diff --git a/Makefile b/Makefile
index 9dfa20bc41226127487bbe5e1c76f5800b05a2b8..a1f665ae16ddb3d64834d020301030f12f0ad8af 100644
--- a/Makefile
+++ b/Makefile
@@ -103,6 +103,7 @@ SUBDIR+= sot-pattern-generator-v3
SUBDIR+= sot-romeo-v3
SUBDIR+= soth
SUBDIR+= spark-genom
+SUBDIR+= talos-ros-control
SUBDIR+= track-target-genom
SUBDIR+= urg
SUBDIR+= vnet-yarp
diff --git a/talos-ros-control/DESCR b/talos-ros-control/DESCR
index 6edce2d5beaee0cd8d9f9cbe8057506ad3e04df2..5b6f8c66d8ca2f27d807531b9fe20551d7e89593 100644
--- a/talos-ros-control/DESCR
+++ b/talos-ros-control/DESCR
@@ -1,2 +1 @@
ros_control specifically targeted for TALOS (0.2.4)
-This is a ros metapackage
\ No newline at end of file
diff --git a/talos-ros-control/Makefile b/talos-ros-control/Makefile
index 888e78c29001daf375641b72d184b9b2f317a73b..1ba26c1922ce2c1fffebaca70cefb08b7906f0fd 100644
--- a/talos-ros-control/Makefile
+++ b/talos-ros-control/Makefile
@@ -1,31 +1,37 @@
-# robotpkg Makefile for: wip/talos_ros_control
+# robotpkg Makefile for: wip/talos-ros-control
# Created: Olivier Stasse on Wed, 29 Mar 2017
#
-ROS_PKG= talos_ros_control
-ROS_VERSION= 0.2.4
-ROS_METAPKG= yes
+VERSION= 0.2.4
+PKGNAME= talos-ros-control-${VERSION}
+DISTNAME= $(subst -,_,${PKGBASE})-${VERSION}
CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_JRL}talos/talos_ros_control/talos_ros_control-
-ROS_COMMENT= ros_control package with torque sensors
+MASTER_SITES= ${MASTER_SITE_JRL:=talos/talos_ros_control/}
+COMMENT= ros_control package with torque sensors
LICENSE= openhrp-grx-license
-include ../../meta-pkgs/ros-base/Makefile.common
-
-SUBST_CLASSES+= py-interp
-SUBST_FILES.py-interp+= src/actionlib/*.py
-SUBST_FILES.py-interp+= test/*.py
-SUBST_FILES.py-interp+= tools/*.py
+RESTRICTED= Redistribution of repackaged binaries not permitted
+NO_PUBLIC_SRC= ${RESTRICTED}
+NO_PUBLIC_BIN= ${RESTRICTED}
+ROS_METAPKG= yes
USE_BOOST_LIBS= thread
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../devel/ros-catkin/depend.mk
+include ../../devel/ros-pluginlib/depend.mk
+include ../../devel/ros-ros/depend.mk
+include ../../graphics/ros-robot-model/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 ../../mk/language/c++.mk
+include ../../mk/language/c.mk
include ../../mk/robotpkg.mk
diff --git a/talos-ros-control/PLIST b/talos-ros-control/PLIST
index ed5b2d0da3f962b3ba24a802a84f6e4b359bc157..aacc32695feebf5b6b969b253362fc159d6c6022 100644
--- a/talos-ros-control/PLIST
+++ b/talos-ros-control/PLIST
@@ -1,3 +1,4 @@
+@comment Fri Mar 31 14:47:34 CEST 2017
include/controller_interface/controller.h
include/controller_interface/controller_base.h
include/controller_manager/controller_loader.h
@@ -151,6 +152,12 @@ share/controller_manager_tests/cmake/controller_manager_testsConfig-version.cmak
share/controller_manager_tests/cmake/controller_manager_testsConfig.cmake
share/controller_manager_tests/package.xml
share/controller_manager_tests/test_controllers_plugin.xml
+share/hardware_interface/cmake/hardware_interfaceConfig-version.cmake
+share/hardware_interface/cmake/hardware_interfaceConfig.cmake
+share/hardware_interface/package.xml
+share/joint_limits_interface/cmake/joint_limits_interfaceConfig-version.cmake
+share/joint_limits_interface/cmake/joint_limits_interfaceConfig.cmake
+share/joint_limits_interface/package.xml
share/ros_control/package.xml
share/rqt_controller_manager/cmake/rqt_controller_managerConfig-version.cmake
share/rqt_controller_manager/cmake/rqt_controller_managerConfig.cmake
diff --git a/talos-ros-control/depend.mk b/talos-ros-control/depend.mk
index ffe3c5946fa773ceb8fe2eb5d8a141a8afbfa36c..5b6eb7345cd4aece92eea7eb388316d424f21c6a 100644
--- a/talos-ros-control/depend.mk
+++ b/talos-ros-control/depend.mk
@@ -1,32 +1,29 @@
-# robotpkg depend.mk for: wip/talos_ros_control
+# robotpkg depend.mk for: wip/talos-ros-control
# Created: Olivier Stasse on Wed, 29 Mar 2017
#
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
TALOS_ROS_CONTROL_DEPEND_MK:= ${TALOS_ROS_CONTROL_DEPEND_MK}+
ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= talos-ros-control
+DEPEND_PKG+= talos-ros-control
endif
-ifeq (+,$(TALOS_ROS_CONTROL_DEPEND_MK)) # -------------------------------------------
+ifeq (+,$(TALOS_ROS_CONTROL_DEPEND_MK)) # ----------------------------------
-include ../../meta-pkgs/ros-base/depend.common
-PREFER.talos_ros_control?= ${PREFER.ros-base}
-SYSTEM_PREFIX.talos_ros_control?=${SYSTEM_PREFIX.ros-base}
+PREFER.talos-ros-control?= robotpkg
-DEPEND_USE+= talos_ros_control
-ROS_DEPEND_USE+= talos_ros_control
+DEPEND_USE+= talos-ros-control
-DEPEND_ABI.talos_ros_control?= ros-talos-ros-control>=0.2
-DEPEND_DIR.talos_ros_control?= ../../wip/talos-ros-control
+DEPEND_ABI.talos-ros-control?= talos-ros-control>=0.2
+DEPEND_DIR.talos-ros-control?= ../../wip/talos-ros-control
-SYSTEM_SEARCH.talos_ros_control=\
- include/controller_manager/controller_loader.h \
- lib/libcontroller_manager.so \
- 'share/ros_control/package.xml:/<version>/s/[^0-9.]//gp' \
- 'lib/pkgconfig/controller_interface.pc:/Version/s/[^0-9.]//gp'
+SYSTEM_SEARCH.talos-ros-control=\
+ 'include/controller_manager/controller_loader.h' \
+ 'lib/libcontroller_manager.so' \
+ 'share/ros_control/package.xml:/<version>/s/[^0-9.]//gp' \
+ 'lib/pkgconfig/controller_interface.pc:/Version/s/[^0-9.]//gp'
-endif # TALOS_ROS_CONTROL_DEPEND_MK -------------------------------------------------
+endif # TALOS_ROS_CONTROL_DEPEND_MK ----------------------------------------
DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/talos-ros-control/distinfo b/talos-ros-control/distinfo
index 9c8485bc56936e437b4c338d0656e352b9e17d37..c81f30e5f63eb31d9cde730b64b9469ad0cfd034 100644
--- a/talos-ros-control/distinfo
+++ b/talos-ros-control/distinfo
@@ -1,3 +1,3 @@
-SHA1 (ros/talos_ros_control/0.2.4.tar.gz) = 8d23767233e71ec14061bbddcc4fc744a5745a59
-RMD160 (ros/talos_ros_control/0.2.4.tar.gz) = 5447e0972c4e22a3cf5d8fdc49582755233dcc4d
-Size (ros/talos_ros_control/0.2.4.tar.gz) = 586100 bytes
+SHA1 (talos_ros_control-0.2.4.tar.gz) = 8d23767233e71ec14061bbddcc4fc744a5745a59
+RMD160 (talos_ros_control-0.2.4.tar.gz) = 5447e0972c4e22a3cf5d8fdc49582755233dcc4d
+Size (talos_ros_control-0.2.4.tar.gz) = 586100 bytes