diff --git a/Makefile b/Makefile
index a1f665ae16ddb3d64834d020301030f12f0ad8af..7554443017fdf09d1dd50d8e59c18e746a65a017 100644
--- a/Makefile
+++ b/Makefile
@@ -103,6 +103,7 @@ SUBDIR+= sot-pattern-generator-v3
SUBDIR+= sot-romeo-v3
SUBDIR+= soth
SUBDIR+= spark-genom
+SUBDIR+= talos-pal-hardware-interfaces
SUBDIR+= talos-ros-control
SUBDIR+= track-target-genom
SUBDIR+= urg
diff --git a/talos-pal-hardware-interfaces/DESCR b/talos-pal-hardware-interfaces/DESCR
index e9ef17efea23c5cd67a8c6a3e36e779b8ac5729e..a0c1914b8efd69e810aaf786ddcc5fe05d6f5bf9 100644
--- a/talos-pal-hardware-interfaces/DESCR
+++ b/talos-pal-hardware-interfaces/DESCR
@@ -1,2 +1 @@
-pal_hardware_interfaces targeted for TALOS (0.0.2)
-This is a ros metapackage
\ No newline at end of file
+pal_hardware_interfaces targeted for TALOS (0.0.2).
diff --git a/talos-pal-hardware-interfaces/Makefile b/talos-pal-hardware-interfaces/Makefile
index ce8572947e0ec64a31ddcf7d8dfe51e443294f15..4cfaee99de6efdd07f57cb80d1e189a6733d5797 100644
--- a/talos-pal-hardware-interfaces/Makefile
+++ b/talos-pal-hardware-interfaces/Makefile
@@ -1,21 +1,19 @@
-# robotpkg Makefile for: wip/talos_pal_hardware_interfaces
-# Created: Olivier Stasse on Wed, 29 Mar 2017
+# robotpkg Makefile for: wip/talos-pal-hardware-interfaces
+# Created: Olivier Stasse on Thu, 30 Mar 2017
#
-ROS_PKG= talos_pal_hardware_interfaces
-ROS_VERSION= 0.0.2
+VERSION= 0.0.2
+PKGNAME= talos-pal-hardware-interfaces-${VERSION}
+DISTNAME= $(subst -,_,${PKGBASE})-${VERSION}
CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_JRL}talos/${ROS_PKG}/${ROS_PKG}-
-ROS_COMMENT= Hardware interfaces developped by PAL-Robotics
+MASTER_SITES= ${MASTER_SITE_JRL:=talos/$(subst -,_,${PKGBASE})/}
+COMMENT= Hardware interfaces developped by PAL-Robotics
LICENSE= openhrp-grx-license
-include ../../meta-pkgs/ros-base/Makefile.common
-
-SUBST_CLASSES+= py-interp
-SUBST_FILES.py-interp+= src/actionlib/*.py
-SUBST_FILES.py-interp+= test/*.py
-SUBST_FILES.py-interp+= tools/*.py
+RESTRICTED= Redistribution of repackaged binaries not permitted
+NO_PUBLIC_SRC= ${RESTRICTED}
+NO_PUBLIC_BIN= ${RESTRICTED}
USE_BOOST_LIBS= thread
@@ -24,8 +22,10 @@ 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 ../../wip/talos-ros-control/depend.mk
include ../../lang/ros-message-generation/depend.mk
include ../../lang/ros-message-runtime/depend.mk
include ../../middleware/ros-comm/depend.mk
+include ../../motion/ros-control/depend.mk
+include ../../mk/language/c++.mk
+include ../../mk/language/c.mk
include ../../mk/robotpkg.mk
diff --git a/talos-pal-hardware-interfaces/depend.mk b/talos-pal-hardware-interfaces/depend.mk
index a1acea4e1ac0965f301bcfd95dbd366bfb33a7b2..4b3ea7cb198570f1d97617e67eb2c09448982b51 100644
--- a/talos-pal-hardware-interfaces/depend.mk
+++ b/talos-pal-hardware-interfaces/depend.mk
@@ -1,31 +1,30 @@
-# robotpkg depend.mk for: wip/talos_pal_hardware_interfaces
-# Created: Olivier Stasse on Wed, 29 Mar 2017
+# robotpkg depend.mk for: wip/talos-pal-hardware-interfaces
+# Created: Olivier Stasse on Thu, 30 Mar 2017
#
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-TALOS_PAL_HARDWARE_INTERFACES_DEPEND_MK:= ${TALOS_PAL_HARDWARE_INTERFACES_DEPEND_MK}+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+TALOS_PAL_HWIFACES_DEPEND_MK:= ${TALOS_PAL_HWIFACES_DEPEND_MK}+
ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= talos-pal-hardware-interfaces
+DEPEND_PKG+= talos-pal-hardware-interfaces
endif
-ifeq (+,$(TALOS_PAL_HARDWARE_INTERFACES_DEPEND_MK)) # -------------------------------------------
+ifeq (+,$(TALOS_PAL_HWIFACES_DEPEND_MK)) # ---------------------------------
-include ../../meta-pkgs/ros-base/depend.common
-PREFER.talos-pal-hardware-interfaces?= ${PREFER.ros-base}
-SYSTEM_PREFIX.talos-pal_hardware-interfaces?=${SYSTEM_PREFIX.ros-base}
+PREFER.talos-pal-hardware-interfaces?= robotpkg
-DEPEND_USE+= talos-pal-hardware-interfaces
-ROS_DEPEND_USE+= talos-pal-hardware-interfaces
+DEPEND_USE+= talos-pal-hardware-interfaces
-DEPEND_ABI.talos-pal-hardware-interfaces?= ros-talos-pal-hardware-interfaces>=0.0.2
-DEPEND_DIR.talos-pal-hardware-interfaces?= ../../wip/talos-pal-hardware-interfaces
+DEPEND_ABI.talos-pal-hardware-interfaces?=\
+ talos-pal-hardware-interfaces>=0.0.2
+DEPEND_DIR.talos-pal-hardware-interfaces?=\
+ ../../wip/talos-pal-hardware-interfaces
SYSTEM_SEARCH.talos-pal-hardware-interfaces=\
- include/pal_hardware_interfaces/actuator_temperature_interface.h \
- 'share/pal_hardware_interfaces/package.xml:/<version>/s/[^0-9.]//gp' \
- 'lib/pkgconfig/pal_hardware_interfaces.pc:/Version/s/[^0-9.]//gp'
+ 'include/pal_hardware_interfaces/actuator_temperature_interface.h' \
+ 'share/pal_hardware_interfaces/package.xml:/<version>/s/[^0-9.]//gp' \
+ 'lib/pkgconfig/pal_hardware_interfaces.pc:/Version/s/[^0-9.]//gp'
-endif # TALOS_PAL_HARDWARE_INTERFACES_DEPEND_MK -------------------------------------------------
+endif # TALOS_PAL_HWIFACES_DEPEND_MK ---------------------------------------
DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/talos-pal-hardware-interfaces/distinfo b/talos-pal-hardware-interfaces/distinfo
index 947062becb4df90842e24a52af8ec57ec931898e..f3750cfe64443dd69c1154a788120f5637c8c52f 100644
--- a/talos-pal-hardware-interfaces/distinfo
+++ b/talos-pal-hardware-interfaces/distinfo
@@ -1,3 +1,3 @@
-SHA1 (ros/talos_pal_hardware_interfaces/0.0.2.tar.gz) = 3469fff9c94479d0ef9387e50d45a4a367e38d15
-RMD160 (ros/talos_pal_hardware_interfaces/0.0.2.tar.gz) = 5552c6eb47985937ed0a4a3b24133250725a8f53
-Size (ros/talos_pal_hardware_interfaces/0.0.2.tar.gz) = 1900 bytes
+SHA1 (talos_pal_hardware_interfaces-0.0.2.tar.gz) = 3469fff9c94479d0ef9387e50d45a4a367e38d15
+RMD160 (talos_pal_hardware_interfaces-0.0.2.tar.gz) = 5552c6eb47985937ed0a4a3b24133250725a8f53
+Size (talos_pal_hardware_interfaces-0.0.2.tar.gz) = 1900 bytes