diff --git a/libmove3d-hri/Makefile b/libmove3d-hri/Makefile
index b96efe3c2b290b50d7651a11b74c1a64f0ca6687..db163c94886a22d445c270378c381d19b177bf1e 100644
--- a/libmove3d-hri/Makefile
+++ b/libmove3d-hri/Makefile
@@ -16,11 +16,15 @@ LICENSE=			gnu-gpl-v2
 
 USE_LANGUAGES+=		c c++
 
+CMAKE_ARGS+=		-DBOOST_INCLUDEDIR=${PREFIX.boost-headers}/include
+
 PKG_SUPPORTED_OPTIONS+=	mightability_maps
 PKG_OPTION_DESCR.mightability_maps = Compile with mightability maps support
 PKG_OPTION_SET.mightability_maps:= CMAKE_ARGS+= -DUSE_MIGHTABILITY_MAPS=ON
 
 ## Dependencies 
+include ../../devel/boost-headers/depend.mk
+
 include ../../wip/libmove3d/depend.mk
 include ../../mk/sysdep/gsl.mk
 
diff --git a/libmove3d-hri/PLIST b/libmove3d-hri/PLIST
index cd617c116b34dca6b2e5e0c35b86df0135bfe5be..ab1c4e2463ceb018a6b0c18fddd7abec053a2918 100644
--- a/libmove3d-hri/PLIST
+++ b/libmove3d-hri/PLIST
@@ -1,4 +1,4 @@
-@comment Tue Nov 8 10:33:09 CET 2011
+@comment Sat Mar 3 11:51:23 CET 2012
 include/libmove3d/hri/Agent_State_Analysis.h
 include/libmove3d/hri/Agent_State_Analysis_proto.h
 include/libmove3d/hri/HRI_tasks.h
@@ -20,6 +20,8 @@ include/libmove3d/hri/hri_knowledge.h
 include/libmove3d/hri/hri_knowledge_proto.h
 include/libmove3d/hri/hri_manip.h
 include/libmove3d/hri/hri_manip_proto.h
+include/libmove3d/hri/hri_monitoring.h
+include/libmove3d/hri/hri_monitoring_proto.h
 include/libmove3d/hri/hri_planner_proto.h
 include/libmove3d/hri/hri_visibility_proto.h
 include/libmove3d/hri/hrp2_gik.h
diff --git a/libmove3d-hri/distinfo b/libmove3d-hri/distinfo
index 20199ac9b3a343178b6a54df7357e98cf908d257..f8cc49427ebe5bd3f399378ad760e042008ad894 100644
--- a/libmove3d-hri/distinfo
+++ b/libmove3d-hri/distinfo
@@ -1,3 +1,4 @@
 SHA1 (libmove3d-hri-2.1.tar.gz) = ed0d7250641fcb425639f047acc69316e46a782c
 RMD160 (libmove3d-hri-2.1.tar.gz) = 69b3b3268db8ab75a9f8cba42295560eba081ba6
 Size (libmove3d-hri-2.1.tar.gz) = 1999396 bytes
+SHA1 (patch-aa) = a35aa3614b44939a5a01f651ea8eebc31312b077
diff --git a/libmove3d-hri/patches/patch-aa b/libmove3d-hri/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..9aa16540d0402f444d0368b2493b179efa9b0017
--- /dev/null
+++ b/libmove3d-hri/patches/patch-aa
@@ -0,0 +1,12 @@
+--- CMakeLists.txt.orig	2012-03-03 11:48:58.794178785 +0100
++++ CMakeLists.txt	2012-03-03 11:50:04.842177129 +0100
+@@ -75,6 +75,9 @@
+ SET(INCLUDE_DIRS ${INCLUDE_DIRS} ${OPENGL_INCLUDE_DIR})
+ SET(LIBS ${LIBS} ${OPENGL_LIBRARIES})
+ 
++find_package(Boost REQUIRED)
++include_directories(${Boost_INCLUDE_DIRS})
++
+ ########################################
+ ##          Documentation             ##
+ ########################################