diff --git a/recipes-ros/moveit/moveit-kinematics_0.7.9.bb b/recipes-ros/moveit/moveit-kinematics_0.7.9.bb
new file mode 100644
index 0000000..4507533
--- /dev/null
+++ b/recipes-ros/moveit/moveit-kinematics_0.7.9.bb
@@ -0,0 +1,10 @@
+DESCRIPTION = "Package for all inverse kinematics solvers in MoveIt!"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "moveit-core moveit-ros-planning"
+
+require moveit.inc
+
+ROS_BPN = "moveit_kinematics"
diff --git a/recipes-ros/moveit/moveit-planners-ompl_0.7.9.bb b/recipes-ros/moveit/moveit-planners-ompl_0.7.9.bb
new file mode 100644
index 0000000..512a3a7
--- /dev/null
+++ b/recipes-ros/moveit/moveit-planners-ompl_0.7.9.bb
@@ -0,0 +1,12 @@
+DESCRIPTION = "MoveIt interface to OMPL"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "moveit-core moveit-ros-planning ompl"
+
+require moveit.inc
+
+ROS_BPN = "moveit_planners/ompl"
+
+FILES_${PN} += "${ros_libdir}/moveit_planners_ompl/*"
diff --git a/recipes-ros/moveit/moveit-ros-manipulation_0.7.9.bb b/recipes-ros/moveit/moveit-ros-manipulation_0.7.9.bb
new file mode 100644
index 0000000..ed81ed5
--- /dev/null
+++ b/recipes-ros/moveit/moveit-ros-manipulation_0.7.9.bb
@@ -0,0 +1,10 @@
+DESCRIPTION = "Components of MoveIt used for manipulation"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "moveit-core moveit-ros-planning moveit-ros-move-group moveit-msgs manipulation-msgs"
+
+require moveit.inc
+
+ROS_BPN = "moveit_ros/manipulation"
diff --git a/recipes-ros/moveit/moveit-ros-move-group_0.7.9.bb b/recipes-ros/moveit/moveit-ros-move-group_0.7.9.bb
new file mode 100644
index 0000000..cb5b823
--- /dev/null
+++ b/recipes-ros/moveit/moveit-ros-move-group_0.7.9.bb
@@ -0,0 +1,14 @@
+DESCRIPTION = "The move_group node for MoveIt"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "moveit-core moveit-ros-planning std-srvs"
+
+require moveit.inc
+
+ROS_BPN = "moveit_ros/move_group"
+
+RDEPENDS_${PN} += "moveit-kinematics"
+
+FILES_${PN} += "${ros_libdir}/moveit_ros_move_group/*"
diff --git a/recipes-ros/moveit/moveit-simple-controller-manager/0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch b/recipes-ros/moveit/moveit-simple-controller-manager/0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch
new file mode 100644
index 0000000..af60a6f
--- /dev/null
+++ b/recipes-ros/moveit/moveit-simple-controller-manager/0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch
@@ -0,0 +1,27 @@
+From 475a3477b2949392130e67182459390960a375c9 Mon Sep 17 00:00:00 2001
+From: Maarten de Vries <maarten@de-vri.es>
+Date: Fri, 20 May 2016 20:08:29 +0200
+Subject: [PATCH] Fix conversion of shared ptr to bool for C++11.
+
+Upstream-Status: Backported [from Kinetic release]
+
+---
+ .../moveit_simple_controller_manager/action_based_controller_handle.h   | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/include/moveit_simple_controller_manager/action_based_controller_handle.h b/include/moveit_simple_controller_manager/action_based_controller_handle.h
+index f1bec33..e1315fe 100644
+--- a/include/moveit_simple_controller_manager/action_based_controller_handle.h
++++ b/include/moveit_simple_controller_manager/action_based_controller_handle.h
+@@ -86,7 +86,7 @@ public:
+ 
+   bool isConnected() const
+   {
+-    return controller_action_client_;
++    return static_cast<bool>(controller_action_client_);
+   }
+ 
+   virtual bool cancelExecution()
+-- 
+2.9.3
+
diff --git a/recipes-ros/moveit/moveit-simple-controller-manager_0.7.9.bb b/recipes-ros/moveit/moveit-simple-controller-manager_0.7.9.bb
new file mode 100644
index 0000000..78b8c9c
--- /dev/null
+++ b/recipes-ros/moveit/moveit-simple-controller-manager_0.7.9.bb
@@ -0,0 +1,12 @@
+DESCRIPTION = "A generic, simple controller manager plugin for MoveIt."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "moveit-core actionlib control-msgs pluginlib roscpp"
+
+require moveit.inc
+
+SRC_URI_append = " file://0001-Fix-conversion-of-shared-ptr-to-bool-for-C-11.patch"
+
+ROS_BPN = "moveit_plugins/moveit_simple_controller_manager"
diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 75dbd56..93f1339 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -178,9 +178,14 @@ RDEPENDS_${PN} = "\
     ar-track-alvar \
     ar-track-alvar-msgs \
     moveit-core \
+    moveit-kinematics \
     moveit-msgs \
+    moveit-planners-ompl \
+    moveit-ros-manipulation \
+    moveit-ros-move-group \
     moveit-ros-perception \
     moveit-ros-planning \
+    moveit-simple-controller-manager \
     mavros-msgs \
     cv-camera \
     object-recognition-msgs \