diff --git a/srdfdom/DESCR b/srdfdom/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..683c7300edcfa4169a12d1c50841ec4fb3a7f391
--- /dev/null
+++ b/srdfdom/DESCR
@@ -0,0 +1 @@
+Parser for the Semantic Robot Description Format (SRDF).
diff --git a/srdfdom/Makefile b/srdfdom/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..564595ac54c9997f0b077b4237fbfaf8e1c3029e
--- /dev/null
+++ b/srdfdom/Makefile
@@ -0,0 +1,22 @@
+# robotpkg Makefile for:	wip/srdfdom
+# Created:			Guilhem Saurel on Wed, 20 Dec 2018
+#
+
+ROS_PKG=		srdfdom
+ROS_VERSION=	0.5.1
+ROS_REPO=		ros-planning
+
+PKGNAME=		$(subst _,-,${ROS_PKG})-${ROS_VERSION}
+
+CATEGORIES=		wip
+ROS_COMMENT=	srdf parser
+
+include ../../meta-pkgs/ros-base/Makefile.common
+
+include ../../devel/ros-cmake-modules/depend.mk
+include ../../graphics/urdfdom/depend.mk
+include ../../wip/py-urdf-parser/depend.mk
+
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/sysdep/python.mk
+include ../../mk/robotpkg.mk
diff --git a/srdfdom/PLIST b/srdfdom/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..e2c6ac66b68b4298cb32de1f2381e65264c3240a
--- /dev/null
+++ b/srdfdom/PLIST
@@ -0,0 +1,12 @@
+@comment Thu Dec 20 11:01:52 CET 2018
+include/srdfdom/model.h
+include/srdfdom/srdf_writer.h
+lib/libsrdfdom.so
+lib/pkgconfig/srdfdom.pc
+${PYTHON_SITELIB}/${PKGNAME}-py${PYTHON_VERSION}.egg-info
+${PYTHON_SITELIB}/srdfdom/__init__.py
+${PYTHON_SITELIB}/srdfdom/srdf.py
+lib/srdfdom/display_srdf
+share/srdfdom/cmake/srdfdomConfig-version.cmake
+share/srdfdom/cmake/srdfdomConfig.cmake
+share/srdfdom/package.xml
diff --git a/srdfdom/depend.mk b/srdfdom/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..c6b6b6e9148d37a9e4f4e77b70b32d95ffc0a35d
--- /dev/null
+++ b/srdfdom/depend.mk
@@ -0,0 +1,29 @@
+# robotpkg depend.mk for:	wip/srdfdom
+# Created:			Guilhem Saurel on Fri, 19 Oct 2018
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+SRDFDOM_DEPEND_MK:=	${SRDFDOM_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		srdfdom
+endif
+
+ifeq (+,$(SRDFDOM_DEPEND_MK)) # --------------------------------------
+
+PREFER.srdfdom?=	robotpkg
+
+DEPEND_USE+=		srdfdom
+
+DEPEND_ABI.srdfdom?=	srdfdom>=0.5.1
+DEPEND_DIR.srdfdom?=	../../wip/srdfdom
+
+SYSTEM_SEARCH.srdfdom=\
+	include/srdfdom/model.h	\
+	'lib/pkgconfig/srdfdom.pc:/Version/s/[^0-9.]//gp'
+
+CMAKE_PREFIX_PATH.srdfdom=  ${PREFIX.srdfdom}
+
+endif # SRDFDOM_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/srdfdom/distinfo b/srdfdom/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..2e850c79f395fd90f7298408b03cbe251b03ccc2
--- /dev/null
+++ b/srdfdom/distinfo
@@ -0,0 +1,3 @@
+SHA1 (ros/srdfdom/0.5.1.tar.gz) = 4a5691b12719a654cf7e8f1e284726e285459f60
+RMD160 (ros/srdfdom/0.5.1.tar.gz) = fed5937d6f64f1b1b313f21b91d85eaa42f59ffb
+Size (ros/srdfdom/0.5.1.tar.gz) = 33552 bytes