diff --git a/Makefile b/Makefile
index 852426ced2ceaa5eeb974662589a555fd030e2b8..b7946f194273fdf71b3e4e55b7f2051d77232e35 100644
--- a/Makefile
+++ b/Makefile
@@ -44,6 +44,7 @@ SUBDIR+=	rednav-genom
 SUBDIR+=	robotModelParser-libs
 SUBDIR+=	robot-viewer
 SUBDIR+=	ros-core
+SUBDIR+=	ros-gencpp
 SUBDIR+=	ros-genmsg
 SUBDIR+=	roscpp-core
 SUBDIR+=	rospack
diff --git a/ros-gencpp/DESCR b/ros-gencpp/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..fedfe2387ec4caff1e69fca223bdac6cf3b20217
--- /dev/null
+++ b/ros-gencpp/DESCR
@@ -0,0 +1,6 @@
+Project genmsg exists in order to decouple code generation from ROS .msg & .srv
+format files from the parsing of these files and from impementation details of
+the build system (project directory layout, existence or nonexistence of
+utilities like rospack, values of environment variables such as
+ROS_PACKAGE_PATH): i.e. none of these are required to be set in any particular
+way.
diff --git a/ros-gencpp/Makefile b/ros-gencpp/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..766199ce66fcd6de14c7173ef59b476ecc5601e7
--- /dev/null
+++ b/ros-gencpp/Makefile
@@ -0,0 +1,20 @@
+# robotpkg Makefile for:	interface/ros-gencpp
+# Created:			Anthony Mallet on Mon,  8 Oct 2012
+#
+
+ROS_PKG=		gencpp
+ROS_VERSION=		0.3.4
+PKGNAME=		ros-gencpp-${ROS_VERSION}
+
+CATEGORIES=		interface
+ROS_COMMENT=		C++ code generator for ROS .msg format
+HOMEPAGE=		http://www.ros.org/wiki/roscpp
+MAINTAINER=		mallet@laas.fr
+LICENSE=		modified-bsd
+
+include ../../wip/ros18-base/Makefile.common
+
+include ../../wip/catkin/depend.mk
+include ../../wip/ros-genmsg/depend.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/robotpkg.mk
diff --git a/ros-gencpp/PLIST b/ros-gencpp/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..034e2ee91fb0d9a3c4caa23b17cc93ccbe0f1f03
--- /dev/null
+++ b/ros-gencpp/PLIST
@@ -0,0 +1,26 @@
+@comment Mon Oct 8 17:51:21 CEST 2012
+bin/gen_cpp.py
+etc/langs/gencpp
+lib/pkgconfig/gencpp.pc
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/EGG-INFO/PKG-INFO
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/EGG-INFO/SOURCES.txt
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/EGG-INFO/dependency_links.txt
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/EGG-INFO/requires.txt
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/EGG-INFO/scripts/gen_cpp.py
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/EGG-INFO/scripts/${PYTHON_PYCACHE}/gen_cpp${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/EGG-INFO/scripts/${PYTHON_PYCACHE}/gen_cpp${PYTHON_TAG}.pyo
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/EGG-INFO/top_level.txt
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/EGG-INFO/zip-safe
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/gencpp/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/gencpp/__init__.py
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/gencpp/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyc
+${PYTHON_SITELIB}/gencpp-${PKGVERSION}-py${PYTHON_VERSION}.egg/gencpp/${PYTHON_PYCACHE}/__init__${PYTHON_TAG}.pyo
+share/gencpp/bin/gen_cpp.py
+share/gencpp/bin/${PYTHON_PYCACHE}/gen_cpp${PYTHON_TAG}.pyc
+share/gencpp/bin/${PYTHON_PYCACHE}/gen_cpp${PYTHON_TAG}.pyo
+share/gencpp/cmake/gencpp-config-version.cmake
+share/gencpp/cmake/gencpp-config.cmake
+share/gencpp/cmake/gencpp-extras.cmake
+share/gencpp/msg.h.template
+share/gencpp/srv.h.template
+share/gencpp/stack.xml
diff --git a/ros-gencpp/depend.mk b/ros-gencpp/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..4705a116f3e6ade3f3dd25d0b87a0fd493eb9d56
--- /dev/null
+++ b/ros-gencpp/depend.mk
@@ -0,0 +1,28 @@
+# robotpkg depend.mk for:	interface/ros-gencpp
+# Created:			Anthony Mallet on Mon,  8 Oct 2012
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+ROS_GENCPP_DEPEND_MK:=	${ROS_GENCPP_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		ros-gencpp
+endif
+
+ifeq (+,$(ROS_GENCPP_DEPEND_MK)) # -----------------------------------------
+
+PREFER.ros-gencpp?=	robotpkg
+
+DEPEND_USE+=		ros-gencpp
+
+DEPEND_ABI.ros-gencpp?=	ros-gencpp>=0.3.4
+DEPEND_DIR.ros-gencpp?=	../../wip/ros-gencpp
+
+SYSTEM_SEARCH.ros-gencpp=\
+	bin/gen_cpp.py						\
+	'share/gencpp/stack.xml:<version>/s/[^0-9.]//gp'	\
+	'lib/pkgconfig/gencpp.pc:/Version/s/[^0-9.]//gp'
+
+endif # ROS_GENCPP_DEPEND_MK -----------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/ros-gencpp/distinfo b/ros-gencpp/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..3ec4f7b2e7c865e4bbf78ba64a5b206e5fe83642
--- /dev/null
+++ b/ros-gencpp/distinfo
@@ -0,0 +1,3 @@
+SHA1 (ros-fuerte-gencpp_0.3.4.orig.tar.gz) = 2712873c5c3455e12b2104e7f71ce83a2e801d80
+RMD160 (ros-fuerte-gencpp_0.3.4.orig.tar.gz) = cfb26bced9c0b6cdc8bbda7effc4caf0040c4e3e
+Size (ros-fuerte-gencpp_0.3.4.orig.tar.gz) = 8587 bytes