diff --git a/Makefile b/Makefile
index 1679d562f09d3383030462b14d713cae7ca6030e..c03dab263b42262624266d1ee1d62532c04484d6 100644
--- a/Makefile
+++ b/Makefile
@@ -12,6 +12,7 @@ SUBDIR+=	chilitags
 SUBDIR+= 	clara
 SUBDIR+=	daqflex-libs
 SUBDIR+= 	demo-genom3
+SUBDIR+=	dynamic-graph-bridge
 SUBDIR+=	gdalwrap
 SUBDIR+=	genom3
 SUBDIR+=	genom3-openprs
diff --git a/dynamic-graph-bridge/DESCR b/dynamic-graph-bridge/DESCR
new file mode 100644
index 0000000000000000000000000000000000000000..1da5459e8e2d7703912f1427b9a4f1b620aa81b3
--- /dev/null
+++ b/dynamic-graph-bridge/DESCR
@@ -0,0 +1 @@
+This ROS package binds together the ROS framework with the dynamic-graph real-time control architecture.
diff --git a/dynamic-graph-bridge/Makefile b/dynamic-graph-bridge/Makefile
new file mode 100755
index 0000000000000000000000000000000000000000..387e86454872d864c7e6cec1b080e27d2f096361
--- /dev/null
+++ b/dynamic-graph-bridge/Makefile
@@ -0,0 +1,42 @@
+# robotpkg Makefile for:	motion/dynamic-graph-bridge
+#
+
+DISTNAME=		dynamic_graph_bridge-${VERSION}
+VERSION=		1.0.0
+
+CATEGORIES=		motion
+MASTER_SITES=		${MASTER_SITE_OPENROBOTS:=dynamic-graph-bridge/}
+MASTER_REPOSITORY=	${MASTER_REPOSITORY_GITHUB}stack-of-tasks/dynamic_graph_bridge/
+
+COMMENT=		This ROS package binds together the ROS framework with the dynamic-graph real-time control architecture.
+LICENSE=		gnu-lgpl-v3
+MAINTAINER=		hpp@laas.fr
+
+DYNAMIC_PLIST_DIRS+=	share/doc/dynamic-graph-bridge
+
+# disable -Werror because of x86_64 warnings (must be fixed upstream) and
+# boost + gcc that don't cohabit well depending on their respective versions
+CMAKE_ARGS+=		-DCXX_DISABLE_WERROR=yes
+
+# man pages location
+CMAKE_ARGS+=		-DMANDIR=${PREFIX}/${PKGMANDIR}
+# library location
+CMAKE_ARGS+=		-DCMAKE_INSTALL_LIBDIR=lib
+
+include ../../wip/ros-realtime-tools/depend.mk
+include ../../simulation/bullet/depend.mk
+include ../../interfaces/jrl-mal/depend.mk
+include ../../motion/dynamic-graph/depend.mk
+include ../../motion/py-dynamic-graph/depend.mk
+include ../../motion/sot-core/depend.mk
+include ../../motion/sot-dynamic/depend.mk
+include ../../wip/jrl-dynamics-urdf/depend.mk
+include ../../interfaces/jrl-mal/depend.mk
+include ../../simulation/bullet/depend.mk
+include ../../devel/ros-roscpp-core/depend.mk
+include ../../devel/ros-catkin/depend.mk
+include ../../pkgtools/pkg-config/depend.mk
+include ../../mk/language/c.mk
+include ../../mk/language/c++.mk
+include ../../mk/sysdep/cmake.mk
+include ../../mk/robotpkg.mk
\ No newline at end of file
diff --git a/dynamic-graph-bridge/PLIST b/dynamic-graph-bridge/PLIST
new file mode 100644
index 0000000000000000000000000000000000000000..c860da8c0cf24f37e39a0d1b788befe6d08f514d
--- /dev/null
+++ b/dynamic-graph-bridge/PLIST
@@ -0,0 +1,178 @@
+@comment Mon Dec 16 07:13:27 CET 2013
+include/dynamic_graph_bridge/Matrix.h
+include/dynamic_graph_bridge/RunCommand.h
+include/dynamic_graph_bridge/RunCommandRequest.h
+include/dynamic_graph_bridge/RunCommandResponse.h
+include/dynamic_graph_bridge/Vector.h
+include/dynamic_graph_bridge/config.h
+include/dynamic_graph_bridge/config.hh
+include/dynamic_graph_bridge/deprecated.hh
+include/dynamic_graph_bridge/ros_init.hh
+include/dynamic_graph_bridge/ros_interpreter.hh
+include/dynamic_graph_bridge/warning.hh
+lib/dynamic_graph_bridge/robot_pose_publisher
+lib/dynamic_graph_bridge/run_command
+lib/dynamic_graph_bridge/tf_publisher
+lib/librobot_model.so
+lib/libros_bridge.so
+lib/libros_interpreter.so
+lib/libros_joint_state.so
+lib/libros_publish.so
+lib/libros_subscribe.so
+lib/libros_time.so
+lib/pkgconfig/dynamic_graph_bridge.pc
+${PYTHON_SITELIB}/dynamic_graph/ros/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/robot_model/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/robot_model/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/ros/ros.py
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_joint_state/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_joint_state/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_publish/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_publish/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_subscribe/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_subscribe/wrap.so
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_time/__init__.py
+${PYTHON_SITELIB}/dynamic_graph/ros/ros_time/wrap.so
+${PYTHON_SITELIB}/dynamic_graph_bridge/__init__.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/msg/_Matrix.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/msg/_Vector.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/msg/__init__.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/srv/_RunCommand.py
+${PYTHON_SITELIB}/dynamic_graph_bridge/srv/__init__.py
+share/common-lisp/ros/dynamic_graph_bridge/msg/Matrix.lisp
+share/common-lisp/ros/dynamic_graph_bridge/msg/Vector.lisp
+share/common-lisp/ros/dynamic_graph_bridge/msg/_package.lisp
+share/common-lisp/ros/dynamic_graph_bridge/msg/_package_Matrix.lisp
+share/common-lisp/ros/dynamic_graph_bridge/msg/_package_Vector.lisp
+share/common-lisp/ros/dynamic_graph_bridge/msg/dynamic_graph_bridge-msg.asd
+share/common-lisp/ros/dynamic_graph_bridge/srv/RunCommand.lisp
+share/common-lisp/ros/dynamic_graph_bridge/srv/_package.lisp
+share/common-lisp/ros/dynamic_graph_bridge/srv/_package_RunCommand.lisp
+share/common-lisp/ros/dynamic_graph_bridge/srv/dynamic_graph_bridge-srv.asd
+share/doc/dynamic_graph_bridge/doxygen-html/a00001.html
+share/doc/dynamic_graph_bridge/doxygen-html/a00001.js
+share/doc/dynamic_graph_bridge/doxygen-html/a00002.html
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+share/doc/dynamic_graph_bridge/doxygen-html/a00010.md5
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+share/doc/dynamic_graph_bridge/doxygen-html/annotated.html
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+share/doc/dynamic_graph_bridge/doxygen-html/tabs.css
+share/dynamic_graph_bridge/cmake/dynamic_graph_bridge-msg-extras.cmake
+share/dynamic_graph_bridge/cmake/dynamic_graph_bridge-msg-paths.cmake
+share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig-version.cmake
+share/dynamic_graph_bridge/cmake/dynamic_graph_bridgeConfig.cmake
+share/dynamic_graph_bridge/msg/Matrix.msg
+share/dynamic_graph_bridge/msg/Vector.msg
+share/dynamic_graph_bridge/package.xml
+share/dynamic_graph_bridge/srv/RunCommand.srv
diff --git a/dynamic-graph-bridge/depend.mk b/dynamic-graph-bridge/depend.mk
new file mode 100755
index 0000000000000000000000000000000000000000..1a1f6b4ad00af345d35a4f74022019d090e5efbd
--- /dev/null
+++ b/dynamic-graph-bridge/depend.mk
@@ -0,0 +1,38 @@
+# robotpkg depend.mk for:	devel/ros-realtime-tools
+# Created:			Aurelie Clodic on Thu, 28 Nov 2013
+#
+
+DEPEND_DEPTH:=			${DEPEND_DEPTH}+
+ROS_DYNAMICGRAPHBRIDGE_DEPEND_MK:=	${ROS_DYNAMICGRAPHBRIDGE_DEPEND_MK}+
+
+ifeq (+,$(DEPEND_DEPTH))
+DEPEND_PKG+=			dynamic-graph-bridge
+endif
+
+ifeq (+,$(ROS_DYNAMICGRAPHBRIDGE_DEPEND_MK)) # --------------------------------------
+
+PREFER.dynamic-graph-bridge?=		${PREFER.ros-base}
+SYSTEM_PREFIX.dynamic-graph-bridge?=	${SYSTEM_PREFIX.ros-base}
+
+DEPEND_USE+=			dynamic-graph-bridge
+ROS_DEPEND_USE+=		dynamic-graph-bridge
+
+DEPEND_ABI.ros+=		ros>=groovy
+
+DEPEND_ABI.dynamic-graph-bridge?=		dynamic-graph-bridge>=1.0.0
+DEPEND_DIR.dynamic-graph-bridge?=		../../motion/dynamic-graph-bridge
+
+DEPEND_ABI.dynamic-graph-bridge.groovy?=	dynamic-graph-bridge>=1.0.0
+DEPEND_ABI.dynamic-graph-bridge.hydro?=		dynamic-graph-bridge>=1.0.0
+
+SYSTEM_SEARCH.dynamic-graph-bridge=\
+  'include/dynamic_graph_bridge/Matrix.h'\
+  'share/realtime_tools/${ROS_STACKAGE}'\
+  'lib/pkgconfig/dynamic_graph_bridge.pc'\
+  'lib/librobot_model.so'\
+  'lib/dynamic_graph_bridge/robot_pose_publisher'\
+  '${PYTHON_SITELIB}/dynamic_graph/ros/ros.py'
+
+endif # ROS_REALTIMETOOLS_DEPEND_MK --------------------------------------------
+
+DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
diff --git a/dynamic-graph-bridge/distinfo b/dynamic-graph-bridge/distinfo
new file mode 100644
index 0000000000000000000000000000000000000000..1b603130471b45e87e97cd53c29918ac14104a25
--- /dev/null
+++ b/dynamic-graph-bridge/distinfo
@@ -0,0 +1,5 @@
+SHA1 (dynamic_graph_bridge-1.0.0.tar.gz) = 644116a81529fdd606db567e8de3e5739a96eef9
+RMD160 (dynamic_graph_bridge-1.0.0.tar.gz) = 9c55c95353479bda4b5e3cde79790c18788499a9
+Size (dynamic_graph_bridge-1.0.0.tar.gz) = 101838 bytes
+SHA1 (patch-aa) = 9b131ca3ce53dc8bbe54aa94cd301ddb45d49897
+SHA1 (patch-ab) = acf1b743f11302c2123a49febbe48c4e53be3ef4
diff --git a/dynamic-graph-bridge/patches/patch-aa b/dynamic-graph-bridge/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..d56ce52b3ad4282f857c4e116b15bc3274fb277a
--- /dev/null
+++ b/dynamic-graph-bridge/patches/patch-aa
@@ -0,0 +1,15 @@
+in robotpkg, realtime_tools is not installed as a catkin package  
+
+
+--- CMakeLists.txt~	2013-12-02 15:54:49.000000000 +0100
++++ CMakeLists.txt	2013-12-15 07:48:25.678062000 +0100
+@@ -21,7 +21,8 @@
+ 
+ project(dynamic_graph_bridge)
+ 
+-find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf realtime_tools)
++find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf)
++find_package(realtime_tools)
+ find_package(Boost REQUIRED COMPONENTS program_options)
+ 
+ add_message_files(FILES Matrix.msg Vector.msg)
diff --git a/dynamic-graph-bridge/patches/patch-ab b/dynamic-graph-bridge/patches/patch-ab
new file mode 100644
index 0000000000000000000000000000000000000000..d1b17ffec7498ffab397c8d8a169ff6d02da9ca9
--- /dev/null
+++ b/dynamic-graph-bridge/patches/patch-ab
@@ -0,0 +1,15 @@
+add libros_bridge installation to allow standalone use
+
+--- CMakeLists.txt2	2013-12-19 08:36:09.598413000 +0100
++++ CMakeLists.txt	2013-12-19 08:36:33.642277000 +0100
+@@ -79,9 +79,9 @@
+   include/dynamic_graph_bridge/ros_init.hh src/ros_init.cpp
+   src/sot_to_ros.hh src/sot_to_ros.cpp
+   )
+-
+ pkg_config_use_dependency(ros_bridge jrl-mal)
+ pkg_config_use_dependency(ros_bridge bullet)
++install(TARGETS ros_bridge DESTINATION lib)
+ 
+ # Make sure rpath are preserved during the install as ROS dependencies
+ # are not installed.