diff --git a/pal-gazebo-plugins-melodic/DESCR b/pal-gazebo-plugins-melodic/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..81365ae77d7d2a04a9e3cbf900489f0ebe92d611
--- /dev/null
+++ b/pal-gazebo-plugins-melodic/DESCR
@@ -0,0 +1 @@
+pal-gazebo-plugins add gazebo plugins for PAL robots (melodic version)
diff --git a/pal-gazebo-plugins-melodic/Makefile b/pal-gazebo-plugins-melodic/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..a68a8a2f8a7c048a4dd1c1dc991665364874e631
--- /dev/null
+++ b/pal-gazebo-plugins-melodic/Makefile
@@ -0,0 +1,44 @@
+# robotpkg Makefile for:	wip/pal-gazebo-plugins
+# Created:			Olivier Stasse on Fri, 21 Apr 2017
+#
+ORG=		pal-robotics
+VERSION=	2.0.0
+PRFNAME=	pal-gazebo-plugins
+PKGBASE=	${PRFNAME}-melodic
+PKGNAME=	${PKGBASE}-${VERSION}
+DISTNAME=	${VERSION}
+ROSNAME=	$(subst -,_,${PRFNAME})
+WRKSRC=		${WRKDIR}/${ROSNAME}-${VERSION}
+DIST_SUBDIR=	${PKGBASE}
+
+CATEGORIES=	wip
+
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
+CHECKOUT_VCS_OPTS+=	--recursive
+
+HOMEPAGE=	${MASTER_SITE_GITHUB:=${ORG}/${ROSNAME}}
+MASTER_SITES=	${HOMEPAGE}/archive/
+COMMENT=	Common Gazebo v1.9+ plugins used by the PAL Robotics robots
+LICENSE=	2-clause-bsd
+
+CONFLICTS+=	pal-gazebo-plugins-[0-9]*
+CONFLICTS+=	talos-${PKGBASE}
+
+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 ../../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 ../../simulation/gazebo-ros-pkgs/depend.mk
+include ../../wip/pal-msgs/depend.mk
+include ../../mk/language/c++.mk
+include ../../mk/language/c.mk
+include ../../mk/robotpkg.mk
diff --git a/pal-gazebo-plugins-melodic/PLIST b/pal-gazebo-plugins-melodic/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..7cbb3d1dcdb67c264f4f82cd275a3df311b286d8
--- /dev/null
+++ b/pal-gazebo-plugins-melodic/PLIST
@@ -0,0 +1,19 @@
+@comment Fri Jan 18 14:11:41 CET 2019
+include/pal_gazebo_plugins/gazebo_attachment.h
+include/pal_gazebo_plugins/gazebo_harness.h
+include/pal_gazebo_plugins/gazebo_pal_hand.h
+include/pal_gazebo_plugins/gazebo_ros_forcetorque.h
+include/pal_gazebo_plugins/gazebo_underactuated_finger.h
+include/pal_gazebo_plugins/gazebo_wifi_ap.h
+include/pal_gazebo_plugins/gazebo_world_odometry.h
+lib/libgazebo_attachment.so
+lib/libgazebo_harness.so
+lib/libgazebo_pal_hand.so
+lib/libgazebo_ros_forcetorque.so
+lib/libgazebo_underactuated_finger.so
+lib/libgazebo_wifi_ap.so
+lib/libgazebo_world_odometry.so
+lib/pkgconfig/pal_gazebo_plugins.pc
+share/pal_gazebo_plugins/cmake/pal_gazebo_pluginsConfig-version.cmake
+share/pal_gazebo_plugins/cmake/pal_gazebo_pluginsConfig.cmake
+share/pal_gazebo_plugins/package.xml
diff --git a/pal-gazebo-plugins-melodic/depend.mk b/pal-gazebo-plugins-melodic/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..57e5205cdcc331c8d4b571750117d87d7864a476
--- /dev/null
+++ b/pal-gazebo-plugins-melodic/depend.mk
@@ -0,0 +1,30 @@
+# robotpkg depend.mk for:	wip/pal-gazebo-plugins-melodic
+# Created:			Olivier Stasse on Mer, 3 May 2017
+#
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
+PAL_GAZEBO_PLUGINS_MELODIC_DEPEND_MK:=${PAL_GAZEBO_PLUGINS_MELODIC_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=			pal-gazebo-plugins-melodic
+endif
+
+ifeq (+,$(PAL_GAZEBO_PLUGINS_DEPEND_MK)) # ---------------------------------
+
+PREFER.pal-gazebo-plugins-melodic?=	robotpkg
+
+DEPEND_USE+=			pal-gazebo-plugins-melodic
+
+DEPEND_ABI.pal-gazebo-plugins-melodic?=\
+	pal-gazebo-plugins-melodic>=2.0.0
+DEPEND_DIR.pal-gazebo-plugins-melodic?=\
+	../../wip/pal-gazebo-plugins-melodic
+
+SYSTEM_SEARCH.pal-gazebo-plugins-melodic=\
+  'include/pal_gazebo_plugins/gazebo_pal_hand.h'	\
+  'share/pal_gazebo_plugins/package.xml:/<version>/s/[^0-9.]//gp'	\
+  'lib/pkgconfig/pal_gazebo_plugins.pc:/Version/s/[^0-9.]//gp'
+
+endif # PAL_GAZEBO_PLUGINS_DEPEND_MK ---------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/pal-gazebo-plugins-melodic/distinfo b/pal-gazebo-plugins-melodic/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..1bdec28a701e7724341e3b5c31060ec38ff15b34
--- /dev/null
+++ b/pal-gazebo-plugins-melodic/distinfo
@@ -0,0 +1,3 @@
+SHA1 (pal-gazebo-plugins-melodic/2.0.0.tar.gz) = a6578a8a3bafb5a241d2a9d8ef66be304a8fdfcd
+RMD160 (pal-gazebo-plugins-melodic/2.0.0.tar.gz) = e6ea41e2f5d35e933d3b23aba52f5d3229da472c
+Size (pal-gazebo-plugins-melodic/2.0.0.tar.gz) = 14427 bytes