diff --git a/talos-data/Makefile b/talos-data/Makefile
index d43524c4c58b27c75a7d191122c206ae8da2595b..c14c8a9f56e2dfe91d555965050ce30d7f5d7ec1 100644
--- a/talos-data/Makefile
+++ b/talos-data/Makefile
@@ -4,16 +4,13 @@
ORG= pyrene-dev
NAME= talos-data
-VERSION= 1.0.1
-PKGREVISION= 1
+VERSION= 1.1.0
ROSNAME= $(subst -,_,${NAME})
PKGNAME= ${NAME}-${VERSION}
DISTNAME= ${ROSNAME}-${VERSION}
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
MASTER_REPOSITORY= git git@gepgitlab.laas.fr:${ORG}/${ROSNAME}.git
-CHECKOUT_VCS_OPTS+= --recursive
LICENSE= gnu-lgpl-v3
CATEGORIES= wip
@@ -21,10 +18,10 @@ COMMENT= This packages provides data of the humanoid robot Pyrene in a friendly
MAINTAINER= ostasse@laas.fr
CMAKE_PREFIX_PATH+= ${PREFIX}
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
DYNAMIC_PLIST_DIRS+= share/doc/${ROSNAME}
+include ../../devel/jrl-cmakemodules/Makefile.common
include ../../devel/ros-catkin/depend.mk
include ../../interfaces/ros-common-msgs/depend.mk
include ../../interfaces/ros-std-msgs/depend.mk
@@ -40,5 +37,5 @@ include ../../mk/sysdep/doxygen.mk
include ../../mk/sysdep/graphviz.mk
include ../../mk/sysdep/pdflatex.mk
include ../../mk/language/c.mk
-include ../../mk/language/c++.mk
+include ../../mk/language/c++11.mk
include ../../mk/robotpkg.mk
diff --git a/talos-data/PLIST b/talos-data/PLIST
index 8bda1ce39f0fc6ea2efa5479bc0c7e01a6e4d4e8..758abadf2a0f22a10894a830304fb635e6087985 100644
--- a/talos-data/PLIST
+++ b/talos-data/PLIST
@@ -2,7 +2,11 @@
include/talos/data/config.hh
include/talos/data/deprecated.hh
include/talos/data/warning.hh
-lib/libSpringPlugin.so
+lib/cmake/talos_data/talos_dataConfig.cmake
+lib/cmake/talos_data/talos_dataConfigVersion.cmake
+lib/cmake/talos_data/talos_dataTargets-release.cmake
+lib/cmake/talos_data/talos_dataTargets.cmake
+lib/libtalos_data.so
lib/pkgconfig/talos_data.pc
share/talos_data/cmake/talos_dataConfig-version.cmake
share/talos_data/cmake/talos_dataConfig.cmake
@@ -98,6 +102,7 @@ share/talos_data/robots/talos_reduced.urdf
share/talos_data/robots/talos_small.urdf.xacro
share/talos_data/robots/upload.launch
share/talos_data/robots/upload_talos.launch
+share/talos_data/srdf/pyrene.srdf
share/talos_data/srdf/talos.srdf
share/talos_data/srdf/talos_wpg.srdf
share/talos_data/urdf/arm/arm.transmission.xacro
@@ -123,6 +128,7 @@ share/talos_data/urdf/leg/leg.transmission.xacro
share/talos_data/urdf/leg/leg.urdf.xacro
share/talos_data/urdf/leg/leg_passive.urdf.xacro
share/talos_data/urdf/materials.urdf.xacro
+share/talos_data/urdf/pyrene.urdf
share/talos_data/urdf/sensors/calibration.xacro
share/talos_data/urdf/sensors/ftsensor.urdf.xacro
share/talos_data/urdf/sensors/imu.urdf.xacro
diff --git a/talos-data/depend.mk b/talos-data/depend.mk
index 7f992839e95ccd2916197746d445ffa263a3bc80..cbd23d4bf88d686ddceb613a666ea4f5548bf6b5 100644
--- a/talos-data/depend.mk
+++ b/talos-data/depend.mk
@@ -14,12 +14,15 @@ ifeq (+,$(TALOS_DATA_DEPEND_MK)) # -------------------------------------------
PREFER.talos-data?= robotpkg
SYSTEM_SEARCH.talos-data=\
- 'share/talos_data/urdf/talos_reduced.urdf' \
- 'lib/pkgconfig/talos_data.pc:/Version/s/[^0-9.]//gp'
+ 'include/talos/data/config.hh:/TALOS_DATA_VERSION /s/[^0-9.]//gp' \
+ 'lib/cmake/talos_data/talos_dataConfigVersion.cmake:/PACKAGE_VERSION /s/[^0-9.]//gp' \
+ 'lib/libtalos_data.so' \
+ 'lib/pkgconfig/talos_data.pc:/Version/s/[^0-9.]//gp' \
+ 'share/talos_data/urdf/talos_reduced.urdf'
DEPEND_USE+= talos-data
-DEPEND_ABI.talos-data?= talos-data>=0.0.14
+DEPEND_ABI.talos-data?= talos-data>=1.1.0
DEPEND_DIR.talos-data?= ../../wip/talos-data
endif # TALOS_DATA_DEPEND_MK -------------------------------------------------
diff --git a/talos-data/distinfo b/talos-data/distinfo
index 88de995a43189549436c46eaeac8f27b8ca5ffb6..74bc4a8489bb21338333690013d0d88563d07df7 100644
--- a/talos-data/distinfo
+++ b/talos-data/distinfo
@@ -1,4 +1,3 @@
-SHA1 (talos_data-1.0.1.tar.gz) = 9c9a0cb97d48db7127e4a2538032cbb68b259c94
-RMD160 (talos_data-1.0.1.tar.gz) = 25767abeb2f39bda9958c7e354a16de6b9ac635e
-Size (talos_data-1.0.1.tar.gz) = 8827419 bytes
-SHA1 (patch-aa) = cf07549de4e675f65d4b92ec27d3caca7828db7b
+SHA1 (talos_data-1.1.0.tar.gz) = c3c1f7d572d8a862d4619bcb21664e363256abcd
+RMD160 (talos_data-1.1.0.tar.gz) = 05ec6c1914a20e832341febf07ba4d84b9fa50cb
+Size (talos_data-1.1.0.tar.gz) = 8844249 bytes
diff --git a/talos-data/patches/patch-aa b/talos-data/patches/patch-aa
deleted file mode 100644
index 715c424acd8cf1b5bcb50c6b5b18eab6e8f01788..0000000000000000000000000000000000000000
--- a/talos-data/patches/patch-aa
+++ /dev/null
@@ -1,16 +0,0 @@
-fix for Gazebo 9
-
---- src/SpringPlugin.cc.orig 2019-10-22 09:57:51.000000000 +0200
-+++ src/SpringPlugin.cc 2019-10-31 19:11:11.766354569 +0100
-@@ -77,7 +77,11 @@
- common::Time stepTime = currTime - this->prevUpdateTime;
- this->prevUpdateTime = currTime;
-
-+#if GAZEBO_MAJOR_VERSION < 9
- double pos = this->jointExplicit->GetAngle(0).Radian();
-+#else
-+ double pos = this->jointExplicit->Position(0);
-+#endif
- double vel = this->jointExplicit->GetVelocity(0);
- double force = -this->kpExplicit * pos
- -this->kdExplicit * vel;