diff --git a/py-prf-ros-control/Makefile b/py-prf-ros-control/Makefile
index 45dc9fec5397d7f5cc76d91f868e9900123e5f92..aba57029679a2b66730c8e0393b89085496675ab 100644
--- a/py-prf-ros-control/Makefile
+++ b/py-prf-ros-control/Makefile
@@ -4,27 +4,28 @@
ORG= pal-robotics-forks
VERSION= 0.2.8
-PRFNAME= ros-control
-PKGBASE= prf-${PRFNAME}
-PKGNAME= ${PKGTAG.python-}${PKGBASE}-${VERSION}
-DISTNAME= ${VERSION}
-ROSNAME= $(subst -,_,${PRFNAME})
+NAME= ros-control
+PKGREVISION= 2
+
+PRFNAME= prf-${NAME}
+ROSNAME= $(subst -,_,${NAME})
+
+PKGNAME= ${PKGTAG.python-}${PRFNAME}-${VERSION}
WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
-DIST_SUBDIR= ${PKGBASE}
-PKGREVISION= 1
+DISTNAME= ${VERSION}
+DIST_SUBDIR= ${PRFNAME}
-# old package name and other Python versions
-CONFLICTS= ${PKGBBASE}-[0-9]*
-CONFLICTS+= py[0-9][0-9]-${PKGBBASE}-[0-9]*
-CONFLICTS+= ros-control-[0-9]*
+# old package name, other Python versions, and forked package.
+CONFLICTS= ${PRFNAME}-[0-9]*
+CONFLICTS+= py[0-9][0-9]-${PRFNAME}-[0-9]*
+CONFLICTS+= ${NAME}-[0-9]*
CATEGORIES= wip
MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
-CHECKOUT_VCS_OPTS+= --recursive
-
HOMEPAGE= ${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
MASTER_SITES= ${HOMEPAGE}/archive/
+
COMMENT= ros_control package with torque sensors
LICENSE= 2-clause-bsd
diff --git a/py-prf-ros-control/distinfo b/py-prf-ros-control/distinfo
index b69d22637b5c1195cbed264ae9999bc924f72d44..ba654a359bc2068e37181f60778329b74fee64b2 100644
--- a/py-prf-ros-control/distinfo
+++ b/py-prf-ros-control/distinfo
@@ -1,3 +1,4 @@
SHA1 (prf-ros-control/0.2.8.tar.gz) = 9f233c0697c49e55617ceb3d80826ccfb66ec4a1
RMD160 (prf-ros-control/0.2.8.tar.gz) = b724b3753612cdeab07d4cde3eda277be78603a9
Size (prf-ros-control/0.2.8.tar.gz) = 661320 bytes
+SHA1 (patch-aa) = 8a31a5cb213f1e2049b71d425b5cb33b19a5fc12
diff --git a/py-prf-ros-control/patches/patch-aa b/py-prf-ros-control/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..498f25c63fe53465ee51adfa16e7a1dd23df4fd9
--- /dev/null
+++ b/py-prf-ros-control/patches/patch-aa
@@ -0,0 +1,108 @@
+fix syntax for python 3
+
+--- controller_manager/src/controller_manager/controller_manager_interface.py.orig 2019-09-06 13:44:16.000000000 +0200
++++ controller_manager/src/controller_manager/controller_manager_interface.py 2020-03-25 12:44:32.135519217 +0100
+@@ -1,6 +1,8 @@
+ #! /usr/bin/env python
+ # Wrappers around the services provided by MechanismControlNode
+
++from __future__ import print_function
++
+ import roslib; roslib.load_manifest('controller_manager')
+
+ import sys
+@@ -13,7 +15,7 @@
+ s = rospy.ServiceProxy('controller_manager/list_controller_types', ListControllerTypes)
+ resp = s.call(ListControllerTypesRequest())
+ for t in resp.types:
+- print t
++ print(t)
+
+ def reload_libraries(force_kill, restore = False):
+ rospy.wait_for_service('controller_manager/reload_controller_libraries')
+@@ -23,16 +25,16 @@
+ load_srv = rospy.ServiceProxy('controller_manager/load_controller', LoadController)
+ switch_srv = rospy.ServiceProxy('controller_manager/switch_controller', SwitchController)
+
+- print "Restore:", restore
++ print("Restore:", restore)
+ if restore:
+ originally = list_srv.call(ListControllersRequest())
+
+ resp = s.call(ReloadControllerLibrariesRequest(force_kill))
+ if resp.ok:
+- print "Successfully reloaded libraries"
++ print("Successfully reloaded libraries")
+ result = True
+ else:
+- print "Failed to reload libraries. Do you still have controllers loaded?"
++ print("Failed to reload libraries. Do you still have controllers loaded?")
+ result = False
+
+ if restore:
+@@ -45,7 +47,7 @@
+ switch_srv(start_controllers = to_start,
+ stop_controllers = [],
+ strictness = SwitchControllerRequest.BEST_EFFORT)
+- print "Controllers restored to original state"
++ print("Controllers restored to original state")
+ return result
+
+
+@@ -54,10 +56,10 @@
+ s = rospy.ServiceProxy('controller_manager/list_controllers', ListControllers)
+ resp = s.call(ListControllersRequest())
+ if len(resp.controller) == 0:
+- print "No controllers are loaded in mechanism control"
++ print("No controllers are loaded in mechanism control")
+ else:
+ for c in resp.controller:
+- print '%s - %s ( %s )'%(c.name, c.hardware_interface, c.state)
++ print('%s - %s ( %s )'%(c.name, c.hardware_interface, c.state))
+
+
+ def load_controller(name):
+@@ -65,10 +67,10 @@
+ s = rospy.ServiceProxy('controller_manager/load_controller', LoadController)
+ resp = s.call(LoadControllerRequest(name))
+ if resp.ok:
+- print "Loaded", name
++ print("Loaded", name)
+ return True
+ else:
+- print "Error when loading", name
++ print("Error when loading", name)
+ return False
+
+ def unload_controller(name):
+@@ -76,10 +78,10 @@
+ s = rospy.ServiceProxy('controller_manager/unload_controller', UnloadController)
+ resp = s.call(UnloadControllerRequest(name))
+ if resp.ok == 1:
+- print "Unloaded %s successfully" % name
++ print("Unloaded %s successfully" % name)
+ return True
+ else:
+- print "Error when unloading", name
++ print("Error when unloading", name)
+ return False
+
+ def start_controller(name):
+@@ -107,13 +109,13 @@
+ resp = s.call(SwitchControllerRequest(start, stop, strictness))
+ if resp.ok == 1:
+ if st:
+- print "Started %s successfully" % names
++ print("Started %s successfully" % names)
+ else:
+- print "Stopped %s successfully" % names
++ print("Stopped %s successfully" % names)
+ return True
+ else:
+ if st:
+- print "Error when starting ", names
++ print("Error when starting ", names)
+ else:
+- print "Error when stopping ", names
++ print("Error when stopping ", names)
+ return False