diff --git a/ros-swri-roscpp/DESCR b/ros-swri-roscpp/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..1bc17eab58a689bb1a512b08b8f4a4f6a1e259b6
--- /dev/null
+++ b/ros-swri-roscpp/DESCR
@@ -0,0 +1 @@
+Roscpp package created at Southwest Reseach Institute's Intelligent Vehicle Systems section for working with Robot Operating System (ROS)
\ No newline at end of file
diff --git a/ros-swri-roscpp/Makefile b/ros-swri-roscpp/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..9cef57bda6adb79091e03c00f1c5e5887758f5f4
--- /dev/null
+++ b/ros-swri-roscpp/Makefile
@@ -0,0 +1,31 @@
+# robotpkg Makefile for: devel/ros-swri-roscpp
+# Created: Ellon Paiva Mendes on Thu, 2 Aug 2018
+#
+
+ROS_REPO= swri-robotics
+ROS_PKG= marti_common
+ROS_METAPKG= no
+ROS_VERSION= 2.3.0
+ROS_COMMENT= Roscpp package created at Southwest Reseach Institute's Intelligent Vehicle Systems section for working with Robot Operating System (ROS)
+
+# We need to set PKGNAME explicitely, otherwise devel/ros-base/Makefile.common
+# included below will set it to a name using ROS_PKG
+PKGNAME= ros-swri-roscpp-${ROS_VERSION}
+CATEGORIES= devel
+MAINTAINER= laas-infuse@laas.fr
+LICENSE= modified-bsd
+HOMEPAGE= https://github.com/swri-robotics/marti_common
+
+CONFIGURE_DIRS+= ${WRKSRC}/swri_roscpp
+
+include ../../meta-pkgs/ros-base/Makefile.common
+
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../sysutils/ros-diagnostics/depend.mk
+include ../../interfaces/ros-common-msgs/depend.mk
+# NOTE in robotpkg, roscpp is packaged inside middleware/ros-comm
+include ../../middleware/ros-comm/depend.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/ros-swri-roscpp/PLIST b/ros-swri-roscpp/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..9228c09eda09fe4fad39f4bd02d50d1f95280d24
--- /dev/null
+++ b/ros-swri-roscpp/PLIST
@@ -0,0 +1,21 @@
+@comment Wed Aug 1 11:58:39 UTC 2018
+include/swri_roscpp/latched_subscriber.h
+include/swri_roscpp/optional_diagnosed_publisher.h
+include/swri_roscpp/parameters.h
+include/swri_roscpp/publisher.h
+include/swri_roscpp/service_server.h
+include/swri_roscpp/service_server_impl.h
+include/swri_roscpp/service_server_statistics.h
+include/swri_roscpp/subscriber.h
+include/swri_roscpp/subscriber_impl.h
+include/swri_roscpp/swri_roscpp.h
+include/swri_roscpp/timer.h
+include/swri_roscpp/timer_impl.h
+lib/pkgconfig/swri_roscpp.pc
+lib/swri_roscpp/latched_subscriber_test
+lib/swri_roscpp/param_example
+lib/swri_roscpp/subscriber_test
+share/swri_roscpp/cmake/swri_roscppConfig-version.cmake
+share/swri_roscpp/cmake/swri_roscppConfig.cmake
+share/swri_roscpp/package.xml
+share/swri_roscpp/param_example.launch
diff --git a/ros-swri-roscpp/depend.mk b/ros-swri-roscpp/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..0fcb97ecacaae41d8d48a1bd01337f67961c6b50
--- /dev/null
+++ b/ros-swri-roscpp/depend.mk
@@ -0,0 +1,57 @@
+# robotpkg depend.mk for: devel/ros-swri-roscpp
+# Created: Ellon Paiva Mendes on Thu, 2 Aug 2018
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+ROS_SWRI_ROSCPP_DEPEND_MK:= ${ROS_SWRI_ROSCPP_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= ros-swri-roscpp
+endif
+
+ifeq (+,$(ROS_SWRI_ROSCPP_DEPEND_MK)) # ---------------------------------------
+
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-swri-roscpp?= ${PREFER.ros-base}
+SYSTEM_PREFIX.ros-swri-roscpp?= ${SYSTEM_PREFIX.ros-base}
+
+DEPEND_USE+= ros-swri-roscpp
+ROS_DEPEND_USE+= ros-swri-roscpp
+
+DEPEND_ABI.ros-swri-roscpp?= ros-swri-roscpp>=2.3.0
+DEPEND_DIR.ros-swri-roscpp= ../../wip/ros-swri-roscpp
+
+DEPEND_ABI.ros-swri-roscpp.groovy += ros-swri-roscpp>=2.3.0
+DEPEND_ABI.ros-swri-roscpp.hydro += ros-swri-roscpp>=2.3.0
+DEPEND_ABI.ros-swri-roscpp.indigo += ros-swri-roscpp>=2.3.0
+DEPEND_ABI.ros-swri-roscpp.jade += ros-swri-roscpp>=2.3.0
+DEPEND_ABI.ros-swri-roscpp.kinetic += ros-swri-roscpp>=2.3.0
+DEPEND_ABI.ros-swri-roscpp.lunar += ros-swri-roscpp>=2.3.0
+DEPEND_ABI.ros-swri-roscpp.melodic += ros-swri-roscpp>=2.3.0
+
+SYSTEM_SEARCH.ros-swri-roscpp=\
+ 'share/swri_roscpp/package.xml' \
+ 'share/swri_roscpp/cmake/swri_roscppConfig-version.cmake' \
+ 'share/swri_roscpp/cmake/swri_roscppConfig.cmake' \
+ 'share/swri_roscpp/param_example.launch' \
+ 'include/swri_roscpp/subscriber.h' \
+ 'include/swri_roscpp/subscriber_impl.h' \
+ 'include/swri_roscpp/timer.h' \
+ 'include/swri_roscpp/latched_subscriber.h' \
+ 'include/swri_roscpp/optional_diagnosed_publisher.h' \
+ 'include/swri_roscpp/service_server.h' \
+ 'include/swri_roscpp/service_server_statistics.h' \
+ 'include/swri_roscpp/publisher.h' \
+ 'include/swri_roscpp/service_server_impl.h' \
+ 'include/swri_roscpp/swri_roscpp.h' \
+ 'include/swri_roscpp/timer_impl.h' \
+ 'include/swri_roscpp/parameters.h' \
+ 'lib/pkgconfig/swri_roscpp.pc:/Version/s/[^0-9.]//gp' \
+ 'lib/swri_roscpp/latched_subscriber_test' \
+ 'lib/swri_roscpp/subscriber_test' \
+ 'lib/swri_roscpp/param_example'
+
+endif # ROS_SWRI_ROSCPP_DEPEND_MK ---------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
+
diff --git a/ros-swri-roscpp/distinfo b/ros-swri-roscpp/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..480452bd90d4a7f95f3227b1e8b4c1673357eef6
--- /dev/null
+++ b/ros-swri-roscpp/distinfo
@@ -0,0 +1,3 @@
+SHA1 (ros/marti_common/2.3.0.tar.gz) = 9a11ee2aaef0047d6b205d5568b45afcf805005e
+RMD160 (ros/marti_common/2.3.0.tar.gz) = b98c6ce797c0e1b1adc8fdeca5a7dc50da6442b1
+Size (ros/marti_common/2.3.0.tar.gz) = 183765 bytes