diff --git a/simple-grasping-action/DESCR b/simple-grasping-action/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..3d253e2ae5cd7e4a83a1aeae371690030045096f
--- /dev/null
+++ b/simple-grasping-action/DESCR
@@ -0,0 +1 @@
+PAL Robotics simple grasping action package.
diff --git a/simple-grasping-action/Makefile b/simple-grasping-action/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..9e09a1c6a3ff6b1a67ce5af02a4ed34400499887
--- /dev/null
+++ b/simple-grasping-action/Makefile
@@ -0,0 +1,39 @@
+# robotpkg Makefile for:	wip/simple-grasping-action
+# Created:			Olivier Stasse on Thu, 12 Dec 2018
+#
+ORG=		pal-robotics
+VERSION=	1.0.1
+PKGBASE=	simple-grasping-action
+PKGNAME=	${PKGBASE}-${VERSION}
+DISTNAME=	${VERSION}
+ROSNAME=	$(subst -,_,${PKGBASE})
+WRKSRC=		${WRKDIR}/${ROSNAME}-${VERSION}
+DIST_SUBDIR=	${PKGBASE}
+
+CATEGORIES=	wip
+
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
+CHECKOUT_VCS_OPTS+=	--recursive
+
+HOMEPAGE= 	${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
+MASTER_SITES=	${HOMEPAGE}/archive/
+COMMENT=	PAL package providing ros action for simple grasping
+LICENSE=	gnu-gpl-v3
+
+USE_BOOST_LIBS=	thread
+
+
+ONLY_FOR_PLATFORM=	Ubuntu-16.04-%
+
+CMAKE_PREFIX_PATH+=${PREFIX}
+include ../../devel/boost-headers/depend.mk
+include ../../devel/boost-libs/depend.mk
+include ../../devel/ros-catkin/depend.mk
+include ../../interfaces/ros-common-msgs/depend.mk
+include ../../interfaces/ros-std-msgs/depend.mk
+include ../../lang/ros-message-generation/depend.mk
+include ../../lang/ros-message-runtime/depend.mk
+include ../../middleware/ros-comm/depend.mk
+include ../../mk/language/c++.mk
+include ../../mk/language/c.mk
+include ../../mk/robotpkg.mk
diff --git a/simple-grasping-action/PLIST b/simple-grasping-action/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..32ad6b343b61b809dd4643c317f15874f56dafd5
--- /dev/null
+++ b/simple-grasping-action/PLIST
@@ -0,0 +1,6 @@
+@comment Thu Apr 4 11:07:38 CEST 2019
+lib/pkgconfig/simple_grasping_action.pc
+lib/simple_grasping_action/simple_grasping_action
+share/simple_grasping_action/cmake/simple_grasping_actionConfig-version.cmake
+share/simple_grasping_action/cmake/simple_grasping_actionConfig.cmake
+share/simple_grasping_action/package.xml
diff --git a/simple-grasping-action/depend.mk b/simple-grasping-action/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..6215e022fd9d08c2bf8fe1a1332c7406fbb6817f
--- /dev/null
+++ b/simple-grasping-action/depend.mk
@@ -0,0 +1,30 @@
+# robotpkg depend.mk for:	wip/simple-grasping-action
+# Created:			Olivier Stasse on Thu, 30 Mar 2017
+#
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
+SIMPLE_GRASPING_ACTION_DEPEND_MK:=	${SIMPLE_GRASPING_ACTION_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=			simple-grasping-action
+endif
+
+ifeq (+,$(SIMPLE_GRASPING_ACTION_DEPEND_MK)) # ---------------------------------
+
+PREFER.simple-grasping-action?=	robotpkg
+
+DEPEND_USE+=			simple-grasping-action
+
+DEPEND_ABI.simple-grasping-action?=\
+	simple-grasping-action>=0.9.14
+DEPEND_DIR.simple-grasping-action?=\
+	../../wip/simple-grasping-action
+
+SYSTEM_SEARCH.simple-grasping-action=\
+  'share/simple_grasping_action/cmake/simple_grasping_actionConfig.cmake' \
+  'share/simple_grasping_action/package.xml:/<version>/s/[^0-9.]//gp'	\
+  'lib/pkgconfig/simple_grasping_action.pc:/Version/s/[^0-9.]//gp'
+
+endif # SIMPLE_GRASPING_ACTION_DEPEND_MK ---------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/simple-grasping-action/distinfo b/simple-grasping-action/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..606fa9984088d7570496b358fc08e2528859af7d
--- /dev/null
+++ b/simple-grasping-action/distinfo
@@ -0,0 +1,3 @@
+SHA1 (simple-grasping-action/1.0.1.tar.gz) = 25e03629d0937ec6b8dbb5eb9f21094e412da347
+RMD160 (simple-grasping-action/1.0.1.tar.gz) = 794796cc701627ec5efb4ea799adaafa786b724b
+Size (simple-grasping-action/1.0.1.tar.gz) = 4725 bytes