diff --git a/recipes-ros/collada-urdf/collada-parser_1.11.14.bb b/recipes-ros/collada-urdf/collada-parser_1.11.14.bb
new file mode 100644
index 0000000..07784f6
--- /dev/null
+++ b/recipes-ros/collada-urdf/collada-parser_1.11.14.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "This package contains a C++ parser for the Collada robot description format."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=19;endline=19;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "collada-dom roscpp urdfdom-headers urdf urdf-parser-plugin class-loader"
+
+require collada-urdf.inc
diff --git a/recipes-ros/collada-urdf/collada-urdf.inc b/recipes-ros/collada-urdf/collada-urdf.inc
new file mode 100644
index 0000000..7d8bc42
--- /dev/null
+++ b/recipes-ros/collada-urdf/collada-urdf.inc
@@ -0,0 +1,9 @@
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "19bcb9966c07ae94cf765f57779b6173"
+SRC_URI[sha256sum] = "77c3ec2301418c2a860d64aff46a9d0e30e392e179345623f8d33877eade79b7"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
+inherit catkin
+
+ROS_SPN = "collada_urdf"
diff --git a/recipes-ros/robot-model/collada-urdf_1.11.13.bb b/recipes-ros/collada-urdf/collada-urdf_1.11.14.bb
similarity index 94%
rename from recipes-ros/robot-model/collada-urdf_1.11.13.bb
rename to recipes-ros/collada-urdf/collada-urdf_1.11.14.bb
index 97a5783..9c69d13 100644
--- a/recipes-ros/robot-model/collada-urdf_1.11.13.bb
+++ b/recipes-ros/collada-urdf/collada-urdf_1.11.14.bb
@@ -6,4 +6,4 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=18;endline=18;md5=d566ef916e9de
 
 DEPENDS = "angles assimp resource-retriever collada-dom collada-parser roscpp urdf geometric-shapes tf libtinyxml"
 
-require robot-model.inc
+require collada-urdf.inc
diff --git a/recipes-ros/kdl-parser/kdl-parser-py_1.11.14.bb b/recipes-ros/kdl-parser/kdl-parser-py_1.11.14.bb
new file mode 100644
index 0000000..dabc749
--- /dev/null
+++ b/recipes-ros/kdl-parser/kdl-parser-py_1.11.14.bb
@@ -0,0 +1,10 @@
+DESCRIPTION = "kdl_parser_py provides Python tools to construct a KDL tree from an XML robot representation in URDF."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "orocos-kdl urdf"
+
+require kdl-parser.inc
+
+RDEPENDS_${PN} = "urdfdom-py python-orocos-kdl"
diff --git a/recipes-ros/kdl-parser/kdl-parser.inc b/recipes-ros/kdl-parser/kdl-parser.inc
new file mode 100644
index 0000000..7ef58ca
--- /dev/null
+++ b/recipes-ros/kdl-parser/kdl-parser.inc
@@ -0,0 +1,9 @@
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "c4b190c223f2ecc373b468ba51e508b7"
+SRC_URI[sha256sum] = "34b5ff0e180dbe835ba5adf51fb5423ec292a1c8af716e55317ee04a52013c19"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
+inherit catkin
+
+ROS_SPN = "kdl_parser"
diff --git a/recipes-ros/robot-model/kdl-parser/0001-add-explicit-dependency-on-libeigen.patch b/recipes-ros/kdl-parser/kdl-parser/0001-add-explicit-dependency-on-libeigen.patch
similarity index 100%
rename from recipes-ros/robot-model/kdl-parser/0001-add-explicit-dependency-on-libeigen.patch
rename to recipes-ros/kdl-parser/kdl-parser/0001-add-explicit-dependency-on-libeigen.patch
diff --git a/recipes-ros/robot-model/kdl-parser_1.11.13.bb b/recipes-ros/kdl-parser/kdl-parser_1.11.14.bb
similarity index 60%
rename from recipes-ros/robot-model/kdl-parser_1.11.13.bb
rename to recipes-ros/kdl-parser/kdl-parser_1.11.14.bb
index 2cf97ad..ad00fca 100644
--- a/recipes-ros/robot-model/kdl-parser_1.11.13.bb
+++ b/recipes-ros/kdl-parser/kdl-parser_1.11.14.bb
@@ -5,8 +5,6 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=17;endline=17;md5=d566ef916e9de
 
 DEPENDS = "libeigen orocos-kdl rosconsole roscpp urdf cmake-modules"
 
-require robot-model.inc
+require kdl-parser.inc
 
-SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz \
-           file://0001-add-explicit-dependency-on-libeigen.patch \
-           "
+SRC_URI += "file://0001-add-explicit-dependency-on-libeigen.patch"
diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 93f1339..2e44281 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -196,6 +196,7 @@ RDEPENDS_${PN} = "\
     mavlink \
 "
 
+# kdl-parser-py requires python-orocos-kdl, which current fails due to #469.
 # urdfdom-headers is an empty deploy package.
 # image-view requires gtk+, but it cannot be found by cmake for some reason.
 # sound-play requires python-gst (which is not available in any layers' master branch)
diff --git a/recipes-ros/robot-model/collada-parser_1.11.13.bb b/recipes-ros/robot-model/collada-parser_1.11.13.bb
deleted file mode 100644
index 7b483d3..0000000
--- a/recipes-ros/robot-model/collada-parser_1.11.13.bb
+++ /dev/null
@@ -1,12 +0,0 @@
-DESCRIPTION = " This package contains a C++ parser for the Collada robot \
-description format. The parser reads a Collada XML robot description, and \
-creates a C++ URDF model. Although it is possible to directly use this \
-parser when working with Collada robot descriptions, the preferred user \
-API is found in the urdf package."
-SECTION = "devel"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=19;endline=19;md5=d566ef916e9dedc494f5f793a6690ba5"
-
-DEPENDS = "collada-dom roscpp urdfdom-headers urdf urdf-parser-plugin class-loader"
-
-require robot-model.inc