diff --git a/hrp2-bringup/DESCR b/hrp2-bringup/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..346c63ec66a37c5681bc2c203b44fa17592d5cc1
--- /dev/null
+++ b/hrp2-bringup/DESCR
@@ -0,0 +1 @@
+The package allowing to start the SoT for HRP-2
\ No newline at end of file
diff --git a/hrp2-bringup/Makefile b/hrp2-bringup/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..898ad2bd91e53646aa2aeb217db580b5ac016e97
--- /dev/null
+++ b/hrp2-bringup/Makefile
@@ -0,0 +1,34 @@
+# robotpkg Makefile for:	robots/hrp2-bringup
+# Created:			Olivier Stasse on Wed, 14 Jav 2015
+#
+VERSION=		1.0.4
+ROS_PKG=		hrp2_bringup
+ROS_VERSION=		${VERSION}
+DISTNAME=		hrp2_bringup-${VERSION}
+CATEGORIES=		robots
+MASTER_SITES=		${MASTER_SITE_JRL}ros/${ROS_PKG}/
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_JRL}robots/ros-hrp2/hrp2-bringup
+
+MAINTAINER=		gepetto@laas.fr
+COMMENT=		Hrp2 ros package to start HRP-2
+LICENSE=		openhrp-grx-license
+
+RESTRICTED=	Redistribution of repackaged binaries not permitted
+NO_PUBLIC_SRC=	${RESTRICTED}
+NO_PUBLIC_BIN=	${RESTRICTED}
+
+DYNAMIC_PLIST_DIRS+=	share/doc/hrp2_bringup
+
+
+
+include ../hrp2-14-description/depend.mk
+include ../hrp2-machine/depend.mk
+include ../hrp2-computer-monitor/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/sysdep/cmake.mk
+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/robotpkg.mk
diff --git a/hrp2-bringup/depend.mk b/hrp2-bringup/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..cdafa5e59cb15a986ec6b00e54ce43583e2fec97
--- /dev/null
+++ b/hrp2-bringup/depend.mk
@@ -0,0 +1,27 @@
+# robotpkg depend.mk for:	robots/hrp2-bringup
+# Created:			Olivier Stasse on Thu, 14 Jan 2016
+#
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH}+
+HRP2_BRINGUP_DEPEND_MK:=	${HRP2_BRINGUP_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=		hrp2-bringup
+endif
+
+ifeq (+,$(ROMEO_DEPEND_MK)) # -------------------------------------------
+
+PREFER.hrp2-bringup?=	robotpkg
+
+SYSTEM_SEARCH.hrp2-bringup=\
+	'lib/pkgconfig/hrp2-bringup.pc:/Version/s/[^0-9.]//gp'
+
+DEPEND_USE+=		hrp2-bringup
+ROS_DEPEND_USER+=	hrp2-bringup
+
+DEPEND_ABI.hrp2-bringup?=	hrp2-bringup>=1.0.0
+DEPEND_DIR.hrp2-bringup?=	../hrp2-bringup
+
+endif # HRP2_14_DESCRIPTION_DEPEND_MK -------------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/hrp2-bringup/distinfo b/hrp2-bringup/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..701f437c0ac9bb8d428f21775d650259e7be4c26
--- /dev/null
+++ b/hrp2-bringup/distinfo
@@ -0,0 +1,3 @@
+SHA1 (hrp2_bringup-1.0.4.tar.gz) = 65984dbafa06dac9e1a25de4c5cb46b0d1bb7545
+RMD160 (hrp2_bringup-1.0.4.tar.gz) = 5249d6898aefd98b536a65fe80356d3574987968
+Size (hrp2_bringup-1.0.4.tar.gz) = 142966 bytes