diff --git a/openhrp3-simulator-wo-rtm/Makefile b/openhrp3-simulator-wo-rtm/Makefile
index 4b57d9071a764d43b3e6f42cb02419e76eda85d0..a93e7d49e03eb6cbe2814a16d4aa1e6d87485187 100644
--- a/openhrp3-simulator-wo-rtm/Makefile
+++ b/openhrp3-simulator-wo-rtm/Makefile
@@ -10,10 +10,6 @@ ROSNAME= $(subst -,_,${NAME})
DISTNAME= ${ROSNAME}-${VERSION}
PKGNAME= ${NAME}-${VERSION}
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}/${ORG}/${NAME}
-CHECKOUT_VCS_OPTS+= --recursive
-
CATEGORIES= simulation
MAINTAINER= ostasse@laas.fr
COMMENT= OpenHRP-3 Simulator without RTM
@@ -21,10 +17,7 @@ LICENSE= eclipse
USE_BOOST_LIBS= thread
-CMAKE_ARGS+= -DCMAKE_INSTALL_LIBDIR=lib
-
-DYNAMIC_PLIST_DIRS+= share/doc/${ROSNAME}
-
+include ../../wip/jrl-cmakemodules/Makefile.common
include ../../graphics/gepetto-viewer/depend.mk
include ../../devel/ros-catkin/depend.mk
include ../../devel/ros-roscpp-core/depend.mk
diff --git a/py-sot-talos-balance/Makefile b/py-sot-talos-balance/Makefile
index ecfc9490edb7fdb37332e967b75f76177e1b6b5c..c8c729ea4d60279ca3fbb580532df6f5e2abc525 100644
--- a/py-sot-talos-balance/Makefile
+++ b/py-sot-talos-balance/Makefile
@@ -5,15 +5,10 @@
ORG= stack-of-tasks
NAME= sot-talos-balance
VERSION= 1.5.0
-PKGREVISION= 1
+PKGREVISION= 2
-DISTNAME= ${NAME}-${VERSION}
PKGNAME= ${PKGTAG.python-}${DISTNAME}
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}
-CHECKOUT_VCS_OPTS= --recursive
-
CATEGORIES= wip
COMMENT= Balance for TALOS humanoid robot (python bindings)
LICENSE= 2-clause-bsd
@@ -21,10 +16,10 @@ MAINTAINER= gepetto-soft@laas.fr
CMAKE_ARGS+= -DINSTALL_DOCUMENTATION=OFF
CMAKE_ARGS+= -DINSTALL_PYTHON_INTERFACE_ONLY=ON
-CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=ON
+CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=ON
include ../../${CATEGORIES}/${NAME}/depend.mk
-
+include ../../wip/jrl-cmakemodules/Makefile.common
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../graphics/simple-humanoid-description/depend.mk
diff --git a/py-tsid/distinfo b/py-tsid/distinfo
index e7545609f080e8ad18c870633b101ee61a51181a..5b381fc9375de164c5704bef3af0037e5b377109 100644
--- a/py-tsid/distinfo
+++ b/py-tsid/distinfo
@@ -2,3 +2,4 @@ SHA1 (tsid-1.2.1.tar.gz) = de3861c98d40270fefed74062ac9ba03cb50fb65
RMD160 (tsid-1.2.1.tar.gz) = 031f4ac6fd593b85bb7ee0051c1d13c2cccbfe59
Size (tsid-1.2.1.tar.gz) = 9247070 bytes
SHA1 (patch-aa) = 5794c89861c6a84d47428939af6d19da36930631
+SHA1 (patch-ab) = 4af606a78e78c4e14c489e0b86b9eb4d8aca03f3
diff --git a/py-tsid/patches/patch-ab b/py-tsid/patches/patch-ab
new file mode 100644
index 0000000000000000000000000000000000000000..1bb02cc1b96cc63817df3475faf980f6206f8ad0
--- /dev/null
+++ b/py-tsid/patches/patch-ab
@@ -0,0 +1,10 @@
+--- CMakeLists.txt.orig 2019-09-16 12:30:40.000000000 +0200
++++ CMakeLists.txt 2019-09-16 12:30:50.709636368 +0200
+@@ -77,7 +77,6 @@
+ # Fail-safe support for catkin-ized pinocchio:
+ # - If catkin-based pinocchio is installed it runs the CFG_EXTRAS to set up the Pinocchio preprocessor directives
+ # - If it isn't, nothing happens and the subsequent pkg-config check takes care of everything.
+-find_package(catkin QUIET COMPONENTS pinocchio)
+
+ ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.0.0")
+
diff --git a/sot-talos-balance/Makefile b/sot-talos-balance/Makefile
index f43dae8929f893f2a90b7da26cccd417bf783534..8fbd19da15cf3e1d8ef5fc1afedd9022644b56d1 100644
--- a/sot-talos-balance/Makefile
+++ b/sot-talos-balance/Makefile
@@ -5,13 +5,7 @@
ORG= stack-of-tasks
NAME= sot-talos-balance
VERSION= 1.5.0
-PKGREVISION= 3
-
-DISTNAME= ${NAME}-${VERSION}
-
-MASTER_SITES= ${MASTER_SITE_OPENROBOTS:=${NAME}/}
-MASTER_REPOSITORY= ${MASTER_REPOSITORY_GITHUB}${ORG}/${NAME}.git
-CHECKOUT_VCS_OPTS= --recursive
+PKGREVISION= 4
CATEGORIES= wip
COMMENT= Balance for TALOS humanoid robot
@@ -20,8 +14,7 @@ MAINTAINER= gepetto-soft@laas.fr
CMAKE_ARGS+= -DBUILD_PYTHON_INTERFACE=OFF
-DYNAMIC_PLIST_DIRS+= share/doc/${NAME}
-
+include ../../wip/jrl-cmakemodules/Makefile.common
include ../../devel/boost-headers/depend.mk
include ../../devel/boost-libs/depend.mk
include ../../graphics/simple-humanoid-description/depend.mk
diff --git a/sot-talos-balance/distinfo b/sot-talos-balance/distinfo
index 04f48aa6ffc544d150843f8860a6ce0c8d6c3fb7..fd7396a48543551e865e2463093fdf9b51e3dab3 100644
--- a/sot-talos-balance/distinfo
+++ b/sot-talos-balance/distinfo
@@ -1,4 +1,4 @@
SHA1 (sot-talos-balance-1.5.0.tar.gz) = 19737c2e3d1ad2ada5780e92d8f3577ac958664d
RMD160 (sot-talos-balance-1.5.0.tar.gz) = d855da25d31e23a1f75fc52b7c8bcc158a38dc3d
Size (sot-talos-balance-1.5.0.tar.gz) = 8424691 bytes
-SHA1 (patch-aa) = be310bc9dd558388391fe627cad221876bd080e6
+SHA1 (patch-aa) = e6a67a3de699004c51f1325726df6e925cbb13d0
diff --git a/tsid/distinfo b/tsid/distinfo
index 41ac12042327188d73aba6faf91ef8d11f4ed690..e9d72ea59e3aed871c698a5d1718617dcd3b047d 100644
--- a/tsid/distinfo
+++ b/tsid/distinfo
@@ -1,3 +1,4 @@
SHA1 (tsid-1.2.1.tar.gz) = de3861c98d40270fefed74062ac9ba03cb50fb65
RMD160 (tsid-1.2.1.tar.gz) = 031f4ac6fd593b85bb7ee0051c1d13c2cccbfe59
Size (tsid-1.2.1.tar.gz) = 9247070 bytes
+SHA1 (patch-aa) = 57a8ca91b4b2c7fba35f927ec1083523a26dcc05
diff --git a/tsid/patches/patch-aa b/tsid/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..52ba43492875a9a64a1a445ae3b1b37c60395156
--- /dev/null
+++ b/tsid/patches/patch-aa
@@ -0,0 +1,10 @@
+--- CMakeLists.txt.orig 2019-09-16 11:12:22.000000000 +0200
++++ CMakeLists.txt 2019-09-16 12:30:05.942033968 +0200
+@@ -77,7 +77,6 @@
+ # Fail-safe support for catkin-ized pinocchio:
+ # - If catkin-based pinocchio is installed it runs the CFG_EXTRAS to set up the Pinocchio preprocessor directives
+ # - If it isn't, nothing happens and the subsequent pkg-config check takes care of everything.
+-find_package(catkin QUIET COMPONENTS pinocchio)
+
+ ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.0.0")
+