diff --git a/dynamic-graph-bridge/Makefile b/dynamic-graph-bridge/Makefile
index 93bf966936db712eb8984a0301f1a3bf93346262..5b026829eb97964b96be1be150e3658cadb91ad5 100755
--- a/dynamic-graph-bridge/Makefile
+++ b/dynamic-graph-bridge/Makefile
@@ -1,7 +1,7 @@
 # robotpkg Makefile for:	motion/dynamic-graph-bridge
 #
 
-VERSION=		2.0.1
+VERSION=		2.0.2
 DISTNAME=		dynamic_graph_bridge-${VERSION}
 PKGNAME=		dynamic-graph-bridge-${VERSION}
 
diff --git a/dynamic-graph-bridge/PLIST b/dynamic-graph-bridge/PLIST
index dad21a4c0bc402810376dc796a0a863c60e1d301..415498a0fc7dfbc2647a8718e1ad755f3c0a3394 100644
--- a/dynamic-graph-bridge/PLIST
+++ b/dynamic-graph-bridge/PLIST
@@ -5,9 +5,6 @@ include/dynamic_graph_bridge/deprecated.hh
 include/dynamic_graph_bridge/ros_init.hh
 include/dynamic_graph_bridge/ros_interpreter.hh
 include/dynamic_graph_bridge/warning.hh
-lib/dynamic_graph_bridge/robot_pose_publisher
-lib/dynamic_graph_bridge/run_command
-lib/dynamic_graph_bridge/tf_publisher
 lib/librobot_model.so
 lib/libros_bridge.so
 lib/libros_interpreter.so
@@ -34,3 +31,5 @@ share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig-version.cmake
 share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig.cmake
 share/dynamic_graph_bridge/package.xml
 share/dynamic_graph_bridge/run_command
+share/dynamic_graph_bridge/robot_pose_publisher
+share/dynamic_graph_bridge/geometric_simu
diff --git a/dynamic-graph-bridge/distinfo b/dynamic-graph-bridge/distinfo
index 1ae1526c4b3ca336b287b38e976796361c274bf5..9a3438c7f2775ebff37f53d2774834611b71a61f 100644
--- a/dynamic-graph-bridge/distinfo
+++ b/dynamic-graph-bridge/distinfo
@@ -1,6 +1,3 @@
-SHA1 (dynamic_graph_bridge-2.0.1.tar.gz) = 494a90b6cfe389578f9c5ae6e14d9c5e7c77d7ae
-RMD160 (dynamic_graph_bridge-2.0.1.tar.gz) = 5a525c83c6a5ae05eadf1b7450bfdf2d2e482d66
-Size (dynamic_graph_bridge-2.0.1.tar.gz) = 752704 bytes
-SHA1 (patch-aa) = a8378c7f6f80aa1d3f3ab4f59d54f6cff65c4d5f
-SHA1 (patch-ac) = e22fbd7cfd2deb1698f6204b4718f7e39c0883e1
-SHA1 (patch-ad) = e824aa27467ef11cb0a75223c984f46899c82cab
+SHA1 (dynamic_graph_bridge-2.0.2.tar.gz) = c0fdf29e0789bd77a1716327e1873b8de63cf8ac
+RMD160 (dynamic_graph_bridge-2.0.2.tar.gz) = 1c4ba62f69ed9d4da083e1e446b9bfd7dec823d7
+Size (dynamic_graph_bridge-2.0.2.tar.gz) = 752715 bytes