diff --git a/Makefile b/Makefile
index da906c515df326c3d6642febb326a0834737c6c1..8b80d681cfd630f1dc86fa6d4d48ee045659869d 100644
--- a/Makefile
+++ b/Makefile
@@ -29,7 +29,6 @@ SUBDIR+= hrp2-machine
SUBDIR+= hyper
SUBDIR+= hyper-genom-plugin
SUBDIR+= hyper-viewer
-SUBDIR+= jafar-lgl
SUBDIR+= jafar-qdisplay
SUBDIR+= jafar-rtslam
SUBDIR+= jointStateMapper
diff --git a/jafar-lgl/DESCR b/jafar-lgl/DESCR
deleted file mode 100644
index a9616bd9bff38e615d0cfa3ff8e74613606d70da..0000000000000000000000000000000000000000
--- a/jafar-lgl/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-Laas Graph Library. Build navigation graphs from a georeferenced raster image.
diff --git a/jafar-lgl/Makefile b/jafar-lgl/Makefile
deleted file mode 100644
index fbe9531bbc88b6ef8923c753a338fb5c9428ac46..0000000000000000000000000000000000000000
--- a/jafar-lgl/Makefile
+++ /dev/null
@@ -1,42 +0,0 @@
-# robotpkg Makefile for: wip/jafar-lgl
-# Created: Redouane Boumghar on Thu, 17 Mar 2011
-#
-
-VERSION= 1.7.1
-DISTNAME= jafar-lgl-${VERSION}
-PKGREVISION= 2
-CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=jafar-lgl/}
-MASTER_REPOSITORY= git ssh://trac.laas.fr/git/robots/jafar/jafar/modules/lgl
-
-MAINTAINER= jafar@laas.fr
-HOMEPAGE= https://intranet.laas.fr/intranet/robots/wiki/Jafar
-COMMENT= Laas Graph Library. Build navigation graphs from a georeferenced raster image.
-LICENSE= isc
-
-USE_PKGLOCALEDIR= yes
-
-CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
-CMAKE_ARGS+= -DGDAL_CONFIG=${PREFIX.gdal}/bin/gdal-config
-
-PKG_SUPPORTED_OPTIONS+= qdisplay
-PKG_OPTION_DESCR.qdisplay= Enable jafar module qdisplay support.
-define PKG_OPTION_SET.qdisplay
- CMAKE_ARGS+= -DHAVE_MODULE_QDISPLAY=ON
- include ../../graphics/jafar-qdisplay/depend.mk
-endef
-define PKG_OPTION_UNSET.qdisplay
- CMAKE_ARGS+= -DHAVE_MODULE_QDISPLAY=OFF
-endef
-
-
-include ../../devel/jafar-kernel/depend.mk
-
-include ../../devel/boost-headers/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/sysdep/gdal.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/language/fortran.mk
-include ../../mk/robotpkg.mk
diff --git a/jafar-lgl/PLIST b/jafar-lgl/PLIST
deleted file mode 100644
index 4948b6fa1b096d9fbe1cd5bf8de066355af88eb4..0000000000000000000000000000000000000000
--- a/jafar-lgl/PLIST
+++ /dev/null
@@ -1,46 +0,0 @@
-@comment Thu Mar 22 09:25:00 CET 2012
-include/jafar/lgl/Attributes.hpp
-include/jafar/lgl/CellID.hpp
-include/jafar/lgl/CostManager.hpp
-include/jafar/lgl/Decomp.hpp
-include/jafar/lgl/Decomposer.hpp
-include/jafar/lgl/Exception.hpp
-include/jafar/lgl/FlexGrid.hpp
-include/jafar/lgl/GeoData.hpp
-include/jafar/lgl/GraphPath.hpp
-include/jafar/lgl/Graphs.hpp
-include/jafar/lgl/InfoBand.hpp
-include/jafar/lgl/LGLMultiPursuit_Viewer.hpp
-include/jafar/lgl/LGLPursuitViewer.hpp
-include/jafar/lgl/LGLViewer.hpp
-include/jafar/lgl/LandmarkBand.hpp
-include/jafar/lgl/Location.hpp
-include/jafar/lgl/NavAStar.hpp
-include/jafar/lgl/NavGEdge.hpp
-include/jafar/lgl/NavGNode.hpp
-include/jafar/lgl/NavGraph.hpp
-include/jafar/lgl/NavHeuDistances.hpp
-include/jafar/lgl/NavHeuristics.hpp
-include/jafar/lgl/PositionManager.hpp
-include/jafar/lgl/PositionMap.hpp
-include/jafar/lgl/PursuitGNode.hpp
-include/jafar/lgl/PursuitGraph.hpp
-include/jafar/lgl/PursuitNavigator.hpp
-include/jafar/lgl/PursuitStats.hpp
-include/jafar/lgl/PursuitTaskManager.hpp
-include/jafar/lgl/Quadtree.hpp
-include/jafar/lgl/QuadtreeMatrix.hpp
-include/jafar/lgl/Raster.hpp
-include/jafar/lgl/RasterBand.hpp
-include/jafar/lgl/RobotPursuer.hpp
-include/jafar/lgl/Stats.hpp
-include/jafar/lgl/VisibilityMap.hpp
-include/jafar/lgl/VisibleArea.hpp
-include/jafar/lgl/lglException.hpp
-lib/libjafar-lgl.so
-lib/libjafar-lgl.so.1
-lib/libjafar-lgl.so.1.7
-lib/pkgconfig/jafar-lgl.pc
-share/cmake/jafar/lgl-headers.cmake
-share/cmake/jafar/lgl-release.cmake
-share/cmake/jafar/lgl.cmake
diff --git a/jafar-lgl/depend.mk b/jafar-lgl/depend.mk
deleted file mode 100644
index 7c3fffaf0426833d17eb509244ef65135b3c5855..0000000000000000000000000000000000000000
--- a/jafar-lgl/depend.mk
+++ /dev/null
@@ -1,26 +0,0 @@
-# robotpkg depend.mk for: wip/jafar-lgl
-# Created: Redouane Boumghar on Thu, 17 Mar 2011
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-jafar-lgl_DEPEND_MK:= ${jafar-lgl_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= jafar-lgl
-endif
-
-ifeq (+,$(jafar-lgl_DEPEND_MK)) # -----------------------------------------------
-
-PREFER.jafar-lgl?= robotpkg
-
-DEPEND_USE+= jafar-lgl
-DEPEND_ABI.jafar-lgl?= jafar-lgl>=1.5
-DEPEND_DIR.jafar-lgl?= ../../wip/jafar-lgl
-
-SYSTEM_SEARCH.jafar-lgl=\
- include/jafar/lgl/lglException.hpp \
- lib/libjafar-lgl.so
-
-endif # jafar-lgl_DEPEND_MK ----------------------------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/jafar-lgl/distinfo b/jafar-lgl/distinfo
deleted file mode 100644
index 1a66c9f3ff01f1e726b34c9f6d4782be19246aa2..0000000000000000000000000000000000000000
--- a/jafar-lgl/distinfo
+++ /dev/null
@@ -1,5 +0,0 @@
-SHA1 (jafar-lgl-1.7.1.tar.gz) = b604ba2f16d0f63c93276db249bef12f433675a8
-RMD160 (jafar-lgl-1.7.1.tar.gz) = 1866b27da0ec15789444e56f3d582de85d1f3a64
-Size (jafar-lgl-1.7.1.tar.gz) = 264210 bytes
-SHA1 (patch-aa) = 4dfa02ec06ee2ffea94b600f46b8d3c0fced416f
-SHA1 (patch-ab) = 93244aecd73c1a6448cc5ac930aae9d87eda83ab
diff --git a/jafar-lgl/patches/patch-aa b/jafar-lgl/patches/patch-aa
deleted file mode 100644
index 8989391864b52525f22541ee99c21ec8e0f5ab99..0000000000000000000000000000000000000000
--- a/jafar-lgl/patches/patch-aa
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/include/lgl/FlexGrid.hpp b/include/lgl/FlexGrid.hpp
-index 8e1a9f6..5cdcaad 100644
---- include/lgl/FlexGrid.hpp
-+++ include/lgl/FlexGrid.hpp
-@@ -18,6 +18,8 @@
- #include <stdexcept>
- #include <iterator>
-
-+#include <sys/types.h>
-+
- namespace jafar {
- namespace lgl {
-
diff --git a/jafar-lgl/patches/patch-ab b/jafar-lgl/patches/patch-ab
deleted file mode 100644
index b0fbfcab7ee12748289b98e3ee9786eb87caae33..0000000000000000000000000000000000000000
--- a/jafar-lgl/patches/patch-ab
+++ /dev/null
@@ -1,81 +0,0 @@
---- FindGDAL.cmake.orig 2013-09-11 16:49:46.867640382 +0200
-+++ FindGDAL.cmake 2013-09-11 16:50:01.879640006 +0200
-@@ -9,6 +9,20 @@
- # GDAL_FOUND - True if libgdal is found
- # GDAL_LIBRARY - A variable pointing to the GDAL library
- # GDAL_INCLUDE_DIR - Where to find the headers
-+
-+#=============================================================================
-+# Copyright 2007-2009 Kitware, Inc.
-+#
-+# Distributed under the OSI-approved BSD License (the "License");
-+# see accompanying file Copyright.txt for details.
-+#
-+# This software is distributed WITHOUT ANY WARRANTY; without even the
-+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-+# See the License for more information.
-+#=============================================================================
-+# (To distribute this file outside of CMake, substitute the full
-+# License text for the above reference.)
-+
- #
- # $GDALDIR is an environment variable that would
- # correspond to the ./configure --prefix=$GDAL_DIR
-@@ -26,22 +40,8 @@
- #
- #include "gdal.h"
-
--FIND_PATH(GDAL_INCLUDE_DIR gdal.h
-- HINTS
-- $ENV{GDAL_DIR}
-- $ENV{GDAL_ROOT}
-- PATH_SUFFIXES
-- include/gdal
-- include/GDAL
-- include
-- PATHS
-- ~/Library/Frameworks/gdal.framework/Headers
-- /Library/Frameworks/gdal.framework/Headers
-- /sw # Fink
-- /opt/local # DarwinPorts
-- /opt/csw # Blastwave
-- /opt
--)
-+# EDIT 2013-08-22 use `gdal-config --cflags` to get GDAL_INCLUDE_DIR
-+message("Using custom FindGDAL CMakeModule")
-
- IF(UNIX)
- # Use gdal-config to obtain the library version (this should hopefully
-@@ -68,9 +68,32 @@
- string(REGEX MATCHALL "-L[^ ]+" _gdal_dashL ${GDAL_CONFIG_LIBS})
- string(REGEX REPLACE "-L" "" _gdal_libpath "${_gdal_dashL}")
- endif()
-+ exec_program(${GDAL_CONFIG} ARGS --cflags OUTPUT_VARIABLE GDAL_CONFIG_CFLAGS)
-+ if(GDAL_CONFIG_CFLAGS)
-+ string(REGEX MATCHALL "-I[^ ]+" _gdal_dashi ${GDAL_CONFIG_CFLAGS})
-+ string(REGEX REPLACE "-I" "" _gdal_include "${_gdal_dashi}")
-+ endif()
- endif()
- endif()
-
-+FIND_PATH(GDAL_INCLUDE_DIR gdal.h
-+ HINTS
-+ ${_gdal_include}
-+ $ENV{GDAL_DIR}
-+ $ENV{GDAL_ROOT}
-+ PATH_SUFFIXES
-+ include/gdal
-+ include/GDAL
-+ include
-+ PATHS
-+ ~/Library/Frameworks/gdal.framework/Headers
-+ /Library/Frameworks/gdal.framework/Headers
-+ /sw # Fink
-+ /opt/local # DarwinPorts
-+ /opt/csw # Blastwave
-+ /opt
-+)
-+
- FIND_LIBRARY(GDAL_LIBRARY
- NAMES ${_gdal_lib} gdal gdal_i gdal1.5.0 gdal1.4.0 gdal1.3.2 GDAL
- HINTS