diff --git a/pal-msgs/DESCR b/pal-msgs/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..834faf331f18e3335bc15ef86e64205f9e8c6625
--- /dev/null
+++ b/pal-msgs/DESCR
@@ -0,0 +1 @@
+Commonly used messages, services and action in PAL
diff --git a/pal-msgs/Makefile b/pal-msgs/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..c9adf03acdacbefa46650747c23c8bde7d312973
--- /dev/null
+++ b/pal-msgs/Makefile
@@ -0,0 +1,31 @@
+# robotpkg Makefile for:	wip/pal-msgs
+# Created:			Olivier Stasse on Sun, 18 Jun 2017
+#
+
+VERSION=	0.11.3
+PKGNAME=	pal-msgs-${VERSION}
+DISTNAME=	$(subst -,_,${PKGBASE})-${VERSION}
+
+CATEGORIES=	wip
+MASTER_SITES=	${MASTER_SITE_:=pal-msgs/}
+COMMENT=	Commonly used messages, services and action in PAL
+LICENSE=	original-bsd
+
+ROS_METAPKG=	yes
+
+include ../../devel/ros-catkin/depend.mk
+include ../../devel/ros-cmake-modules/depend.mk
+include ../../devel/ros-pluginlib/depend.mk
+include ../../devel/ros-ros/depend.mk
+include ../../interfaces/ros-common-msgs/depend.mk
+include ../../interfaces/ros-std-msgs/depend.mk
+include ../../lang/ros-message-generation/depend.mk
+include ../../lang/ros-message-runtime/depend.mk
+include ../../math/ros-geometry/depend.mk
+include ../../middleware/ros-actionlib/depend.mk
+include ../../middleware/ros-comm/depend.mk
+include ../../motion/ros-control-toolbox/depend.mk
+include ../../sysutils/py-rospkg/depend.mk
+include ../../mk/language/c++.mk
+include ../../mk/language/c.mk
+include ../../mk/robotpkg.mk
diff --git a/pal-msgs/PLIST b/pal-msgs/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..992b4f3d78662ab9af7be3b13f0cdde64eff4a33
--- /dev/null
+++ b/pal-msgs/PLIST
@@ -0,0 +1,1416 @@
+@comment Sun Jun 18 09:06:50 CEST 2017
+include/pal_behaviour_msgs/BehaviourArgument.h
+include/pal_behaviour_msgs/BehaviourEvent.h
+include/pal_behaviour_msgs/BehaviourEventRequest.h
+include/pal_behaviour_msgs/BehaviourEventResponse.h
+include/pal_behaviour_msgs/BehaviourTaskAction.h
+include/pal_behaviour_msgs/BehaviourTaskActionFeedback.h
+include/pal_behaviour_msgs/BehaviourTaskActionGoal.h
+include/pal_behaviour_msgs/BehaviourTaskActionResult.h
+include/pal_behaviour_msgs/BehaviourTaskFeedback.h
+include/pal_behaviour_msgs/BehaviourTaskGoal.h
+include/pal_behaviour_msgs/BehaviourTaskResult.h
+include/pal_behaviour_msgs/PresentationAction.h
+include/pal_behaviour_msgs/PresentationActionFeedback.h
+include/pal_behaviour_msgs/PresentationActionGoal.h
+include/pal_behaviour_msgs/PresentationActionResult.h
+include/pal_behaviour_msgs/PresentationFeedback.h
+include/pal_behaviour_msgs/PresentationGoal.h
+include/pal_behaviour_msgs/PresentationResult.h
+include/pal_common_msgs/DisableAction.h
+include/pal_common_msgs/DisableActionFeedback.h
+include/pal_common_msgs/DisableActionGoal.h
+include/pal_common_msgs/DisableActionResult.h
+include/pal_common_msgs/DisableFeedback.h
+include/pal_common_msgs/DisableGoal.h
+include/pal_common_msgs/DisableResult.h
+include/pal_common_msgs/EmptyAction.h
+include/pal_common_msgs/EmptyActionFeedback.h
+include/pal_common_msgs/EmptyActionGoal.h
+include/pal_common_msgs/EmptyActionResult.h
+include/pal_common_msgs/EmptyFeedback.h
+include/pal_common_msgs/EmptyGoal.h
+include/pal_common_msgs/EmptyResult.h
+include/pal_common_msgs/JointCurrent.h
+include/pal_control_msgs/ActuatorCurrentLimit.h
+include/pal_control_msgs/CurrentLimit.h
+include/pal_control_msgs/CurrentLimitRequest.h
+include/pal_control_msgs/CurrentLimitResponse.h
+include/pal_control_msgs/MotionManagerAction.h
+include/pal_control_msgs/MotionManagerActionFeedback.h
+include/pal_control_msgs/MotionManagerActionGoal.h
+include/pal_control_msgs/MotionManagerActionResult.h
+include/pal_control_msgs/MotionManagerFeedback.h
+include/pal_control_msgs/MotionManagerGoal.h
+include/pal_control_msgs/MotionManagerResult.h
+include/pal_detection_msgs/AddTexturedObject.h
+include/pal_detection_msgs/AddTexturedObjectRequest.h
+include/pal_detection_msgs/AddTexturedObjectResponse.h
+include/pal_detection_msgs/Detection2d.h
+include/pal_detection_msgs/Detections2d.h
+include/pal_detection_msgs/FaceDetection.h
+include/pal_detection_msgs/FaceDetections.h
+include/pal_detection_msgs/LegDetections.h
+include/pal_detection_msgs/PersonDetection.h
+include/pal_detection_msgs/PersonDetections.h
+include/pal_detection_msgs/RecognizedActions.h
+include/pal_detection_msgs/Recognizer.h
+include/pal_detection_msgs/RecognizerRequest.h
+include/pal_detection_msgs/RecognizerResponse.h
+include/pal_detection_msgs/RotatedDetection2d.h
+include/pal_detection_msgs/SelectTexturedObject.h
+include/pal_detection_msgs/SelectTexturedObjectRequest.h
+include/pal_detection_msgs/SelectTexturedObjectResponse.h
+include/pal_detection_msgs/SetDatabase.h
+include/pal_detection_msgs/SetDatabaseRequest.h
+include/pal_detection_msgs/SetDatabaseResponse.h
+include/pal_detection_msgs/StartEnrollment.h
+include/pal_detection_msgs/StartEnrollmentRequest.h
+include/pal_detection_msgs/StartEnrollmentResponse.h
+include/pal_detection_msgs/StopEnrollment.h
+include/pal_detection_msgs/StopEnrollmentRequest.h
+include/pal_detection_msgs/StopEnrollmentResponse.h
+include/pal_detection_msgs/TexturedObjectDetection.h
+include/pal_detection_msgs/WaveDetection.h
+include/pal_device_msgs/BatteryState.h
+include/pal_device_msgs/Bumper.h
+include/pal_device_msgs/CancelEffect.h
+include/pal_device_msgs/CancelEffectRequest.h
+include/pal_device_msgs/CancelEffectResponse.h
+include/pal_device_msgs/LedGroup.h
+include/pal_device_msgs/TimedBlinkEffect.h
+include/pal_device_msgs/TimedBlinkEffectRequest.h
+include/pal_device_msgs/TimedBlinkEffectResponse.h
+include/pal_device_msgs/TimedColourEffect.h
+include/pal_device_msgs/TimedColourEffectRequest.h
+include/pal_device_msgs/TimedColourEffectResponse.h
+include/pal_device_msgs/TimedFadeEffect.h
+include/pal_device_msgs/TimedFadeEffectRequest.h
+include/pal_device_msgs/TimedFadeEffectResponse.h
+include/pal_interaction_msgs/ASRActivation.h
+include/pal_interaction_msgs/ASREvent.h
+include/pal_interaction_msgs/ASRFileAction.h
+include/pal_interaction_msgs/ASRFileActionFeedback.h
+include/pal_interaction_msgs/ASRFileActionGoal.h
+include/pal_interaction_msgs/ASRFileActionResult.h
+include/pal_interaction_msgs/ASRFileFeedback.h
+include/pal_interaction_msgs/ASRFileGoal.h
+include/pal_interaction_msgs/ASRFileResult.h
+include/pal_interaction_msgs/ASRLangModelMngmt.h
+include/pal_interaction_msgs/ASRLanguage.h
+include/pal_interaction_msgs/ASRService.h
+include/pal_interaction_msgs/ASRServiceRequest.h
+include/pal_interaction_msgs/ASRServiceResponse.h
+include/pal_interaction_msgs/ASRSrvRequest.h
+include/pal_interaction_msgs/ASRSrvResponse.h
+include/pal_interaction_msgs/ASRStatus.h
+include/pal_interaction_msgs/AudioDeviceDescription.h
+include/pal_interaction_msgs/AudioPlayerState.h
+include/pal_interaction_msgs/DirectionOfArrival.h
+include/pal_interaction_msgs/EnablingSoundLocalisation.h
+include/pal_interaction_msgs/I18nArgument.h
+include/pal_interaction_msgs/I18nText.h
+include/pal_interaction_msgs/SoundAction.h
+include/pal_interaction_msgs/SoundActionFeedback.h
+include/pal_interaction_msgs/SoundActionGoal.h
+include/pal_interaction_msgs/SoundActionResult.h
+include/pal_interaction_msgs/SoundFeedback.h
+include/pal_interaction_msgs/SoundGoal.h
+include/pal_interaction_msgs/SoundLocalisationService.h
+include/pal_interaction_msgs/SoundLocalisationServiceRequest.h
+include/pal_interaction_msgs/SoundLocalisationServiceResponse.h
+include/pal_interaction_msgs/SoundResult.h
+include/pal_interaction_msgs/TTSstate.h
+include/pal_interaction_msgs/TtsAction.h
+include/pal_interaction_msgs/TtsActionFeedback.h
+include/pal_interaction_msgs/TtsActionGoal.h
+include/pal_interaction_msgs/TtsActionResult.h
+include/pal_interaction_msgs/TtsFeedback.h
+include/pal_interaction_msgs/TtsGoal.h
+include/pal_interaction_msgs/TtsMark.h
+include/pal_interaction_msgs/TtsResult.h
+include/pal_interaction_msgs/TtsText.h
+include/pal_interaction_msgs/VoiceActivity.h
+include/pal_interaction_msgs/WebGuiEvent.h
+include/pal_interaction_msgs/actiontag.h
+include/pal_interaction_msgs/asrresult.h
+include/pal_interaction_msgs/asrupdate.h
+include/pal_interaction_msgs/audiosignal.h
+include/pal_interaction_msgs/recognizerService.h
+include/pal_interaction_msgs/recognizerServiceRequest.h
+include/pal_interaction_msgs/recognizerServiceResponse.h
+include/pal_motion_model_msgs/GetMotionMap.h
+include/pal_motion_model_msgs/GetMotionMapRequest.h
+include/pal_motion_model_msgs/GetMotionMapResponse.h
+include/pal_motion_model_msgs/MotionModel.h
+include/pal_motion_model_msgs/MotionModelList.h
+include/pal_motion_model_msgs/MotionModelMap.h
+include/pal_multirobot_msgs/WifiServiceDetection.h
+include/pal_navigation_msgs/Acknowledgment.h
+include/pal_navigation_msgs/AcknowledgmentRequest.h
+include/pal_navigation_msgs/AcknowledgmentResponse.h
+include/pal_navigation_msgs/AvailableMaps.h
+include/pal_navigation_msgs/ChangeBuilding.h
+include/pal_navigation_msgs/ChangeBuildingRequest.h
+include/pal_navigation_msgs/ChangeBuildingResponse.h
+include/pal_navigation_msgs/DisableEmergency.h
+include/pal_navigation_msgs/DisableEmergencyRequest.h
+include/pal_navigation_msgs/DisableEmergencyResponse.h
+include/pal_navigation_msgs/Emergency.h
+include/pal_navigation_msgs/EulerAngles.h
+include/pal_navigation_msgs/EulerAnglesStamped.h
+include/pal_navigation_msgs/FinalApproachPose.h
+include/pal_navigation_msgs/FinalApproachPoseRequest.h
+include/pal_navigation_msgs/FinalApproachPoseResponse.h
+include/pal_navigation_msgs/GetMapConfiguration.h
+include/pal_navigation_msgs/GetMapConfigurationRequest.h
+include/pal_navigation_msgs/GetMapConfigurationResponse.h
+include/pal_navigation_msgs/GetNodes.h
+include/pal_navigation_msgs/GetNodesRequest.h
+include/pal_navigation_msgs/GetNodesResponse.h
+include/pal_navigation_msgs/GetPOI.h
+include/pal_navigation_msgs/GetPOIRequest.h
+include/pal_navigation_msgs/GetPOIResponse.h
+include/pal_navigation_msgs/GetSubMap.h
+include/pal_navigation_msgs/GetSubMapRequest.h
+include/pal_navigation_msgs/GetSubMapResponse.h
+include/pal_navigation_msgs/GoToAction.h
+include/pal_navigation_msgs/GoToActionFeedback.h
+include/pal_navigation_msgs/GoToActionGoal.h
+include/pal_navigation_msgs/GoToActionResult.h
+include/pal_navigation_msgs/GoToFeedback.h
+include/pal_navigation_msgs/GoToGoal.h
+include/pal_navigation_msgs/GoToPOIAction.h
+include/pal_navigation_msgs/GoToPOIActionFeedback.h
+include/pal_navigation_msgs/GoToPOIActionGoal.h
+include/pal_navigation_msgs/GoToPOIActionResult.h
+include/pal_navigation_msgs/GoToPOIFeedback.h
+include/pal_navigation_msgs/GoToPOIGoal.h
+include/pal_navigation_msgs/GoToPOIResult.h
+include/pal_navigation_msgs/GoToResult.h
+include/pal_navigation_msgs/JoyPriorityAction.h
+include/pal_navigation_msgs/JoyPriorityActionFeedback.h
+include/pal_navigation_msgs/JoyPriorityActionGoal.h
+include/pal_navigation_msgs/JoyPriorityActionResult.h
+include/pal_navigation_msgs/JoyPriorityFeedback.h
+include/pal_navigation_msgs/JoyPriorityGoal.h
+include/pal_navigation_msgs/JoyPriorityResult.h
+include/pal_navigation_msgs/JoyTurboAction.h
+include/pal_navigation_msgs/JoyTurboActionFeedback.h
+include/pal_navigation_msgs/JoyTurboActionGoal.h
+include/pal_navigation_msgs/JoyTurboActionResult.h
+include/pal_navigation_msgs/JoyTurboFeedback.h
+include/pal_navigation_msgs/JoyTurboGoal.h
+include/pal_navigation_msgs/JoyTurboResult.h
+include/pal_navigation_msgs/MapConfiguration.h
+include/pal_navigation_msgs/NavigationStatus.h
+include/pal_navigation_msgs/NiceMapTransformation.h
+include/pal_navigation_msgs/POI.h
+include/pal_navigation_msgs/PolarReading.h
+include/pal_navigation_msgs/PolarReadingScan.h
+include/pal_navigation_msgs/SafetyZone.h
+include/pal_navigation_msgs/SafetyZoneRequest.h
+include/pal_navigation_msgs/SafetyZoneResponse.h
+include/pal_navigation_msgs/SaveMap.h
+include/pal_navigation_msgs/SaveMapRequest.h
+include/pal_navigation_msgs/SaveMapResponse.h
+include/pal_navigation_msgs/ServiceStatus.h
+include/pal_navigation_msgs/SetMapConfiguration.h
+include/pal_navigation_msgs/SetMapConfigurationRequest.h
+include/pal_navigation_msgs/SetMapConfigurationResponse.h
+include/pal_navigation_msgs/SetPOI.h
+include/pal_navigation_msgs/SetPOIRequest.h
+include/pal_navigation_msgs/SetPOIResponse.h
+include/pal_navigation_msgs/SetSubMapFloor.h
+include/pal_navigation_msgs/SetSubMapFloorRequest.h
+include/pal_navigation_msgs/SetSubMapFloorResponse.h
+include/pal_navigation_msgs/TabletPOI.h
+include/pal_navigation_msgs/VisualLocDB.h
+include/pal_navigation_msgs/VisualLocRecognize.h
+include/pal_navigation_msgs/VisualLocRecognizeRequest.h
+include/pal_navigation_msgs/VisualLocRecognizeResponse.h
+include/pal_navigation_msgs/VisualTrainingAction.h
+include/pal_navigation_msgs/VisualTrainingActionFeedback.h
+include/pal_navigation_msgs/VisualTrainingActionGoal.h
+include/pal_navigation_msgs/VisualTrainingActionResult.h
+include/pal_navigation_msgs/VisualTrainingFeedback.h
+include/pal_navigation_msgs/VisualTrainingGoal.h
+include/pal_navigation_msgs/VisualTrainingResult.h
+include/pal_tablet_msgs/FunctionalityStatus.h
+include/pal_tablet_msgs/RobotStatus.h
+include/pal_video_recording_msgs/StartRecording.h
+include/pal_video_recording_msgs/StartRecordingRequest.h
+include/pal_video_recording_msgs/StartRecordingResponse.h
+include/pal_video_recording_msgs/StopRecording.h
+include/pal_video_recording_msgs/StopRecordingRequest.h
+include/pal_video_recording_msgs/StopRecordingResponse.h
+include/pal_vision_msgs/DetectedObject.h
+include/pal_vision_msgs/DetectedPerson.h
+include/pal_vision_msgs/FaceDetection.h
+include/pal_vision_msgs/FaceDetections.h
+include/pal_vision_msgs/FaceRecognitionAction.h
+include/pal_vision_msgs/FaceRecognitionActionFeedback.h
+include/pal_vision_msgs/FaceRecognitionActionGoal.h
+include/pal_vision_msgs/FaceRecognitionActionResult.h
+include/pal_vision_msgs/FaceRecognitionFeedback.h
+include/pal_vision_msgs/FaceRecognitionGoal.h
+include/pal_vision_msgs/FaceRecognitionResult.h
+include/pal_vision_msgs/FaceTrackingStart.h
+include/pal_vision_msgs/FaceTrackingStartRequest.h
+include/pal_vision_msgs/FaceTrackingStartResponse.h
+include/pal_vision_msgs/FaceTrackingStop.h
+include/pal_vision_msgs/FaceTrackingStopRequest.h
+include/pal_vision_msgs/FaceTrackingStopResponse.h
+include/pal_vision_msgs/FollowMeResponse.h
+include/pal_vision_msgs/FollowMeStart.h
+include/pal_vision_msgs/FollowMeStartRequest.h
+include/pal_vision_msgs/FollowMeStartResponse.h
+include/pal_vision_msgs/FollowMeStop.h
+include/pal_vision_msgs/FollowMeStopRequest.h
+include/pal_vision_msgs/FollowMeStopResponse.h
+include/pal_vision_msgs/Gesture.h
+include/pal_vision_msgs/HeadPanTilt.h
+include/pal_vision_msgs/HogDetection.h
+include/pal_vision_msgs/HogDetections.h
+include/pal_vision_msgs/LegDetections.h
+include/pal_vision_msgs/LookToPixel.h
+include/pal_vision_msgs/LookToPixelRequest.h
+include/pal_vision_msgs/LookToPixelResponse.h
+include/pal_vision_msgs/Rectangle.h
+include/pal_visual_localization_msgs/VisualLocAddPlaceAction.h
+include/pal_visual_localization_msgs/VisualLocAddPlaceActionFeedback.h
+include/pal_visual_localization_msgs/VisualLocAddPlaceActionGoal.h
+include/pal_visual_localization_msgs/VisualLocAddPlaceActionResult.h
+include/pal_visual_localization_msgs/VisualLocAddPlaceFeedback.h
+include/pal_visual_localization_msgs/VisualLocAddPlaceGoal.h
+include/pal_visual_localization_msgs/VisualLocAddPlaceResult.h
+include/pal_visual_localization_msgs/VisualLocRecognizeAction.h
+include/pal_visual_localization_msgs/VisualLocRecognizeActionFeedback.h
+include/pal_visual_localization_msgs/VisualLocRecognizeActionGoal.h
+include/pal_visual_localization_msgs/VisualLocRecognizeActionResult.h
+include/pal_visual_localization_msgs/VisualLocRecognizeFeedback.h
+include/pal_visual_localization_msgs/VisualLocRecognizeGoal.h
+include/pal_visual_localization_msgs/VisualLocRecognizeResult.h
+include/pal_walking_msgs/WalkSteps.h
+include/pal_walking_msgs/WalkStepsRequest.h
+include/pal_walking_msgs/WalkStepsResponse.h
+include/pal_walking_msgs/WalkingStatus.h
+include/pal_walking_msgs/WalkingStep.h
+include/pal_web_msgs/WebGoTo.h
+include/pal_wifi_localization_msgs/GetWifiMap.h
+include/pal_wifi_localization_msgs/GetWifiMapRequest.h
+include/pal_wifi_localization_msgs/GetWifiMapResponse.h
+include/pal_wifi_localization_msgs/WifiSignal.h
+include/pal_wifi_localization_msgs/WifiSignalList.h
+include/pal_wifi_localization_msgs/WifiSignalMap.h
+lib/pkgconfig/pal_behaviour_msgs.pc
+lib/pkgconfig/pal_common_msgs.pc
+lib/pkgconfig/pal_control_msgs.pc
+lib/pkgconfig/pal_detection_msgs.pc
+lib/pkgconfig/pal_device_msgs.pc
+lib/pkgconfig/pal_interaction_msgs.pc
+lib/pkgconfig/pal_motion_model_msgs.pc
+lib/pkgconfig/pal_multirobot_msgs.pc
+lib/pkgconfig/pal_navigation_msgs.pc
+lib/pkgconfig/pal_tablet_msgs.pc
+lib/pkgconfig/pal_video_recording_msgs.pc
+lib/pkgconfig/pal_vision_msgs.pc
+lib/pkgconfig/pal_visual_localization_msgs.pc
+lib/pkgconfig/pal_walking_msgs.pc
+lib/pkgconfig/pal_web_msgs.pc
+lib/pkgconfig/pal_wifi_localization_msgs.pc
+${PYTHON_SITELIB}/pal_behaviour_msgs/__init__.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_BehaviourArgument.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_BehaviourTaskAction.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_BehaviourTaskActionFeedback.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_BehaviourTaskActionGoal.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_BehaviourTaskActionResult.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_BehaviourTaskFeedback.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_BehaviourTaskGoal.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_BehaviourTaskResult.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_PresentationAction.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_PresentationActionFeedback.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_PresentationActionGoal.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_PresentationActionResult.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_PresentationFeedback.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_PresentationGoal.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/_PresentationResult.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/msg/__init__.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/srv/_BehaviourEvent.py
+${PYTHON_SITELIB}/pal_behaviour_msgs/srv/__init__.py
+${PYTHON_SITELIB}/pal_common_msgs/__init__.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_DisableAction.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_DisableActionFeedback.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_DisableActionGoal.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_DisableActionResult.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_DisableFeedback.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_DisableGoal.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_DisableResult.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_EmptyAction.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_EmptyActionFeedback.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_EmptyActionGoal.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_EmptyActionResult.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_EmptyFeedback.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_EmptyGoal.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_EmptyResult.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/_JointCurrent.py
+${PYTHON_SITELIB}/pal_common_msgs/msg/__init__.py
+${PYTHON_SITELIB}/pal_control_msgs/__init__.py
+${PYTHON_SITELIB}/pal_control_msgs/msg/_ActuatorCurrentLimit.py
+${PYTHON_SITELIB}/pal_control_msgs/msg/_MotionManagerAction.py
+${PYTHON_SITELIB}/pal_control_msgs/msg/_MotionManagerActionFeedback.py
+${PYTHON_SITELIB}/pal_control_msgs/msg/_MotionManagerActionGoal.py
+${PYTHON_SITELIB}/pal_control_msgs/msg/_MotionManagerActionResult.py
+${PYTHON_SITELIB}/pal_control_msgs/msg/_MotionManagerFeedback.py
+${PYTHON_SITELIB}/pal_control_msgs/msg/_MotionManagerGoal.py
+${PYTHON_SITELIB}/pal_control_msgs/msg/_MotionManagerResult.py
+${PYTHON_SITELIB}/pal_control_msgs/msg/__init__.py
+${PYTHON_SITELIB}/pal_control_msgs/srv/_CurrentLimit.py
+${PYTHON_SITELIB}/pal_control_msgs/srv/__init__.py
+${PYTHON_SITELIB}/pal_detection_msgs/__init__.py
+${PYTHON_SITELIB}/pal_detection_msgs/msg/_Detection2d.py
+${PYTHON_SITELIB}/pal_detection_msgs/msg/_Detections2d.py
+${PYTHON_SITELIB}/pal_detection_msgs/msg/_FaceDetection.py
+${PYTHON_SITELIB}/pal_detection_msgs/msg/_FaceDetections.py
+${PYTHON_SITELIB}/pal_detection_msgs/msg/_LegDetections.py
+${PYTHON_SITELIB}/pal_detection_msgs/msg/_PersonDetection.py
+${PYTHON_SITELIB}/pal_detection_msgs/msg/_PersonDetections.py
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+share/pal_motion_model_msgs/msg/MotionModelList.msg
+share/pal_motion_model_msgs/msg/MotionModelMap.msg
+share/pal_motion_model_msgs/package.xml
+share/pal_motion_model_msgs/srv/GetMotionMap.srv
+share/pal_msgs/package.xml
+share/pal_multirobot_msgs/cmake/pal_multirobot_msgs-msg-extras.cmake
+share/pal_multirobot_msgs/cmake/pal_multirobot_msgs-msg-paths.cmake
+share/pal_multirobot_msgs/cmake/pal_multirobot_msgsConfig-version.cmake
+share/pal_multirobot_msgs/cmake/pal_multirobot_msgsConfig.cmake
+share/pal_multirobot_msgs/msg/WifiServiceDetection.msg
+share/pal_multirobot_msgs/package.xml
+share/pal_navigation_msgs/action/GoTo.action
+share/pal_navigation_msgs/action/GoToPOI.action
+share/pal_navigation_msgs/action/JoyPriority.action
+share/pal_navigation_msgs/action/JoyTurbo.action
+share/pal_navigation_msgs/action/VisualTraining.action
+share/pal_navigation_msgs/cmake/pal_navigation_msgs-msg-extras.cmake
+share/pal_navigation_msgs/cmake/pal_navigation_msgs-msg-paths.cmake
+share/pal_navigation_msgs/cmake/pal_navigation_msgsConfig-version.cmake
+share/pal_navigation_msgs/cmake/pal_navigation_msgsConfig.cmake
+share/pal_navigation_msgs/msg/AvailableMaps.msg
+share/pal_navigation_msgs/msg/Emergency.msg
+share/pal_navigation_msgs/msg/EulerAngles.msg
+share/pal_navigation_msgs/msg/EulerAnglesStamped.msg
+share/pal_navigation_msgs/msg/GoToAction.msg
+share/pal_navigation_msgs/msg/GoToActionFeedback.msg
+share/pal_navigation_msgs/msg/GoToActionGoal.msg
+share/pal_navigation_msgs/msg/GoToActionResult.msg
+share/pal_navigation_msgs/msg/GoToFeedback.msg
+share/pal_navigation_msgs/msg/GoToGoal.msg
+share/pal_navigation_msgs/msg/GoToPOIAction.msg
+share/pal_navigation_msgs/msg/GoToPOIActionFeedback.msg
+share/pal_navigation_msgs/msg/GoToPOIActionGoal.msg
+share/pal_navigation_msgs/msg/GoToPOIActionResult.msg
+share/pal_navigation_msgs/msg/GoToPOIFeedback.msg
+share/pal_navigation_msgs/msg/GoToPOIGoal.msg
+share/pal_navigation_msgs/msg/GoToPOIResult.msg
+share/pal_navigation_msgs/msg/GoToResult.msg
+share/pal_navigation_msgs/msg/JoyPriorityAction.msg
+share/pal_navigation_msgs/msg/JoyPriorityActionFeedback.msg
+share/pal_navigation_msgs/msg/JoyPriorityActionGoal.msg
+share/pal_navigation_msgs/msg/JoyPriorityActionResult.msg
+share/pal_navigation_msgs/msg/JoyPriorityFeedback.msg
+share/pal_navigation_msgs/msg/JoyPriorityGoal.msg
+share/pal_navigation_msgs/msg/JoyPriorityResult.msg
+share/pal_navigation_msgs/msg/JoyTurboAction.msg
+share/pal_navigation_msgs/msg/JoyTurboActionFeedback.msg
+share/pal_navigation_msgs/msg/JoyTurboActionGoal.msg
+share/pal_navigation_msgs/msg/JoyTurboActionResult.msg
+share/pal_navigation_msgs/msg/JoyTurboFeedback.msg
+share/pal_navigation_msgs/msg/JoyTurboGoal.msg
+share/pal_navigation_msgs/msg/JoyTurboResult.msg
+share/pal_navigation_msgs/msg/MapConfiguration.msg
+share/pal_navigation_msgs/msg/NavigationStatus.msg
+share/pal_navigation_msgs/msg/NiceMapTransformation.msg
+share/pal_navigation_msgs/msg/POI.msg
+share/pal_navigation_msgs/msg/PolarReading.msg
+share/pal_navigation_msgs/msg/PolarReadingScan.msg
+share/pal_navigation_msgs/msg/ServiceStatus.msg
+share/pal_navigation_msgs/msg/TabletPOI.msg
+share/pal_navigation_msgs/msg/VisualLocDB.msg
+share/pal_navigation_msgs/msg/VisualTrainingAction.msg
+share/pal_navigation_msgs/msg/VisualTrainingActionFeedback.msg
+share/pal_navigation_msgs/msg/VisualTrainingActionGoal.msg
+share/pal_navigation_msgs/msg/VisualTrainingActionResult.msg
+share/pal_navigation_msgs/msg/VisualTrainingFeedback.msg
+share/pal_navigation_msgs/msg/VisualTrainingGoal.msg
+share/pal_navigation_msgs/msg/VisualTrainingResult.msg
+share/pal_navigation_msgs/package.xml
+share/pal_navigation_msgs/srv/Acknowledgment.srv
+share/pal_navigation_msgs/srv/ChangeBuilding.srv
+share/pal_navigation_msgs/srv/DisableEmergency.srv
+share/pal_navigation_msgs/srv/FinalApproachPose.srv
+share/pal_navigation_msgs/srv/GetMapConfiguration.srv
+share/pal_navigation_msgs/srv/GetNodes.srv
+share/pal_navigation_msgs/srv/GetPOI.srv
+share/pal_navigation_msgs/srv/GetSubMap.srv
+share/pal_navigation_msgs/srv/SafetyZone.srv
+share/pal_navigation_msgs/srv/SaveMap.srv
+share/pal_navigation_msgs/srv/SetMapConfiguration.srv
+share/pal_navigation_msgs/srv/SetPOI.srv
+share/pal_navigation_msgs/srv/SetSubMapFloor.srv
+share/pal_navigation_msgs/srv/VisualLocRecognize.srv
+share/pal_tablet_msgs/cmake/pal_tablet_msgs-msg-extras.cmake
+share/pal_tablet_msgs/cmake/pal_tablet_msgs-msg-paths.cmake
+share/pal_tablet_msgs/cmake/pal_tablet_msgsConfig-version.cmake
+share/pal_tablet_msgs/cmake/pal_tablet_msgsConfig.cmake
+share/pal_tablet_msgs/msg/FunctionalityStatus.msg
+share/pal_tablet_msgs/msg/RobotStatus.msg
+share/pal_tablet_msgs/package.xml
+share/pal_video_recording_msgs/cmake/pal_video_recording_msgs-msg-extras.cmake
+share/pal_video_recording_msgs/cmake/pal_video_recording_msgs-msg-paths.cmake
+share/pal_video_recording_msgs/cmake/pal_video_recording_msgsConfig-version.cmake
+share/pal_video_recording_msgs/cmake/pal_video_recording_msgsConfig.cmake
+share/pal_video_recording_msgs/package.xml
+share/pal_video_recording_msgs/srv/StartRecording.srv
+share/pal_video_recording_msgs/srv/StopRecording.srv
+share/pal_vision_msgs/action/FaceRecognition.action
+share/pal_vision_msgs/cmake/pal_vision_msgs-msg-extras.cmake
+share/pal_vision_msgs/cmake/pal_vision_msgs-msg-paths.cmake
+share/pal_vision_msgs/cmake/pal_vision_msgsConfig-version.cmake
+share/pal_vision_msgs/cmake/pal_vision_msgsConfig.cmake
+share/pal_vision_msgs/msg/DetectedObject.msg
+share/pal_vision_msgs/msg/DetectedPerson.msg
+share/pal_vision_msgs/msg/FaceDetection.msg
+share/pal_vision_msgs/msg/FaceDetections.msg
+share/pal_vision_msgs/msg/FaceRecognitionAction.msg
+share/pal_vision_msgs/msg/FaceRecognitionActionFeedback.msg
+share/pal_vision_msgs/msg/FaceRecognitionActionGoal.msg
+share/pal_vision_msgs/msg/FaceRecognitionActionResult.msg
+share/pal_vision_msgs/msg/FaceRecognitionFeedback.msg
+share/pal_vision_msgs/msg/FaceRecognitionGoal.msg
+share/pal_vision_msgs/msg/FaceRecognitionResult.msg
+share/pal_vision_msgs/msg/FollowMeResponse.msg
+share/pal_vision_msgs/msg/Gesture.msg
+share/pal_vision_msgs/msg/HeadPanTilt.msg
+share/pal_vision_msgs/msg/HogDetection.msg
+share/pal_vision_msgs/msg/HogDetections.msg
+share/pal_vision_msgs/msg/LegDetections.msg
+share/pal_vision_msgs/msg/Rectangle.msg
+share/pal_vision_msgs/package.xml
+share/pal_vision_msgs/srv/FaceTrackingStart.srv
+share/pal_vision_msgs/srv/FaceTrackingStop.srv
+share/pal_vision_msgs/srv/FollowMeStart.srv
+share/pal_vision_msgs/srv/FollowMeStop.srv
+share/pal_vision_msgs/srv/LookToPixel.srv
+share/pal_visual_localization_msgs/action/VisualLocAddPlace.action
+share/pal_visual_localization_msgs/action/VisualLocRecognize.action
+share/pal_visual_localization_msgs/cmake/pal_visual_localization_msgs-msg-extras.cmake
+share/pal_visual_localization_msgs/cmake/pal_visual_localization_msgs-msg-paths.cmake
+share/pal_visual_localization_msgs/cmake/pal_visual_localization_msgsConfig-version.cmake
+share/pal_visual_localization_msgs/cmake/pal_visual_localization_msgsConfig.cmake
+share/pal_visual_localization_msgs/msg/VisualLocAddPlaceAction.msg
+share/pal_visual_localization_msgs/msg/VisualLocAddPlaceActionFeedback.msg
+share/pal_visual_localization_msgs/msg/VisualLocAddPlaceActionGoal.msg
+share/pal_visual_localization_msgs/msg/VisualLocAddPlaceActionResult.msg
+share/pal_visual_localization_msgs/msg/VisualLocAddPlaceFeedback.msg
+share/pal_visual_localization_msgs/msg/VisualLocAddPlaceGoal.msg
+share/pal_visual_localization_msgs/msg/VisualLocAddPlaceResult.msg
+share/pal_visual_localization_msgs/msg/VisualLocRecognizeAction.msg
+share/pal_visual_localization_msgs/msg/VisualLocRecognizeActionFeedback.msg
+share/pal_visual_localization_msgs/msg/VisualLocRecognizeActionGoal.msg
+share/pal_visual_localization_msgs/msg/VisualLocRecognizeActionResult.msg
+share/pal_visual_localization_msgs/msg/VisualLocRecognizeFeedback.msg
+share/pal_visual_localization_msgs/msg/VisualLocRecognizeGoal.msg
+share/pal_visual_localization_msgs/msg/VisualLocRecognizeResult.msg
+share/pal_visual_localization_msgs/package.xml
+share/pal_walking_msgs/cmake/pal_walking_msgs-msg-extras.cmake
+share/pal_walking_msgs/cmake/pal_walking_msgs-msg-paths.cmake
+share/pal_walking_msgs/cmake/pal_walking_msgsConfig-version.cmake
+share/pal_walking_msgs/cmake/pal_walking_msgsConfig.cmake
+share/pal_walking_msgs/msg/WalkingStatus.msg
+share/pal_walking_msgs/msg/WalkingStep.msg
+share/pal_walking_msgs/package.xml
+share/pal_walking_msgs/srv/WalkSteps.srv
+share/pal_web_msgs/cmake/pal_web_msgs-msg-extras.cmake
+share/pal_web_msgs/cmake/pal_web_msgs-msg-paths.cmake
+share/pal_web_msgs/cmake/pal_web_msgsConfig-version.cmake
+share/pal_web_msgs/cmake/pal_web_msgsConfig.cmake
+share/pal_web_msgs/msg/WebGoTo.msg
+share/pal_web_msgs/package.xml
+share/pal_wifi_localization_msgs/cmake/pal_wifi_localization_msgs-msg-extras.cmake
+share/pal_wifi_localization_msgs/cmake/pal_wifi_localization_msgs-msg-paths.cmake
+share/pal_wifi_localization_msgs/cmake/pal_wifi_localization_msgsConfig-version.cmake
+share/pal_wifi_localization_msgs/cmake/pal_wifi_localization_msgsConfig.cmake
+share/pal_wifi_localization_msgs/msg/WifiSignal.msg
+share/pal_wifi_localization_msgs/msg/WifiSignalList.msg
+share/pal_wifi_localization_msgs/msg/WifiSignalMap.msg
+share/pal_wifi_localization_msgs/package.xml
+share/pal_wifi_localization_msgs/srv/GetWifiMap.srv
diff --git a/pal-msgs/depend.mk b/pal-msgs/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..1812c8cf47fa803fc0f5931cd8e0f9846775928c
--- /dev/null
+++ b/pal-msgs/depend.mk
@@ -0,0 +1,29 @@
+# robotpkg depend.mk for:	wip/pal-msgs
+# Created:			Olivier Stasse on Sun, 18 Jun 2017
+#
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
+PAL_MSGS_DEPEND_MK:=	${PAL_MSGS_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=			pal-msgs
+endif
+
+ifeq (+,$(PAL_MSGS_DEPEND_MK)) # ---------------------------------
+
+PREFER.pal-msgs?=	robotpkg
+
+DEPEND_USE+=			pal-msgs
+
+DEPEND_ABI.pal-msgs?=\
+	pal-msgs>=0.11.3
+DEPEND_DIR.pal-msgs?=\
+	../../wip/pal-msgs
+
+SYSTEM_SEARCH.pal-msgs=\
+  'include/pal_behaviour_msgs/BehaviourArgument.h'	\
+  'share/pal_behaviour_msgs/package.xml:/<version>/s/[^0-9.]//gp'
+
+endif # PAL_MSGS_DEPEND_MK ---------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/pal-msgs/distinfo b/pal-msgs/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..cb7c356fbdb5f41f13cfa5afb7ab841f864b0227
--- /dev/null
+++ b/pal-msgs/distinfo
@@ -0,0 +1,3 @@
+SHA1 (pal_msgs-0.11.3.tar.gz) = c06f360927356d4f027aa4aff1c0d8d7ca843879
+RMD160 (pal_msgs-0.11.3.tar.gz) = 49a353edba369317c6788b776f1ba8b41d2da82d
+Size (pal_msgs-0.11.3.tar.gz) = 24402 bytes