pal_gazebo_plugins/gazebo_world_odometry.h
-lib/libgazebo_harness.so
-lib/libgazebo_pal_hand.so
-lib/libgazebo_ros_forcetorque.so
-lib/libgazebo_underactuated_finger.so
-lib/libgazebo_wifi_ap.so
-lib/libgazebo_world_odometry.so
-lib/pkgconfig/talos_pal_gazebo_plugins.pc
-share/talos_pal_gazebo_plugins/cmake/talos_pal_gazebo_pluginsConfig-version.cmake
-share/talos_pal_gazebo_plugins/cmake/talos_pal_gazebo_pluginsConfig.cmake
-share/talos_pal_gazebo_plugins/package.xml
diff --git a/talos-pal-gazebo-plugins/depend.mk b/talos-pal-gazebo-plugins/depend.mk
deleted file mode 100644
index 220519b43f78c2ef9301ff46ecff7cc6793397ab..0000000000000000000000000000000000000000
--- a/talos-pal-gazebo-plugins/depend.mk
+++ /dev/null
@@ -1,30 +0,0 @@
-# robotpkg depend.mk for: wip/talos-pal-gazebo-plugins
-# Created: Olivier Stasse on Mer, 3 May 2017
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-TALOS_PAL_GAZEBO_PLUGINS_DEPEND_MK:=${TALOS_PAL_GAZEBO_PLUGINS_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= talos-pal-gazebo-plugins
-endif
-
-ifeq (+,$(TALOS_PAL_GAZEBO_PLUGINS_DEPEND_MK)) # ---------------------------------
-
-PREFER.talos-pal-gazebo-plugins?= robotpkg
-
-DEPEND_USE+= talos-pal-gazebo-plugins
-
-DEPEND_ABI.talos-pal-gazebo-plugins?=\
- talos-pal-gazebo-plugins>=1.1.5
-DEPEND_DIR.talos-pal-gazebo-plugins?=\
- ../../wip/talos-pal-gazebo-plugins
-
-SYSTEM_SEARCH.talos-pal-gazebo-plugins=\
- 'include/talos_pal_gazebo_plugins/gazebo_pal_hand.h' \
- 'share/talos_pal_gazebo_plugins/package.xml:/<version>/s/[^0-9.]//gp' \
- 'lib/pkgconfig/talos_pal_gazebo_plugins.pc:/Version/s/[^0-9.]//gp'
-
-endif # TALOS_PAL_GAZEBO_PLUGINS_DEPEND_MK ---------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/talos-pal-gazebo-plugins/distinfo b/talos-pal-gazebo-plugins/distinfo
deleted file mode 100644
index d4f9296d248148cb565d7e1d7b0d1cd39e001d27..0000000000000000000000000000000000000000
--- a/talos-pal-gazebo-plugins/distinfo
+++ /dev/null
@@ -1,3 +0,0 @@
-SHA1 (talos_pal_gazebo_plugins-1.1.6.tar.gz) = 2a4d461631c7bc78d539f54649f39aa10fd61c8a
-RMD160 (talos_pal_gazebo_plugins-1.1.6.tar.gz) = 06abefac64460c17f3e2fb0f22d6fdcb45338397
-Size (talos_pal_gazebo_plugins-1.1.6.tar.gz) = 13534 bytes