diff --git a/tiago-data/DESCR b/tiago-data/DESCR
index 2766d32a3017fd962b25f565e5deadcad00afef9..c5448a977ec29c5c05eb41fbefdf7c6f62cd92e8 100644
--- a/tiago-data/DESCR
+++ b/tiago-data/DESCR
@@ -1 +1 @@
-Tiago package for data generated through xacro.
\ No newline at end of file
+tiago-data provides a ros package with SoT friendly Tiago data.
diff --git a/tiago-data/Makefile b/tiago-data/Makefile
index 397f5765669c69e434c79ac9145016fac6feb6e9..0b48a9ceeac60e0e1f048d1f2050d021a4509e2f 100644
--- a/tiago-data/Makefile
+++ b/tiago-data/Makefile
@@ -3,19 +3,21 @@
#
ORG= stack-of-tasks
-NAME= tiago-data
VERSION= 0.0.1
+PKGBASE= tiago-data
+DISTNAME= ${VERSION}
+PKGNAME= ${PKGBASE}-${VERSION}
+ROSNAME= $(subst -,_,${PKGBASE})
+WRKSRC= ${WRKDIR}/${ROSNAME}-${VERSION}
+DIST_SUBDIR= ${PKGBASE}
-ROSNAME= $(subst -,_,${NAME})
-PKGNAME= ${NAME}-${VERSION}
-DISTNAME= ${ROSNAME}-${VERSION}
+CATEGORIES= wip
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=tiago/${NAME}/}
+MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=tiago/${PKGBASE}/${ROSNAME}-}
MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}${ROSNAME}.git
CHECKOUT_VCS_OPTS+= --recursive
LICENSE= gnu-lgpl-v3
-CATEGORIES= wip
COMMENT= This packages provides data of mobile robot in a friendly way for the SoT.
MAINTAINER= ostasse@laas.fr
diff --git a/tiago-data/PLIST b/tiago-data/PLIST
index fe3e6a57413eb262897af7d632d49e3865a0c507..38141644e5f7606b48a82b0f9ff9f95bdb9385b6 100644
--- a/tiago-data/PLIST
+++ b/tiago-data/PLIST
@@ -1,73 +1,73 @@
@comment Tue Apr 30 18:56:04 CEST 2019
-share/tiago_description/Media/materials/scripts/markers.material
-share/tiago_description/Media/materials/textures/aruco-26_8cm.png
-share/tiago_description/Media/materials/textures/aruco-582_8cm.png
-share/tiago_description/Media/materials/textures/pal_logo_1_7cm.jpg
-share/tiago_description/Media/materials/textures/pal_logo_2_7cm.jpg
-share/tiago_description/Media/materials/textures/pal_logo_3_7cm.jpg
-share/tiago_description/cmake/tiago_descriptionConfig-version.cmake
-share/tiago_description/cmake/tiago_descriptionConfig.cmake
-share/tiago_description/config/collision/collision_parameters.yaml
-share/tiago_description/gazebo/gazebo.urdf.xacro
-share/tiago_description/meshes/arm/arm_1.stl
-share/tiago_description/meshes/arm/arm_1_collision.dae
-share/tiago_description/meshes/arm/arm_1_color.png
-share/tiago_description/meshes/arm/arm_1_normals.png
-share/tiago_description/meshes/arm/arm_1_specular.png
-share/tiago_description/meshes/arm/arm_2.stl
-share/tiago_description/meshes/arm/arm_2_collision.dae
-share/tiago_description/meshes/arm/arm_2_color.png
-share/tiago_description/meshes/arm/arm_2_normals.png
-share/tiago_description/meshes/arm/arm_2_specular.png
-share/tiago_description/meshes/arm/arm_3.stl
-share/tiago_description/meshes/arm/arm_3_collision.dae
-share/tiago_description/meshes/arm/arm_3_color.png
-share/tiago_description/meshes/arm/arm_3_normals.png
-share/tiago_description/meshes/arm/arm_3_specular.png
-share/tiago_description/meshes/arm/arm_4.stl
-share/tiago_description/meshes/arm/arm_4_collision.dae
-share/tiago_description/meshes/arm/arm_4_collision.stl
-share/tiago_description/meshes/arm/arm_4_color.png
-share/tiago_description/meshes/arm/arm_4_normals.png
-share/tiago_description/meshes/arm/arm_4_specular.png
-share/tiago_description/meshes/arm/arm_5.stl
-share/tiago_description/meshes/arm/arm_5_collision.dae
-share/tiago_description/meshes/arm/arm_6.stl
-share/tiago_description/meshes/arm/arm_6_collision.dae
-share/tiago_description/meshes/arm/arm_6_color.png
-share/tiago_description/meshes/arm/arm_6_normals.png
-share/tiago_description/meshes/arm/arm_6_specular.png
-share/tiago_description/meshes/head/head_1.stl
-share/tiago_description/meshes/head/head_1_collision.dae
-share/tiago_description/meshes/head/head_2.stl
-share/tiago_description/meshes/head/head_2_collision.dae
-share/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
-share/tiago_description/meshes/sensors/xtion_pro_live/xtion_pro_live.png
-share/tiago_description/meshes/torso/torso_fix.stl
-share/tiago_description/meshes/torso/torso_lift_collision.dae
-share/tiago_description/meshes/torso/torso_lift_collision_core.dae
-share/tiago_description/meshes/torso/torso_lift_collision_neck.dae
-share/tiago_description/meshes/torso/torso_lift_collision_shoulder.dae
-share/tiago_description/meshes/torso/torso_lift_with_arm.stl
-share/tiago_description/meshes/torso/torso_lift_without_arm.stl
-share/tiago_description/package.xml
-share/tiago_description/robots/show.launch
-share/tiago_description/robots/tiago.urdf.xacro
-share/tiago_description/robots/tiago_steel.urdf
-share/tiago_description/robots/tiago_titanium.urdf
-share/tiago_description/robots/upload.launch
-share/tiago_description/urdf/arm/arm.transmission.xacro
-share/tiago_description/urdf/arm/arm.urdf.xacro
-share/tiago_description/urdf/arm/wrist.transmission.xacro
-share/tiago_description/urdf/arm/wrist.urdf.xacro
-share/tiago_description/urdf/deg_to_rad.xacro
-share/tiago_description/urdf/end_effector/end_effector.urdf.xacro
-share/tiago_description/urdf/head/head.transmission.xacro
-share/tiago_description/urdf/head/head.urdf.xacro
-share/tiago_description/urdf/materials.urdf.xacro
-share/tiago_description/urdf/sensors/ftsensor.gazebo.xacro
-share/tiago_description/urdf/sensors/ftsensor.urdf.xacro
-share/tiago_description/urdf/sensors/openni.gazebo.xacro
-share/tiago_description/urdf/sensors/xtion_pro_live.urdf.xacro
-share/tiago_description/urdf/torso/torso.transmission.xacro
-share/tiago_description/urdf/torso/torso.urdf.xacro
+share/tiago_data/Media/materials/scripts/markers.material
+share/tiago_data/Media/materials/textures/aruco-26_8cm.png
+share/tiago_data/Media/materials/textures/aruco-582_8cm.png
+share/tiago_data/Media/materials/textures/pal_logo_1_7cm.jpg
+share/tiago_data/Media/materials/textures/pal_logo_2_7cm.jpg
+share/tiago_data/Media/materials/textures/pal_logo_3_7cm.jpg
+share/tiago_data/cmake/tiago_dataConfig-version.cmake
+share/tiago_data/cmake/tiago_dataConfig.cmake
+share/tiago_data/config/collision/collision_parameters.yaml
+share/tiago_data/gazebo/gazebo.urdf.xacro
+share/tiago_data/meshes/arm/arm_1.stl
+share/tiago_data/meshes/arm/arm_1_collision.dae
+share/tiago_data/meshes/arm/arm_1_color.png
+share/tiago_data/meshes/arm/arm_1_normals.png
+share/tiago_data/meshes/arm/arm_1_specular.png
+share/tiago_data/meshes/arm/arm_2.stl
+share/tiago_data/meshes/arm/arm_2_collision.dae
+share/tiago_data/meshes/arm/arm_2_color.png
+share/tiago_data/meshes/arm/arm_2_normals.png
+share/tiago_data/meshes/arm/arm_2_specular.png
+share/tiago_data/meshes/arm/arm_3.stl
+share/tiago_data/meshes/arm/arm_3_collision.dae
+share/tiago_data/meshes/arm/arm_3_color.png
+share/tiago_data/meshes/arm/arm_3_normals.png
+share/tiago_data/meshes/arm/arm_3_specular.png
+share/tiago_data/meshes/arm/arm_4.stl
+share/tiago_data/meshes/arm/arm_4_collision.dae
+share/tiago_data/meshes/arm/arm_4_collision.stl
+share/tiago_data/meshes/arm/arm_4_color.png
+share/tiago_data/meshes/arm/arm_4_normals.png
+share/tiago_data/meshes/arm/arm_4_specular.png
+share/tiago_data/meshes/arm/arm_5.stl
+share/tiago_data/meshes/arm/arm_5_collision.dae
+share/tiago_data/meshes/arm/arm_6.stl
+share/tiago_data/meshes/arm/arm_6_collision.dae
+share/tiago_data/meshes/arm/arm_6_color.png
+share/tiago_data/meshes/arm/arm_6_normals.png
+share/tiago_data/meshes/arm/arm_6_specular.png
+share/tiago_data/meshes/head/head_1.stl
+share/tiago_data/meshes/head/head_1_collision.dae
+share/tiago_data/meshes/head/head_2.stl
+share/tiago_data/meshes/head/head_2_collision.dae
+share/tiago_data/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
+share/tiago_data/meshes/sensors/xtion_pro_live/xtion_pro_live.png
+share/tiago_data/meshes/torso/torso_fix.stl
+share/tiago_data/meshes/torso/torso_lift_collision.dae
+share/tiago_data/meshes/torso/torso_lift_collision_core.dae
+share/tiago_data/meshes/torso/torso_lift_collision_neck.dae
+share/tiago_data/meshes/torso/torso_lift_collision_shoulder.dae
+share/tiago_data/meshes/torso/torso_lift_with_arm.stl
+share/tiago_data/meshes/torso/torso_lift_without_arm.stl
+share/tiago_data/package.xml
+share/tiago_data/robots/show.launch
+share/tiago_data/robots/tiago.urdf.xacro
+share/tiago_data/robots/tiago_steel.urdf
+share/tiago_data/robots/tiago_titanium.urdf
+share/tiago_data/robots/upload.launch
+share/tiago_data/urdf/arm/arm.transmission.xacro
+share/tiago_data/urdf/arm/arm.urdf.xacro
+share/tiago_data/urdf/arm/wrist.transmission.xacro
+share/tiago_data/urdf/arm/wrist.urdf.xacro
+share/tiago_data/urdf/deg_to_rad.xacro
+share/tiago_data/urdf/end_effector/end_effector.urdf.xacro
+share/tiago_data/urdf/head/head.transmission.xacro
+share/tiago_data/urdf/head/head.urdf.xacro
+share/tiago_data/urdf/materials.urdf.xacro
+share/tiago_data/urdf/sensors/ftsensor.gazebo.xacro
+share/tiago_data/urdf/sensors/ftsensor.urdf.xacro
+share/tiago_data/urdf/sensors/openni.gazebo.xacro
+share/tiago_data/urdf/sensors/xtion_pro_live.urdf.xacro
+share/tiago_data/urdf/torso/torso.transmission.xacro
+share/tiago_data/urdf/torso/torso.urdf.xacro
diff --git a/tiago-data/depend.mk b/tiago-data/depend.mk
index 03f758010da9c0595779f78fabd17f26e68b3166..0b397efbdeb00fdd169c23c5d1931bf77fcf9b09 100644
--- a/tiago-data/depend.mk
+++ b/tiago-data/depend.mk
@@ -14,7 +14,8 @@ ifeq (+,$(TIAGO_DATA_DEPEND_MK)) # -------------------------------------------
PREFER.tiago-data?= robotpkg
SYSTEM_SEARCH.tiago-data=\
- 'share/tiago_data/urdf/tiago_reduced.urdf' \
+ 'share/tiago_data/urdf/tiago_steel.urdf' \
+ 'share/tiago_data/urdf/tiago_titanium.urdf' \
'lib/pkgconfig/tiago_data.pc:/Version/s/[^0-9.]//gp'
DEPEND_USE+= tiago-data
diff --git a/tiago-data/distinfo b/tiago-data/distinfo
index d06fd4de1070411bfdc2d3ca8398c77cf1ccc958..5c90f9fad2bc42992173b4e6f378e88ebb8a8608 100644
--- a/tiago-data/distinfo
+++ b/tiago-data/distinfo
@@ -1,3 +1,3 @@
-SHA1 (tiago_data-0.0.1.tar.gz) = d9ff8480b159ec76ff4256c70c68946eb819695c
-RMD160 (tiago_data-0.0.1.tar.gz) = 59bc230122a881fa5e60dbd864bba13ff0abccd5
-Size (tiago_data-0.0.1.tar.gz) = 4548325 bytes
+SHA1 (tiago-data/0.0.1.tar.gz) = d2054542352154ffe94731bb052ffb5f57d85abc
+RMD160 (tiago-data/0.0.1.tar.gz) = 968d551ec2e2b4db07f4e7dcdb0a1cdb98739633
+Size (tiago-data/0.0.1.tar.gz) = 4548328 bytes