diff --git a/talos-gazebo-ros-control/DESCR b/prf-gazebo-ros-pkgs/DESCR
similarity index 100%
rename from talos-gazebo-ros-control/DESCR
rename to prf-gazebo-ros-pkgs/DESCR
diff --git a/talos-gazebo-ros-control/Makefile b/prf-gazebo-ros-pkgs/Makefile
similarity index 67%
rename from talos-gazebo-ros-control/Makefile
rename to prf-gazebo-ros-pkgs/Makefile
index a8123b22184f07d075c1c7f5b3b0715a61bf26d0..e63325b7efd9678e50aa3853dec8fa2927f787bd 100644
--- a/talos-gazebo-ros-control/Makefile
+++ b/prf-gazebo-ros-pkgs/Makefile
@@ -1,18 +1,21 @@
-# robotpkg Makefile for: wip/talos-gazebo-ros-control
-# Created: Olivier Stasse on Mer, 3 May 2017
+# robotpkg Makefile for: wip/gazebo-ros-pkgs
+# Created: Olivier Stasse on Mer, 28 April 2018
#
VERSION= 2.6.7
-PKGREVISION= 1
-PKGNAME= talos-gazebo-ros-control-${VERSION}
-DISTNAME= $(subst -,_,${PKGBASE})-${VERSION}
+PRFNAME= gazebo-ros-pkgs
+PKGBASE= prf-${PRFNAME}
+PKGNAME= ${PKGBASE}-${VERSION}
+DISTNAME= ${VERSION}
+ROSNAME= $(subst -,_,${PRFNAME})
+WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_JRL:=talos/talos_gazebo_ros_control/}
-LICENSE= openhrp-grx-license
+HOMEPAGE= ${MASTER_SITE_GITHUB:=pal-robotics-forks/${ROSNAME}}
+MASTER_SITES= ${HOMEPAGE}/archive/
+
+COMMENT= Wrappers, tools and additional API's for using ROS with Gazebo.
+LICENSE= pal-license
-RESTRICTED= Redistribution of repackaged binaries not permitted
-NO_PUBLIC_SRC= ${RESTRICTED}
-NO_PUBLIC_BIN= ${RESTRICTED}
CMAKE_ARGS+=\
-Dgazebo_INCLUDE_DIRS=$(filter include/%,${SYSTEM_SEARCH.gazebo}) \
@@ -20,7 +23,7 @@ CMAKE_ARGS+=\
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
-include ../../wip/talos-ros-control/depend.mk
+include ../../wip/prf-ros-control/depend.mk
include ../../devel/ros-catkin/depend.mk
include ../../middleware/ros-comm/depend.mk
include ../../devel/ros-pluginlib/depend.mk
diff --git a/talos-gazebo-ros-control/PLIST b/prf-gazebo-ros-pkgs/PLIST
similarity index 100%
rename from talos-gazebo-ros-control/PLIST
rename to prf-gazebo-ros-pkgs/PLIST
diff --git a/prf-gazebo-ros-pkgs/depend.mk b/prf-gazebo-ros-pkgs/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..3987712712c099c22d9e389eb71463927f6b306e
--- /dev/null
+++ b/prf-gazebo-ros-pkgs/depend.mk
@@ -0,0 +1,29 @@
+# robotpkg depend.mk for: wip/gazebo_ros_pkgs
+# Created: Olivier Stasse on Mer, 3 May 2017
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+GAZEBO_ROS_PKGS_DEPEND_MK:= ${GAZEBO_ROS_PKGS_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= gazebo_ros_pkgs
+endif
+
+ifeq (+,$(GAZEBO_ROS_PKGS_DEPEND_MK)) # ---------------------------
+
+PREFER.gazebo_ros_pkgs?= robotpkg
+
+DEPEND_USE+= gazebo_ros_pkgs
+
+DEPEND_ABI.gazebo_ros_pkgs?= gazebo_ros_pkgs>=2.6.5
+DEPEND_DIR.gazebo_ros_pkgs?= ../../wip/gazebo_ros_pkgs
+
+SYSTEM_SEARCH.gazebo_ros_pkgs=\
+ 'include/gazebo_ros_pkgs/gazebo_ros_control_plugin.h' \
+ 'share/gazebo_ros_pkgs/cmake/gazebo_ros_pkgsConfig.cmake' \
+ 'share/gazebo_ros_pkgs/package.xml:/<version>/s/[^0-9.]//gp' \
+ 'lib/pkgconfig/gazebo_ros_pkgs.pc:/Version/s/[^0-9.]//gp'
+
+endif # GAZEBO_ROS_PKGS_DEPEND_MK ---------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/talos-gazebo-ros-control/distinfo b/prf-gazebo-ros-pkgs/distinfo
similarity index 100%
rename from talos-gazebo-ros-control/distinfo
rename to prf-gazebo-ros-pkgs/distinfo
diff --git a/prf-ros-control/depend.mk b/prf-ros-control/depend.mk
index 0d76b0965035eb1487896e76aa109da24ac5ac49..565fd8f859b8e1d1137fa0d2c59db645e65dd6d4 100644
--- a/prf-ros-control/depend.mk
+++ b/prf-ros-control/depend.mk
@@ -1,40 +1,40 @@
-# robotpkg depend.mk for: wip/talos-ros-control
+# robotpkg depend.mk for: wip/ros-control
# Created: Olivier Stasse on Wed, 29 Mar 2017
#
DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-TALOS_ROS_CONTROL_DEPEND_MK:= ${TALOS_ROS_CONTROL_DEPEND_MK}+
+ROS_CONTROL_DEPEND_MK:= ${ROS_CONTROL_DEPEND_MK}+
ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= talos-ros-control
+DEPEND_PKG+= ros-control
endif
-ifeq (+,$(TALOS_ROS_CONTROL_DEPEND_MK)) # ----------------------------------
+ifeq (+,$(ROS_CONTROL_DEPEND_MK)) # ----------------------------------
-PREFER.talos-ros-control?= robotpkg
+PREFER.ros-control?= robotpkg
-DEPEND_USE+= talos-ros-control
+DEPEND_USE+= ros-control
-DEPEND_ABI.talos-ros-control?= talos-ros-control>=0.2
-DEPEND_DIR.talos-ros-control?= ../../wip/talos-ros-control
+DEPEND_ABI.ros-control?= ros-control>=0.2
+DEPEND_DIR.ros-control?= ../../wip/ros-control
-SYSTEM_SEARCH.talos-ros-control=\
- 'include/talos_controller_manager/controller_loader.h' \
- 'lib/libtalos_controller_manager.so' \
- 'share/talos_ros_control/package.xml:/<version>/s/[^0-9.]//gp' \
+SYSTEM_SEARCH.ros-control=\
+ 'include/controller_manager/controller_loader.h' \
+ 'lib/libcontroller_manager.so' \
+ 'share/ros_control/package.xml:/<version>/s/[^0-9.]//gp' \
$(foreach _, \
- talos_controller_interface \
- rqt_talos_controller_manager \
- talos_controller_interface \
- talos_controller_manager \
- talos_controller_manager_msgs \
- talos_controller_manager_tests \
- talos_hardware_interface \
- talos_joint_limits_interface \
- talos_transmission_interface, \
+ controller_interface \
+ rqt_controller_manager \
+ controller_interface \
+ controller_manager \
+ controller_manager_msgs \
+ controller_manager_tests \
+ hardware_interface \
+ joint_limits_interface \
+ transmission_interface, \
'share/$_/cmake/$_Config.cmake' \
'lib/pkgconfig/$_.pc:/Version/s/[^0-9.]//gp')
-endif # TALOS_ROS_CONTROL_DEPEND_MK ----------------------------------------
+endif # ROS_CONTROL_DEPEND_MK ----------------------------------------
DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
diff --git a/talos-gazebo-ros-control/depend.mk b/talos-gazebo-ros-control/depend.mk
deleted file mode 100644
index 06f77cc3277e7b4df109db30e2ae93414fea657c..0000000000000000000000000000000000000000
--- a/talos-gazebo-ros-control/depend.mk
+++ /dev/null
@@ -1,29 +0,0 @@
-# robotpkg depend.mk for: wip/talos-gazebo-ros-control
-# Created: Olivier Stasse on Mer, 3 May 2017
-#
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH}+
-TALOS_GAZEBO_ROS_CONTROL_DEPEND_MK:= ${TALOS_GAZEBO_ROS_CONTROL_DEPEND_MK}+
-
-ifeq (+,$(DEPEND_DEPTH))
-DEPEND_PKG+= talos-gazebo-ros-control
-endif
-
-ifeq (+,$(TALOS_GAZEBO_ROS_CONTROL_DEPEND_MK)) # ---------------------------
-
-PREFER.talos-gazebo-ros-control?= robotpkg
-
-DEPEND_USE+= talos-gazebo-ros-control
-
-DEPEND_ABI.talos-gazebo-ros-control?= talos-gazebo-ros-control>=2.6.5
-DEPEND_DIR.talos-gazebo-ros-control?= ../../wip/talos-gazebo-ros-control
-
-SYSTEM_SEARCH.talos-gazebo-ros-control=\
- 'include/talos_gazebo_ros_control/gazebo_ros_control_plugin.h' \
- 'share/talos_gazebo_ros_control/cmake/talos_gazebo_ros_controlConfig.cmake' \
- 'share/talos_gazebo_ros_control/package.xml:/<version>/s/[^0-9.]//gp' \
- 'lib/pkgconfig/talos_gazebo_ros_control.pc:/Version/s/[^0-9.]//gp'
-
-endif # TALOS_GAZEBO_ROS_CONTROL_DEPEND_MK ---------------------------------
-
-DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}