diff --git a/ros-swri-math-util/DESCR b/ros-swri-math-util/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..2151d8cc3bf784bf880068a14548a999171b35c9
--- /dev/null
+++ b/ros-swri-math-util/DESCR
@@ -0,0 +1 @@
+Math utility package created at Southwest Reseach Institute's Intelligent Vehicle Systems section for working with Robot Operating System (ROS)
\ No newline at end of file
diff --git a/ros-swri-math-util/Makefile b/ros-swri-math-util/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..b25bdd5595a1f43349ce1d184b39bf77effb08f1
--- /dev/null
+++ b/ros-swri-math-util/Makefile
@@ -0,0 +1,28 @@
+# robotpkg Makefile for: devel/ros-swri-math-util
+# Created: Ellon Paiva Mendes on Thu, 2 Aug 2018
+#
+
+ROS_REPO= swri-robotics
+ROS_PKG= marti_common
+ROS_METAPKG= no
+ROS_VERSION= 2.3.0
+ROS_COMMENT= Math utility package created at Southwest Reseach Institute's Intelligent Vehicle Systems section for working with Robot Operating System (ROS)
+
+# We need to set PKGNAME explicitely, otherwise devel/ros-base/Makefile.common
+# included below will set it to a name using ROS_PKG
+PKGNAME= ros-swri-math-util-${ROS_VERSION}
+CATEGORIES= devel
+MAINTAINER= laas-infuse@laas.fr
+LICENSE= modified-bsd
+HOMEPAGE= https://github.com/swri-robotics/marti_common
+
+CONFIGURE_DIRS+= ${WRKSRC}/swri_math_util
+
+include ../../meta-pkgs/ros-base/Makefile.common
+
+include ../../devel/ros-catkin/depend.mk
+include ../../mk/sysdep/cmake.mk
+include ../../middleware/ros-comm/depend.mk # NOTE in robotpkg roscpp is inside ros-comm
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/robotpkg.mk
diff --git a/ros-swri-math-util/PLIST b/ros-swri-math-util/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..c8450d77d4037296f787223beb7fb9d9f7fd802b
--- /dev/null
+++ b/ros-swri-math-util/PLIST
@@ -0,0 +1,14 @@
+@comment Tue Jul 31 14:06:37 UTC 2018
+include/swri_math_util/constants.h
+include/swri_math_util/generic_ring_buffer.h
+include/swri_math_util/interpolation_1d.h
+include/swri_math_util/math_util.h
+include/swri_math_util/random.h
+include/swri_math_util/ransac.h
+include/swri_math_util/stat_buffer.h
+include/swri_math_util/trig_util.h
+lib/libswri_math_util.so
+lib/pkgconfig/swri_math_util.pc
+share/swri_math_util/cmake/swri_math_utilConfig-version.cmake
+share/swri_math_util/cmake/swri_math_utilConfig.cmake
+share/swri_math_util/package.xml
diff --git a/ros-swri-math-util/depend.mk b/ros-swri-math-util/depend.mk
new file mode 100644
index 0000000000000000000000000000000000000000..f1facc98ca63f8e90a54d5134feca7cba3aa8369
--- /dev/null
+++ b/ros-swri-math-util/depend.mk
@@ -0,0 +1,50 @@
+# robotpkg depend.mk for: devel/ros-swri-math-util
+# Created: Ellon Paiva Mendes on Thu, 2 Aug 2018
+#
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH}+
+ROS_SWRI_MATH_UTIL_DEPEND_MK:= ${ROS_SWRI_MATH_UTIL_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+= ros-swri-math-util
+endif
+
+ifeq (+,$(ROS_SWRI_MATH_UTIL_DEPEND_MK)) # ---------------------------------------
+
+include ../../meta-pkgs/ros-base/depend.common
+PREFER.ros-swri-math-util?= ${PREFER.ros-base}
+SYSTEM_PREFIX.ros-swri-math-util?= ${SYSTEM_PREFIX.ros-base}
+
+DEPEND_USE+= ros-swri-math-util
+ROS_DEPEND_USE+= ros-swri-math-util
+
+DEPEND_ABI.ros-swri-math-util?= ros-swri-math-util>=2.3.0
+DEPEND_DIR.ros-swri-math-util= ../../wip/ros-swri-math-util
+
+DEPEND_ABI.ros-swri-math-util.groovy += ros-swri-math-util>=2.3.0
+DEPEND_ABI.ros-swri-math-util.hydro += ros-swri-math-util>=2.3.0
+DEPEND_ABI.ros-swri-math-util.indigo += ros-swri-math-util>=2.3.0
+DEPEND_ABI.ros-swri-math-util.jade += ros-swri-math-util>=2.3.0
+DEPEND_ABI.ros-swri-math-util.kinetic += ros-swri-math-util>=2.3.0
+DEPEND_ABI.ros-swri-math-util.lunar += ros-swri-math-util>=2.3.0
+DEPEND_ABI.ros-swri-math-util.melodic += ros-swri-math-util>=2.3.0
+
+SYSTEM_SEARCH.ros-swri-math-util=\
+ 'share/swri_math_util/package.xml'\
+ 'share/swri_math_util/cmake/swri_math_utilConfig-version.cmake'\
+ 'share/swri_math_util/cmake/swri_math_utilConfig.cmake'\
+ 'include/swri_math_util/random.h'\
+ 'include/swri_math_util/interpolation_1d.h'\
+ 'include/swri_math_util/ransac.h'\
+ 'include/swri_math_util/constants.h'\
+ 'include/swri_math_util/generic_ring_buffer.h'\
+ 'include/swri_math_util/stat_buffer.h'\
+ 'include/swri_math_util/trig_util.h'\
+ 'include/swri_math_util/math_util.h'\
+ 'lib/pkgconfig/swri_math_util.pc:/Version/s/[^0-9.]//gp'\
+ 'lib/libswri_math_util.so'
+
+endif # ROS_SWRI_MATH_UTIL_DEPEND_MK ---------------------------------------------
+
+DEPEND_DEPTH:= ${DEPEND_DEPTH:+=}
+
diff --git a/ros-swri-math-util/distinfo b/ros-swri-math-util/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..480452bd90d4a7f95f3227b1e8b4c1673357eef6
--- /dev/null
+++ b/ros-swri-math-util/distinfo
@@ -0,0 +1,3 @@
+SHA1 (ros/marti_common/2.3.0.tar.gz) = 9a11ee2aaef0047d6b205d5568b45afcf805005e
+RMD160 (ros/marti_common/2.3.0.tar.gz) = b98c6ce797c0e1b1adc8fdeca5a7dc50da6442b1
+Size (ros/marti_common/2.3.0.tar.gz) = 183765 bytes