diff --git a/talos-metapkg-ros-control-sot/Makefile b/talos-metapkg-ros-control-sot/Makefile
index ca861e9d07ff191e36c503e36ff3e0f8524f142c..9ac8c01ff3ec9c065cf23687b29ac0ed66f8e210 100644
--- a/talos-metapkg-ros-control-sot/Makefile
+++ b/talos-metapkg-ros-control-sot/Makefile
@@ -5,6 +5,7 @@
 VERSION=	0.0.3
 PKGNAME=	talos-metapkg-ros-control-sot-${VERSION}
 DISTNAME=	$(subst -,_,${PKGBASE})-${VERSION}
+PKGREVISION=	1
 
 CATEGORIES=	wip
 MASTER_SITES=	${MASTER_SITE_JRL:=talos/talos_metapkg_ros_control_sot/}
diff --git a/talos-metapkg-ros-control-sot/distinfo b/talos-metapkg-ros-control-sot/distinfo
index d841d4b987448557fc7bbb6ebf3f977bd26c22dd..3a2d1f8ace3adaa0951561412091b698b7463e4c 100644
--- a/talos-metapkg-ros-control-sot/distinfo
+++ b/talos-metapkg-ros-control-sot/distinfo
@@ -1,3 +1,4 @@
 SHA1 (talos_metapkg_ros_control_sot-0.0.3.tar.gz) = ea26f2cdc9e891effaf9e72b3883ecaa0dbd173a
 RMD160 (talos_metapkg_ros_control_sot-0.0.3.tar.gz) = 227a69f652e021fcc38504453c51ec1b250048b3
 Size (talos_metapkg_ros_control_sot-0.0.3.tar.gz) = 2067236 bytes
+SHA1 (patch-aa) = 4093b144682a6e8b589956e12824641d677be2eb
diff --git a/talos-metapkg-ros-control-sot/patches/patch-aa b/talos-metapkg-ros-control-sot/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..958a3a6d9e713ef255cd9ae6be0494a4301fcec6
--- /dev/null
+++ b/talos-metapkg-ros-control-sot/patches/patch-aa
@@ -0,0 +1,23 @@
+--- talos_metapkg_ros_control_sot/CMakeLists.txt
++++ talos_metapkg_ros_control_sot/CMakeLists.txt
+@@ -1,4 +1,4 @@
+ cmake_minimum_required(VERSION 2.8.3)
+-project(metapkg_talos_roscontrol_sot)
++project(talos_metapkg_ros_control_sot)
+ find_package(catkin REQUIRED)
+ catkin_metapackage()
+diff --git a/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp b/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
+index 98d90ea..8af32fa 100644
+--- a/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
++++ b/talos_roscontrol_sot/src/roscontrol-sot-controller.cpp
+@@ -84,6 +84,9 @@ namespace talos_sot_controller
+     /// Create SoT
+     SotLoaderBasic::Initialization();
+ 
++    /// If we are in effort mode then the device should not do any integration.
++    if (control_mode_==EFFORT)
++      sotController_->setNoIntegration();
+     return true;
+   }
+   
+