diff --git a/Makefile b/Makefile
index 09f7933377bcf25340242e7e9412b0e9945ec627..aac0a3513d24daf5c5fb67733fa551333fc93e30 100644
--- a/Makefile
+++ b/Makefile
@@ -51,7 +51,6 @@ SUBDIR+=	libhatp
 SUBDIR+=	libmove3d
 SUBDIR+=	libmove3d-hri
 SUBDIR+=	libmove3d-planners
-SUBDIR+=	lua-rfsm
 SUBDIR+=	mavlink
 SUBDIR+=	metapod
 SUBDIR+=	morse-mavlink
diff --git a/lua-rfsm/DESCR b/lua-rfsm/DESCR
deleted file mode 100644
index 03c4e57bc3472955c75dab377fa23c1f4a932099..0000000000000000000000000000000000000000
--- a/lua-rfsm/DESCR
+++ /dev/null
@@ -1,5 +0,0 @@
-rFSM is a small and powerful Statechart implementation. It is mainly designed
-for Coordination of complex systems but is not limited to that. rFSM is written
-in pure Lua and is therefore highly portable and embeddable. As a Lua
-domain specific language rFSM inherits the extensibility of its host
-language.
diff --git a/lua-rfsm/Makefile b/lua-rfsm/Makefile
deleted file mode 100644
index 2bd30e7cabe967301e598e93ec92dd72c2eaa0bd..0000000000000000000000000000000000000000
--- a/lua-rfsm/Makefile
+++ /dev/null
@@ -1,29 +0,0 @@
-# robotpkg Makefile for:	supervision/lua-rfsm
-# Created:			Arnaud Degroote on Thu, 12 Dec 2013
-#
-
-COMMIT= 	    44fcec2db5
-PKG_VERSION=    20131212.${COMMIT}
-DISTNAME= 		lua-rfsm-${PKG_VERSION}
-CATEGORIES=		supervision
-MASTER_SITES=	https://github.com/kmarkus/rFSM.git@${COMMIT}
-FETCH_METHOD=	git
-PKGREVISION= 	2
-
-MAINTAINER=		arnaud.degroote@isae.fr
-COMMENT=		rFSM is a reduced (lightweight) Statechart implementation written in pure Lua.
-LICENSE=		gnu-lgpl-v3
-
-NO_CONFIGURE=	yes
-NO_BUILD=		yes
-INSTALLATION_DIRS= 	bin lib/lua/rfsm share/doc/rfsm share/rfsm/examples
-
-include ../../archivers/pax/depend.mk
-include ../../mk/sysdep/lua.mk
-include ../../mk/robotpkg.mk
-
-do-install:
-	cd ${WRKSRC}/tools && ${PAX} -rwp ma rfsm* ${PREFIX}/bin
-	cd ${WRKSRC} && ${PAX} -rwp ma *.lua ${PREFIX}/lib/lua/rfsm
-	cd ${WRKSRC}/doc && ${PAX} -rwp ma . ${PREFIX}/share/doc/rfsm
-	cd ${WRKSRC}/examples && ${PAX} -rwp ma . ${PREFIX}/share/rfsm/examples
diff --git a/lua-rfsm/PLIST b/lua-rfsm/PLIST
deleted file mode 100644
index f31eca9f8660067f3200b9d0527d8e08ffcf4da5..0000000000000000000000000000000000000000
--- a/lua-rfsm/PLIST
+++ /dev/null
@@ -1,60 +0,0 @@
-@comment Thu Dec 12 15:16:05 CET 2013
-bin/rfsm-sim
-bin/rfsm-sim.lua
-bin/rfsm-viz
-bin/rfsm2json
-lib/lua/rfsm/ansicolors.lua
-lib/lua/rfsm/rfsm.lua
-lib/lua/rfsm/rfsm2json.lua
-lib/lua/rfsm/rfsm2tree.lua
-lib/lua/rfsm/rfsm2uml.lua
-lib/lua/rfsm/rfsm_await.lua
-lib/lua/rfsm/rfsm_checkevents.lua
-lib/lua/rfsm/rfsm_emem.lua
-lib/lua/rfsm/rfsm_ext.lua
-lib/lua/rfsm/rfsm_marsh.lua
-lib/lua/rfsm/rfsm_preview.lua
-lib/lua/rfsm/rfsm_proto.lua
-lib/lua/rfsm/rfsm_rtt.lua
-lib/lua/rfsm/rfsm_testing.lua
-lib/lua/rfsm/rfsm_timeevent.lua
-lib/lua/rfsm/rfsmpp.lua
-lib/lua/rfsm/time.lua
-lib/lua/rfsm/utils.lua
-share/doc/rfsm/README.html
-share/doc/rfsm/README.org
-share/doc/rfsm/README.txt
-share/doc/rfsm/css/stylesheet.css
-share/doc/rfsm/example1.png
-share/doc/rfsm/example2.png
-share/doc/rfsm/rFSM_logo.jpg
-share/rfsm/examples/await.lua
-share/rfsm/examples/ball_tracker.lua
-share/rfsm/examples/ball_tracker_scope.lua
-share/rfsm/examples/composite_exitconn.lua
-share/rfsm/examples/composite_nested.lua
-share/rfsm/examples/connector_cycles.lua
-share/rfsm/examples/connector_cycles2.lua
-share/rfsm/examples/connector_simple.lua
-share/rfsm/examples/connector_split.lua
-share/rfsm/examples/emem_test.lua
-share/rfsm/examples/extension/README
-share/rfsm/examples/extension/base_fsm.lua
-share/rfsm/examples/extension/base_fsm_extended.lua
-share/rfsm/examples/hello_world.lua
-share/rfsm/examples/introductory.lua
-share/rfsm/examples/monitor_state.lua
-share/rfsm/examples/nested_fsm/launch.lua
-share/rfsm/examples/nested_fsm/root.lua
-share/rfsm/examples/nested_fsm/subfsm.lua
-share/rfsm/examples/ping-pong.lua
-share/rfsm/examples/preview_example.lua
-share/rfsm/examples/preview_example2.lua
-share/rfsm/examples/relative_trans.lua
-share/rfsm/examples/runscript.lua
-share/rfsm/examples/seqand.lua
-share/rfsm/examples/simple.lua
-share/rfsm/examples/simple_doo_idle.lua
-share/rfsm/examples/simple_idle_doo.lua
-share/rfsm/examples/timeevent.lua
-share/rfsm/examples/total_failure.lua
diff --git a/lua-rfsm/depend.mk b/lua-rfsm/depend.mk
deleted file mode 100644
index 864a6a9bc851314a4e9799d4b1911e04c9d47406..0000000000000000000000000000000000000000
--- a/lua-rfsm/depend.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-# robotpkg depend.mk for:	supervision/lua-rfsm
-# Created:			Arnaud Degroote on Thu, 12 Dec 2013
-#
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH}+
-LUA_RFSM_DEPEND_MK:=	${LUA_RFSM_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+=		lua-rfsm
-endif
-
-ifeq (+,$(LUA_RFSM_DEPEND_MK)) # -----------------------------------------------
-
-PREFER.lua-rfsm?=		robotpkg
-
-DEPEND_USE+=		lua-rfsm
-DEPEND_ABI.lua-rfsm?=	lua-rfsm>=20131212
-DEPEND_DIR.lua-rfsm?=	../../wip/lua-rfsm
-
-SYSTEM_SEARCH.lua-rfsm=\
-	lib/lua/rfsm/rfsm.lua
-
-endif # LUA_RFSM_DEPEND_MK -----------------------------------------------------
-
-DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/lua-rfsm/distinfo b/lua-rfsm/distinfo
deleted file mode 100644
index 9baaef1ea4b9572290ae8b0af4efc936ca0aba10..0000000000000000000000000000000000000000
--- a/lua-rfsm/distinfo
+++ /dev/null
@@ -1,2 +0,0 @@
-SHA1 (lua-rfsm-20131212.44fcec2db5.tar.gz) = c74f26f42c92b8b3869836cb75bb30dd54fd1c83
-RMD160 (lua-rfsm-20131212.44fcec2db5.tar.gz) = c47f446606368668cf43476a05be0f0598e34f63