diff --git a/Makefile b/Makefile
index 533efb9030cdb343352a647a324388097f6fd2b5..369f3f5f41f6ba74d31fd48cf567eed548bc0316 100644
--- a/Makefile
+++ b/Makefile
@@ -52,7 +52,6 @@ SUBDIR+= libhatp
SUBDIR+= libmove3d
SUBDIR+= libmove3d-hri
SUBDIR+= libmove3d-planners
-SUBDIR+= libnabo
SUBDIR+= lua-rfsm
SUBDIR+= mavlink
SUBDIR+= metapod
diff --git a/libnabo/DESCR b/libnabo/DESCR
deleted file mode 100644
index 006c9b179e992b5a8d241a968b6db9d3489f0153..0000000000000000000000000000000000000000
--- a/libnabo/DESCR
+++ /dev/null
@@ -1 +0,0 @@
-A fast K Nearset Neighbor library for low-dimensional spaces
diff --git a/libnabo/Makefile b/libnabo/Makefile
deleted file mode 100644
index e729f9511442269db139291a5291e8c978b98ddb..0000000000000000000000000000000000000000
--- a/libnabo/Makefile
+++ /dev/null
@@ -1,35 +0,0 @@
-# robotpkg depend.mk for: mapping/libnabo
-# Created: Pierrick Koch on Thu, 27 Mar 2014
-#
-NAME= libnabo
-VERSION= 1.0.4
-GITHUB_USER= ethz-asl
-CATEGORIES= mapping
-
-DISTNAME= ${NAME}-${VERSION}
-DISTBASE= ${GITHUB_USER}/${NAME}/archive/
-MASTER_SITES= ${MASTER_SITE_GITHUB:=${DISTBASE}${VERSION}${EXTRACT_SUFX}?f=}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/${GITHUB_USER}/${NAME}.git
-
-MAINTAINER= pierrick.koch@laas.fr
-COMMENT= A fast K Nearset Neighbor library for low-dimensional spaces
-LICENSE= 2-clause-bsd
-
-CMAKE_ARGS+= -DSHARED_LIBS=ON
-CMAKE_ARGS+= -DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
-CMAKE_ARGS+= -DBOOST_LIBDIR=${PREFIX.boost-libs}/include
-CMAKE_ARGS+= -DEIGEN_INCLUDE_DIR=${PREFIX.eigen3}/include/eigen3
-
-DYNAMIC_PLIST_DIRS+= share/doc/${PKGBASE}
-
-include ../../math/eigen3/depend.mk
-include ../../graphics/flann/depend.mk
-include ../../devel/boost-headers/depend.mk
-include ../../devel/boost-libs/depend.mk
-include ../../pkgtools/pkg-config/depend.mk
-include ../../mk/sysdep/cmake.mk
-include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
-include ../../mk/sysdep/python.mk
-include ../../mk/sysdep/doxygen.mk
-include ../../mk/robotpkg.mk
diff --git a/libnabo/PLIST b/libnabo/PLIST
deleted file mode 100644
index ad794513813d57ca6a16deeb2f147555a4655f5d..0000000000000000000000000000000000000000
--- a/libnabo/PLIST
+++ /dev/null
@@ -1,6 +0,0 @@
-@comment Thu Mar 27 14:37:17 CET 2014
-include/nabo/nabo.h
-lib/libnabo.so
-lib/libnabo.so.1
-lib/libnabo.so.${PKGVERSION}
-${PYTHON_SITELIB}/pynabo.so
diff --git a/libnabo/depend.mk b/libnabo/depend.mk
deleted file mode 100644
index f9940aa068910bc407c96f021a47a06309653f38..0000000000000000000000000000000000000000
--- a/libnabo/depend.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-# robotpkg depend.mk for: mapping/libnabo
-# Created: Pierrick Koch on Thu, 27 Mar 2014
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-LIBNABO_DEPEND_MK:=${LIBNABO_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= libnabo
-endif
-
-ifeq (+,$(LIBNABO_DEPEND_MK))
-PREFER.libnabo?= robotpkg
-
-DEPEND_USE+= libnabo
-
-DEPEND_ABI.libnabo?= libnabo>=1.0.4
-DEPEND_DIR.libnabo?= ../../wip/libnabo
-
-SYSTEM_SEARCH.libnabo= \
- include/nabo/nabo.h \
- lib/libnabo.so
-endif
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/libnabo/distinfo b/libnabo/distinfo
deleted file mode 100644
index 28b670a9783c0ab106ad11e557cd4126b895323e..0000000000000000000000000000000000000000
--- a/libnabo/distinfo
+++ /dev/null
@@ -1,5 +0,0 @@
-SHA1 (libnabo-1.0.4.tar.gz) = 1f71f0f6caf50996e3e61b87b2ac2c05c834518e
-RMD160 (libnabo-1.0.4.tar.gz) = 5e025ce60f8c773178ce8c1ef7328608a16b63ca
-Size (libnabo-1.0.4.tar.gz) = 963380 bytes
-SHA1 (patch-aa) = fe3c4640351d88000aa694055468612a7c25ce43
-SHA1 (patch-ab) = 00d8739df225f360bf5cbacf02bfa2f0d73f6d17
diff --git a/libnabo/patches/patch-aa b/libnabo/patches/patch-aa
deleted file mode 100644
index 1b2f898984685064d53a1e24c44292d9d0d8d27c..0000000000000000000000000000000000000000
--- a/libnabo/patches/patch-aa
+++ /dev/null
@@ -1,46 +0,0 @@
-diff --git CMakeLists.txt CMakeLists.txt
-index b37b3ed..3ea0739 100644
---- CMakeLists.txt
-+++ CMakeLists.txt
-@@ -101,10 +101,12 @@ set(DOC_INSTALL_TARGET "share/doc/${PROJECT_NAME}/api" CACHE STRING "Target wher
- add_dependencies(${LIB_NAME} doc)
- install(FILES nabo/nabo.h DESTINATION include/nabo)
- install(FILES README.md DESTINATION share/doc/${PROJECT_NAME})
--install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc/html DESTINATION ${DOC_INSTALL_TARGET})
-+if (DOXYGEN_FOUND)
-+ install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc/html DESTINATION ${DOC_INSTALL_TARGET})
-+endif(DOXYGEN_FOUND)
-
- enable_testing()
-
- add_subdirectory(examples)
- add_subdirectory(tests)
--add_subdirectory(python)
-\ No newline at end of file
-+add_subdirectory(python)
-diff --git nabo/kdtree_opencl.cpp nabo/kdtree_opencl.cpp
-index 1912bbe..7fcd8ea 100644
---- nabo/kdtree_opencl.cpp
-+++ nabo/kdtree_opencl.cpp
-@@ -145,7 +145,7 @@ namespace Nabo
- try {
- context = cl::Context(deviceType, properties);
- deviceFound = true;
-- } catch (cl::Error e) {
-+ } catch (const cl::Error& e) {
- cerr << "Cannot find device type " << deviceType << " for OpenCL, falling back to any device" << endl;
- }
- if (!deviceFound)
-diff --git python/CMakeLists.txt python/CMakeLists.txt
-index 3eb3ae2..a69a315 100644
---- python/CMakeLists.txt
-+++ python/CMakeLists.txt
-@@ -53,7 +53,7 @@ if (PYTHONLIBS_FOUND AND PYTHONINTERP_FOUND)
- if (PYTHON_DEB_INSTALL_TARGET)
- set(PYTHON_COMMAND "import sys; print '/usr/lib/python'+str(sys.version_info[0])+'.'+str(sys.version_info[1])+'/dist-packages'")
- else (PYTHON_DEB_INSTALL_TARGET)
-- set(PYTHON_COMMAND "from distutils.sysconfig import get_python_lib; print get_python_lib()")
-+ set(PYTHON_COMMAND "from distutils.sysconfig import get_python_lib; print get_python_lib(prefix='${CMAKE_INSTALL_PREFIX}')")
- endif (PYTHON_DEB_INSTALL_TARGET)
- execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c" "${PYTHON_COMMAND}" OUTPUT_VARIABLE PYTHON_SITE_MODULES OUTPUT_STRIP_TRAILING_WHITESPACE)
- install(TARGETS pynabo LIBRARY DESTINATION ${PYTHON_SITE_MODULES})
diff --git a/libnabo/patches/patch-ab b/libnabo/patches/patch-ab
deleted file mode 100644
index 69098913ae0ce70fa45e7b3c0bbd2f73acb8b152..0000000000000000000000000000000000000000
--- a/libnabo/patches/patch-ab
+++ /dev/null
@@ -1,16 +0,0 @@
-diff --git tests/helpers.h tests/helpers.h
-index 9f0a2f6..54209d8 100644
---- tests/helpers.h
-+++ tests/helpers.h
-@@ -155,7 +155,11 @@ namespace boost
- mach_port_deallocate(mach_task_self(), cclock);
- #else
- struct timespec ts;
-+ #ifdef CLOCK_PROCESS_CPUTIME_ID
- clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &ts);
-+ #else // BSD and old Linux
-+ clock_gettime(CLOCK_PROF, &ts);
-+ #endif
- #endif
- return Time(ts.tv_sec) * Time(1000000000) + Time(ts.tv_nsec);
- }