diff --git a/recipes-extended/libflann/libflann_1.8.4.bb b/recipes-extended/libflann/libflann_1.8.4.bb
deleted file mode 100644
index 6ab9824..0000000
--- a/recipes-extended/libflann/libflann_1.8.4.bb
+++ /dev/null
@@ -1,13 +0,0 @@
-DESCRIPTION = "a library for performing fast approximate nearest neighbor searches in high dimensional spaces"
-AUTHOR = "Marius Muja and David G. Lowe"
-HOMEPAGE = "http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://COPYING;md5=040a44ba915aa6b3b099ea189c7b7e20"
-
-SRC_URI = "http://people.cs.ubc.ca/~mariusm/uploads/FLANN/flann-1.8.4-src.zip"
-SRC_URI[md5sum] = "a0ecd46be2ee11a68d2a7d9c6b4ce701"
-SRC_URI[sha256sum] = "dfbb9321b0d687626a644c70872a2c540b16200e7f4c7bd72f91ae032f445c08"
-
-S = "${WORKDIR}/flann-${PV}-src"
-
-inherit cmake
diff --git a/recipes-extended/libflann/libflann_1.9.1.bb b/recipes-extended/libflann/libflann_1.9.1.bb
new file mode 100644
index 0000000..c190ba3
--- /dev/null
+++ b/recipes-extended/libflann/libflann_1.9.1.bb
@@ -0,0 +1,13 @@
+DESCRIPTION = "Fast Library for Approximate Nearest Neighbors"
+AUTHOR = "Marius Muja and David G. Lowe"
+HOMEPAGE = "http://www.cs.ubc.ca/~mariusm/index.php/FLANN/FLANN"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://COPYING;md5=395adad2339bd9ce5fef13d564a9681c"
+
+SRC_URI = "https://github.com/mariusmuja/flann/archive/${PV}.tar.gz"
+SRC_URI[md5sum] = "73adef1c7bf8e8b978987e7860926ea6"
+SRC_URI[sha256sum] = "b23b5f4e71139faa3bcb39e6bbcc76967fbaf308c4ee9d4f5bfbeceaa76cc5d3"
+
+S = "${WORKDIR}/flann-${PV}"
+
+inherit cmake
diff --git a/recipes-extended/pcl/pcl/0001-Add-WITH_OPENGL-option-to-make-OpenGL-and-Glut-inclu.patch b/recipes-extended/pcl/pcl/0001-Add-WITH_OPENGL-option-to-make-OpenGL-and-Glut-inclu.patch
deleted file mode 100644
index 1064e43..0000000
--- a/recipes-extended/pcl/pcl/0001-Add-WITH_OPENGL-option-to-make-OpenGL-and-Glut-inclu.patch
+++ /dev/null
@@ -1,38 +0,0 @@
-From 1361899d1a336938811eceb17e2f71abe650ae17 Mon Sep 17 00:00:00 2001
-From: Davide Viti <zinosat@tiscali.it>
-Date: Sun, 9 Nov 2014 21:37:28 +0100
-Subject: [PATCH] Add "WITH_OPENGL" option to make OpenGL and Glut inclusion
- conditional
-
-Upstream-Status: Accepted
-
-This patch file was created from the pcl repository with:
-
-  `git checkout 1361899d1a336938811eceb17e2f71abe650ae17 && git format-patch -1`
-
-I expect this patch to be dropped in any recipe version later than 1.7.2.
-
-Signed-off-by: Lukas.Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
----
- CMakeLists.txt | 5 ++++-
- 1 file changed, 4 insertions(+), 1 deletion(-)
-
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 6cc473d..7fda151 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -403,7 +403,10 @@ if(WITH_PCAP)
- endif(WITH_PCAP)
- 
- # OpenGL and GLUT
--include("${PCL_SOURCE_DIR}/cmake/pcl_find_gl.cmake")
-+option(WITH_OPENGL "Support for OpenGL" TRUE)
-+if(WITH_OPENGL)
-+  include("${PCL_SOURCE_DIR}/cmake/pcl_find_gl.cmake")
-+endif(WITH_OPENGL)
- 
- ### ---[ Create the config.h file
- set(pcl_config_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pcl_config.h.in")
--- 
-2.4.3
-
diff --git a/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch b/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch
new file mode 100644
index 0000000..e9e2ec2
--- /dev/null
+++ b/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch
@@ -0,0 +1,138 @@
+From 19361abfa1bf21bc9be911f6ffa97f1c43174d8d Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 27 Sep 2016 14:05:22 +0200
+Subject: [PATCH] make the pcl library compile with gcc6
+
+With gcc6, compiling fails with `stdlib.h: No such file or directory`,
+as including '-isystem /usr/include' breaks with gcc6, cf.,
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
+
+As far as I can judge from the history, all uses of `SYSTEM` were
+added to avoid to show warnings from external libraries or were
+added without any further argumentation for the use of `SYSTEM` in
+the commit message. The detailed inspection of the git history is shown
+below.
+
+There are other better solutions to avoid to show warnings from
+external libraries without modifying the SYSTEM default directories.
+Hence, this commit replaces all occurrences of
+`include_directory(SYSTEM ...)` with `include_directory(...)`. After
+this change, the point cloud library compiles with gcc6 (in my setup).
+
+The inspection of the git history pointed the following relevant
+git commits:
+
+In commit 636c49a6 [1], Eigen, FLANN, and MPI include directories
+`are set as system to avoid warnings in those files`. The SYSTEM attribute
+in the Eigen include directory remained until now; the other two occurrences
+of the SYSTEM attribute have been dropped in commit 9003e42b [2] for FLANN
+during work on `fixing the USE_ROS flag` without further explanation,
+and in commit 582a1cff [3], which completely removed the whole MPI setup
+in the CMakeLists.txt.
+
+The commit ef3e489b [4] `set[ted] Boost libraries as system libraries`,
+probably with the same rationale as in commit 636c49a6, i.e., to avoid
+warnings in those files.
+
+The commit 55deacd7 [5] provided a generic cmake script for grabbers
+based on already pre-existing patterns in the CMakeLists.txt file.
+
+[1] https://github.com/PointCloudLibrary/pcl/commit/636c49a6ffe7ec8c5409803b137b9d77081b9f9b
+[2] https://github.com/PointCloudLibrary/pcl/commit/9003e42b7f648cd94ed817473c566cc97517ae08
+[3] https://github.com/PointCloudLibrary/pcl/commit/582a1cffd5f074135937bfdaeab01b4e6048ce32
+[4] https://github.com/PointCloudLibrary/pcl/commit/ef3e489ba7ef6fe3ef0319b15f5dc4b64b21ea32
+[5] https://github.com/PointCloudLibrary/pcl/commit/55deacd7b1bb3cc63ad19bef971b97f0777864d6
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
+Upstream-Status: Pending [https://github.com/PointCloudLibrary/pcl/pull/1730]
+
+---
+ CMakeLists.txt                  | 2 +-
+ cmake/Modules/FindOpenNI.cmake  | 2 +-
+ cmake/Modules/FindOpenNI2.cmake | 2 +-
+ cmake/pcl_find_boost.cmake      | 2 +-
+ cmake/pcl_targets.cmake         | 2 +-
+ test/CMakeLists.txt             | 2 +-
+ 6 files changed, 6 insertions(+), 6 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e5fd763..c658df5 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -272,7 +272,7 @@ endif()
+ 
+ # Eigen (required)
+ find_package(Eigen REQUIRED)
+-include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
++include_directories(${EIGEN_INCLUDE_DIRS})
+ add_definitions(-DEIGEN_USE_NEW_STDVECTOR
+                 -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET)
+ # FLANN (required)
+diff --git a/cmake/Modules/FindOpenNI.cmake b/cmake/Modules/FindOpenNI.cmake
+index 9f772a4..bd36f3e 100644
+--- a/cmake/Modules/FindOpenNI.cmake
++++ b/cmake/Modules/FindOpenNI.cmake
+@@ -30,7 +30,7 @@ if(NOT WIN32)
+     message(STATUS "OpenNI disabled because libusb-1.0 not found.")
+     return()
+   else()
+-    include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
++    include_directories(${USB_10_INCLUDE_DIR})
+   endif()
+ endif(NOT WIN32)
+ 
+diff --git a/cmake/Modules/FindOpenNI2.cmake b/cmake/Modules/FindOpenNI2.cmake
+index 713099a..8226895 100644
+--- a/cmake/Modules/FindOpenNI2.cmake
++++ b/cmake/Modules/FindOpenNI2.cmake
+@@ -30,7 +30,7 @@ if(NOT WIN32)
+     message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.")
+     return()
+   else()
+-    include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
++    include_directories(${USB_10_INCLUDE_DIR})
+   endif()
+ endif(NOT WIN32)
+ 
+diff --git a/cmake/pcl_find_boost.cmake b/cmake/pcl_find_boost.cmake
+index a3abe1c..c57b87d 100644
+--- a/cmake/pcl_find_boost.cmake
++++ b/cmake/pcl_find_boost.cmake
+@@ -48,6 +48,6 @@ if(Boost_FOUND)
+   # Obtain diagnostic information about Boost's automatic linking outputted 
+   # during compilation time.
+   add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
+-  include_directories(SYSTEM ${Boost_INCLUDE_DIRS})
++  include_directories(${Boost_INCLUDE_DIRS})
+   link_directories(${Boost_LIBRARY_DIRS})
+ endif(Boost_FOUND)
+diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
+index 691ead0..f730743 100644
+--- a/cmake/pcl_targets.cmake
++++ b/cmake/pcl_targets.cmake
+@@ -858,7 +858,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description)
+         message(WARNING "${_description}: not building because ${_name} not found")
+       else()
+         set(HAVE_${_name_capitalized} TRUE)
+-        include_directories(SYSTEM "${${_name_capitalized}_INCLUDE_DIRS}")
++        include_directories("${${_name_capitalized}_INCLUDE_DIRS}")
+       endif()
+     endif()
+ endmacro(PCL_ADD_GRABBER_DEPENDENCY)
+diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
+index 3b3e2d7..342cb62 100644
+--- a/test/CMakeLists.txt
++++ b/test/CMakeLists.txt
+@@ -17,7 +17,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS
+ if(build)
+ 
+     find_package(Gtest REQUIRED)
+-    include_directories(SYSTEM ${GTEST_INCLUDE_DIRS} ${GTEST_SRC_DIR})
++    include_directories(${GTEST_INCLUDE_DIRS} ${GTEST_SRC_DIR})
+ 
+     add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc)
+ 	
+-- 
+2.5.5
+
diff --git a/recipes-extended/pcl/pcl_1.7.2.bb b/recipes-extended/pcl/pcl_1.8.0.bb
similarity index 83%
rename from recipes-extended/pcl/pcl_1.7.2.bb
rename to recipes-extended/pcl/pcl_1.8.0.bb
index f0acb0f..16212cd 100644
--- a/recipes-extended/pcl/pcl_1.7.2.bb
+++ b/recipes-extended/pcl/pcl_1.8.0.bb
@@ -6,10 +6,10 @@ LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=5b8a2a1aa14e6de44b4273134946a34c"
 DEPENDS = "boost libflann libeigen qhull"
 
 SRC_URI = "https://github.com/PointCloudLibrary/${PN}/archive/${P}.tar.gz"
-SRC_URI[md5sum] = "02c72eb6760fcb1f2e359ad8871b9968"
-SRC_URI[sha256sum] = "479f84f2c658a6319b78271111251b4c2d6cf07643421b66bbc351d9bed0ae93"
+SRC_URI[md5sum] = "8c1308be2c13106e237e4a4204a32cca"
+SRC_URI[sha256sum] = "9e54b0c1b59a67a386b9b0f4acb2d764272ff9a0377b825c4ed5eedf46ebfcf4"
 
-SRC_URI += "file://0001-Add-WITH_OPENGL-option-to-make-OpenGL-and-Glut-inclu.patch"
+SRC_URI += "file://0001-make-the-pcl-library-compile-with-gcc6.patch"
 
 S = "${WORKDIR}/pcl-${P}"
 
@@ -19,6 +19,7 @@ EXTRA_OECMAKE += "\
   -DHAVE_POSIX_MEMALIGN_EXITCODE=0 \
    ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.2", "-DHAVE_SSE4_2_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE4_2_EXTENSIONS_EXITCODE=1", d)} \
    ${@bb.utils.contains("TARGET_CC_ARCH", "-msse4.1", "-DHAVE_SSE4_1_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE4_1_EXTENSIONS_EXITCODE=1", d)} \
+  -DHAVE_SSSE3_EXTENSIONS_EXITCODE=0 \
    ${@bb.utils.contains("TARGET_CC_ARCH", "-msse3", "-DHAVE_SSE3_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE3_EXTENSIONS_EXITCODE=1", d)} \
    ${@bb.utils.contains("TARGET_CC_ARCH", "-msse2", "-DHAVE_SSE2_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE2_EXTENSIONS_EXITCODE=1", d)} \
    ${@bb.utils.contains("TARGET_CC_ARCH", "-msse", "-DHAVE_SSE_EXTENSIONS_EXITCODE=0", "-DHAVE_SSE_EXTENSIONS_EXITCODE=1", d)} \
@@ -37,4 +38,4 @@ CXXFLAGS += "${@bb.utils.contains("TARGET_CC_ARCH", "-mfpmath=sse", "", "-ffloat
 
 inherit cmake
 
-FILES_${PN}-dev += "${datadir}/${PN}-1.7/*.cmake"
+FILES_${PN}-dev += "${datadir}/${PN}-1.8/*.cmake"
diff --git a/recipes-ros/dynamic-reconfigure/dynamic-reconfigure/0001-address-gcc6-build-error.patch b/recipes-ros/dynamic-reconfigure/dynamic-reconfigure/0001-address-gcc6-build-error.patch
new file mode 100644
index 0000000..8eec194
--- /dev/null
+++ b/recipes-ros/dynamic-reconfigure/dynamic-reconfigure/0001-address-gcc6-build-error.patch
@@ -0,0 +1,45 @@
+From b2f10174c48333f7a0ce8c01b86536f959d92348 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Wed, 21 Sep 2016 13:16:07 +0200
+Subject: [PATCH] address gcc6 build error
+
+With gcc6, compiling fails with `stdlib.h: No such file or directory`,
+as including '-isystem /usr/include' breaks with gcc6, cf.,
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
+
+This commit addresses this issue for this package in the same way
+it was addressed in various other ROS packages. A list of related
+commits and pull requests is at:
+
+  https://github.com/ros/rosdistro/issues/12783
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
+Upstream-Status: Accepted [https://github.com/ros/dynamic_reconfigure/commit/b2f10174c48333f7a0ce8c01b86536f959d92348]
+
+This patch has been generated with:
+  `git format-patch -1 b2f10174c48333f7a0ce8c01b86536f959d92348`
+in the dynamic_reconfigure repository.
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+---
+ CMakeLists.txt | 3 +--
+ 1 file changed, 1 insertion(+), 2 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index ce896b9..60c6333 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -4,8 +4,7 @@ project(dynamic_reconfigure)
+ find_package(catkin REQUIRED COMPONENTS message_generation roscpp std_msgs)
+ find_package(Boost REQUIRED COMPONENTS system thread)
+ 
+-include_directories(include ${catkin_INCLUDE_DIRS})
+-include_directories(SYSTEM ${Boost_INCLUDE_DIRS})
++include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+ 
+ catkin_python_setup()
+ 
+-- 
+2.5.5
+
diff --git a/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.44.bb b/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.44.bb
index d15a939..d62702e 100644
--- a/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.44.bb
+++ b/recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.44.bb
@@ -10,6 +10,8 @@ SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilena
 SRC_URI[md5sum] = "5728cc591b90e7ddd42b936e74e3062c"
 SRC_URI[sha256sum] = "f1b073c36fd937bd8697bc92ec38926f9194069e6e8d80ab70eb09610720ee7f"
 
+SRC_URI += "file://0001-address-gcc6-build-error.patch"
+
 S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
diff --git a/recipes-ros/geometric-shapes/geometric-shapes/0001-address-gcc6-build-error-backport-for-0.4.4.patch b/recipes-ros/geometric-shapes/geometric-shapes/0001-address-gcc6-build-error-backport-for-0.4.4.patch
new file mode 100644
index 0000000..1dae355
--- /dev/null
+++ b/recipes-ros/geometric-shapes/geometric-shapes/0001-address-gcc6-build-error-backport-for-0.4.4.patch
@@ -0,0 +1,43 @@
+From 77e184e32b19bfd7ee64d3344bcff0a28eccbb4e Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Wed, 28 Sep 2016 10:25:02 +0200
+Subject: [PATCH] address gcc6 build error (backport for 0.4.4)
+
+With gcc6, compiling fails with `stdlib.h: No such file or directory`,
+as including '-isystem /usr/include' breaks with gcc6, cf.,
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
+
+This commit addresses this issue for this package in the same way
+it was addressed in various other ROS packages. A list of related
+commits and pull requests is at:
+
+  https://github.com/ros/rosdistro/issues/12783
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
+Upstream-Status: Accepted [https://github.com/ros-planning/geometric_shapes/commit/7a0af36bb67c0718373f6bbac31959e8356cda92]
+
+The content of commit 7a0af36bb67c0718373f6bbac31959e8356cda92 has been
+manually backported for version 0.4.4, and resulted in this patch.
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+---
+ CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9ae6b09..145d7a8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -52,7 +52,7 @@ if (HAVE_QHULL_2011)
+ endif()
+ 
+ include_directories(include)
+-include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${ASSIMP_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS})
++include_directories(${EIGEN_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${ASSIMP_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS})
+ include_directories(${catkin_INCLUDE_DIRS} ${console_bridge_INCLUDE_DIRS})
+ link_directories(${catkin_LIBRARY_DIRS} ${console_bridge_LIBRARY_DIRS} ${ASSIMP_LIBRARY_DIRS})
+ 
+-- 
+2.5.5
+
diff --git a/recipes-ros/geometric-shapes/geometric-shapes_0.4.4.bb b/recipes-ros/geometric-shapes/geometric-shapes_0.4.4.bb
index d302739..e102222 100644
--- a/recipes-ros/geometric-shapes/geometric-shapes_0.4.4.bb
+++ b/recipes-ros/geometric-shapes/geometric-shapes_0.4.4.bb
@@ -9,6 +9,8 @@ SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downl
 SRC_URI[md5sum] = "f684af3e76eb37b4c0153527162d73dc"
 SRC_URI[sha256sum] = "4d600890b72d0b20b2fbcc9ded06464a37c871317445ec32d3858bd719b0aa02"
 
+SRC_URI += "file://0001-address-gcc6-build-error-backport-for-0.4.4.patch"
+
 S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
diff --git a/recipes-ros/geometry/tf/0001-Fix-stdlib.h-No-such-file-or-directory-errors-in-GCC.patch b/recipes-ros/geometry/tf/0001-Fix-stdlib.h-No-such-file-or-directory-errors-in-GCC.patch
new file mode 100644
index 0000000..fcb253e
--- /dev/null
+++ b/recipes-ros/geometry/tf/0001-Fix-stdlib.h-No-such-file-or-directory-errors-in-GCC.patch
@@ -0,0 +1,35 @@
+From b0d31cc1e9a43b45d216ee7f804e901a5c0f8936 Mon Sep 17 00:00:00 2001
+From: Hodorgasm <nsane457@gmail.com>
+Date: Mon, 19 Sep 2016 17:58:22 -0400
+Subject: [PATCH] Fix "stdlib.h: No such file or directory" errors in GCC-6
+
+Including '-isystem /usr/include' breaks building with GCC-6.
+See https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129
+
+Upstream-Status: Accepted [https://github.com/ros/geometry/commit/b0d31cc1e9a43b45d216ee7f804e901a5c0f8936]
+
+This patch has been generated with:
+  `git format-patch -1 b0d31cc1e9a43b45d216ee7f804e901a5c0f8936`
+in the geometry repository.
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+---
+ tf/CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/tf/CMakeLists.txt b/tf/CMakeLists.txt
+index 8077561..cf72127 100644
+--- a/tf/CMakeLists.txt
++++ b/tf/CMakeLists.txt
+@@ -8,7 +8,7 @@ find_package(catkin COMPONENTS angles geometry_msgs message_filters message_gene
+ 
+ catkin_python_setup()
+ 
+-include_directories(SYSTEM ${Boost_INCLUDE_DIR}
++include_directories(${Boost_INCLUDE_DIR}
+                            ${catkin_INCLUDE_DIRS}
+ )
+ include_directories(include)
+-- 
+2.5.5
+
diff --git a/recipes-ros/geometry/tf_1.11.8.bb b/recipes-ros/geometry/tf_1.11.8.bb
index c68d8fb..a0f91db 100644
--- a/recipes-ros/geometry/tf_1.11.8.bb
+++ b/recipes-ros/geometry/tf_1.11.8.bb
@@ -7,4 +7,6 @@ DEPENDS = "angles geometry-msgs message-filters sensor-msgs tf2-ros"
 
 require geometry.inc
 
+SRC_URI += "file://0001-Fix-stdlib.h-No-such-file-or-directory-errors-in-GCC.patch;striplevel=2"
+
 RDEPENDS_${PN} = "python-numpy"
diff --git a/recipes-ros/image-pipeline/files/0001-address-gcc6-build-error.patch b/recipes-ros/image-pipeline/files/0001-address-gcc6-build-error.patch
new file mode 100644
index 0000000..05e6812
--- /dev/null
+++ b/recipes-ros/image-pipeline/files/0001-address-gcc6-build-error.patch
@@ -0,0 +1,138 @@
+From 6c2d65452bd5fe62723988a1a570789921900d59 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Fri, 30 Sep 2016 15:39:47 +0200
+Subject: [PATCH 1/2] address gcc6 build error
+
+With gcc6, compiling fails with `stdlib.h: No such file or directory`,
+as including '-isystem /usr/include' breaks with gcc6, cf.,
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
+
+This commit addresses this issue for this package in the same way
+it was addressed in various other ROS packages. A list of related
+commits and pull requests is at:
+
+  https://github.com/ros/rosdistro/issues/12783
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
+Upstream-Status: Accepted [https://github.com/ros-perception/image_pipeline/commit/6c2d65452bd5fe62723988a1a570789921900d59]
+
+This patch has been generated with:
+  `git format-patch -2 562332df73781c1e56ce9123542334cc1d91b143`
+in the image_pipeline repository.
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+---
+ depth_image_proc/CMakeLists.txt  | 6 +-----
+ image_proc/CMakeLists.txt        | 3 +--
+ image_publisher/CMakeLists.txt   | 3 +--
+ image_rotate/CMakeLists.txt      | 5 +----
+ image_view/CMakeLists.txt        | 8 ++++----
+ stereo_image_proc/CMakeLists.txt | 4 +---
+ 6 files changed, 9 insertions(+), 20 deletions(-)
+
+diff --git a/depth_image_proc/CMakeLists.txt b/depth_image_proc/CMakeLists.txt
+index 0a7c7e2..6ceebfe 100644
+--- a/depth_image_proc/CMakeLists.txt
++++ b/depth_image_proc/CMakeLists.txt
+@@ -10,11 +10,7 @@ catkin_package(
+ find_package(Boost REQUIRED)
+ find_package(Eigen REQUIRED)
+ find_package(OpenCV REQUIRED)
+-include_directories(include
+-        SYSTEM ${BOOST_INCLUDE_DIRS}
+-               ${catkin_INCLUDE_DIRS}
+-               ${EIGEN_INCLUDE_DIRS}
+-)
++include_directories(include ${BOOST_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS})
+ 
+ add_library(${PROJECT_NAME} src/nodelets/convert_metric.cpp
+                              src/nodelets/crop_foremost.cpp
+diff --git a/image_proc/CMakeLists.txt b/image_proc/CMakeLists.txt
+index a13371f..34905f0 100755
+--- a/image_proc/CMakeLists.txt
++++ b/image_proc/CMakeLists.txt
+@@ -17,8 +17,7 @@ catkin_package(
+   LIBRARIES ${PROJECT_NAME}
+ )
+ 
+-include_directories(SYSTEM ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+-include_directories(include)
++include_directories(include ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+ 
+ # Nodelet library
+ add_library(${PROJECT_NAME} src/libimage_proc/processor.cpp
+diff --git a/image_publisher/CMakeLists.txt b/image_publisher/CMakeLists.txt
+index 8015a45..431109c 100644
+--- a/image_publisher/CMakeLists.txt
++++ b/image_publisher/CMakeLists.txt
+@@ -8,8 +8,7 @@ generate_dynamic_reconfigure_options(cfg/ImagePublisher.cfg)
+ 
+ catkin_package()
+ 
+-# add the executable
+-include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
++include_directories(${catkin_INCLUDE_DIRS})
+ 
+ add_library(${PROJECT_NAME} SHARED src/nodelet/image_publisher_nodelet.cpp)
+ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+diff --git a/image_rotate/CMakeLists.txt b/image_rotate/CMakeLists.txt
+index 04ba03b..75d8e77 100644
+--- a/image_rotate/CMakeLists.txt
++++ b/image_rotate/CMakeLists.txt
+@@ -12,10 +12,7 @@ find_package(OpenCV REQUIRED core imgproc)
+ find_package(Eigen REQUIRED)
+ 
+ # add the executable
+-include_directories(SYSTEM ${catkin_INCLUDE_DIRS}
+-                           ${EIGEN_INCLUDE_DIRS}
+-                           ${OpenCV_INCLUDE_DIRS}
+-)
++include_directories(${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+ 
+ add_library(${PROJECT_NAME} SHARED src/nodelet/image_rotate_nodelet.cpp)
+ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
+diff --git a/image_view/CMakeLists.txt b/image_view/CMakeLists.txt
+index 78b9eaa..93fabe7 100644
+--- a/image_view/CMakeLists.txt
++++ b/image_view/CMakeLists.txt
+@@ -8,9 +8,9 @@ catkin_package(CATKIN_DEPENDS dynamic_reconfigure)
+ find_package(Boost REQUIRED COMPONENTS signals thread)
+ find_package(OpenCV REQUIRED)
+ 
+-include_directories(SYSTEM ${Boost_INCLUDE_DIRS}
+-                           ${catkin_INCLUDE_DIRS}
+-                           ${OpenCV_INCLUDE_DIRS}
++include_directories(${Boost_INCLUDE_DIRS}
++                    ${catkin_INCLUDE_DIRS}
++                    ${OpenCV_INCLUDE_DIRS}
+ )
+ 
+ # Extra tools
+@@ -40,7 +40,7 @@ endif()
+ 
+ find_package(GTK2)
+ add_definitions(-DHAVE_GTK)
+-include_directories(SYSTEM ${GTK2_INCLUDE_DIRS})
++include_directories(${GTK2_INCLUDE_DIRS})
+ 
+ # Nodelet library
+ add_library(image_view src/nodelets/image_nodelet.cpp src/nodelets/disparity_nodelet.cpp src/nodelets/window_thread.cpp)
+diff --git a/stereo_image_proc/CMakeLists.txt b/stereo_image_proc/CMakeLists.txt
+index b7127d2..e201436 100644
+--- a/stereo_image_proc/CMakeLists.txt
++++ b/stereo_image_proc/CMakeLists.txt
+@@ -16,9 +16,7 @@ catkin_package(
+ include_directories(include)
+ 
+ find_package(OpenCV REQUIRED)
+-include_directories(SYSTEM ${catkin_INCLUDE_DIRS}
+-                           ${OpenCV_INCLUDE_DIRS}
+-)
++include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+ 
+ # Nodelet library
+ add_library(${PROJECT_NAME} src/libstereo_image_proc/processor.cpp src/nodelets/disparity.cpp src/nodelets/point_cloud2.cpp)
+-- 
+2.5.5
+
diff --git a/recipes-ros/image-pipeline/files/0002-explicitly-cast-to-std-vector-double-to-make-gcc6-ha.patch b/recipes-ros/image-pipeline/files/0002-explicitly-cast-to-std-vector-double-to-make-gcc6-ha.patch
new file mode 100644
index 0000000..e897cb9
--- /dev/null
+++ b/recipes-ros/image-pipeline/files/0002-explicitly-cast-to-std-vector-double-to-make-gcc6-ha.patch
@@ -0,0 +1,57 @@
+From 562332df73781c1e56ce9123542334cc1d91b143 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Thu, 6 Oct 2016 08:55:27 +0200
+Subject: [PATCH 2/2] explicitly cast to std::vector<double> to make gcc6 happy
+
+With gcc6, compiling image_publisher fails with this error:
+```
+/[...]/image_publisher/src/nodelet/image_publisher_nodelet.cpp: In member function 'virtual void image_publisher::ImagePublisherNodelet::onInit()':
+/[...]/image_publisher/src/nodelet/image_publisher_nodelet.cpp:180:43: error: ambiguous overload for 'operator=' (operand types are 'sensor_msgs::CameraInfo_<std::allocator<void> >::_D_type {aka std::vector<double>}' and 'boost::assign_detail::generic_list<int>')
+     camera_info_.D = list_of(0)(0)(0)(0)(0);
+```
+
+After adding an initial explicit type cast for the assignment,
+compiling fails further with:
+```
+| /[...]/image_publisher/src/nodelet/image_publisher_nodelet.cpp: In member function 'virtual void image_publisher::ImagePublisherNodelet::onInit()':
+| /[...]/image_publisher/src/nodelet/image_publisher_nodelet.cpp:180:65: error: call of overloaded 'vector(boost::assign_detail::generic_list<int>&)' is ambiguous
+|      camera_info_.D = std::vector<double> (list_of(0)(0)(0)(0)(0));
+```
+
+Various sources on the internet [1, 2, 3] point to use the
+`convert_to_container` method; hence, this commit follows those
+suggestions and with that image_publisher compiles with gcc6.
+
+[1] http://stackoverflow.com/questions/16211410/ambiguity-when-using-boostassignlist-of-to-construct-a-stdvector
+[2] http://stackoverflow.com/questions/12352692/ambiguous-call-with-list-of-in-vs2010/12362548#12362548
+[3] http://stackoverflow.com/questions/13285272/using-boostassignlist-of?rq=1
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
+Upstream-Status: Accepted [https://github.com/ros-perception/image_pipeline/commit/562332df73781c1e56ce9123542334cc1d91b143]
+
+This patch has been generated with:
+  `git format-patch -2 562332df73781c1e56ce9123542334cc1d91b143`
+in the image_pipeline repository.
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+---
+ image_publisher/src/nodelet/image_publisher_nodelet.cpp | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/image_publisher/src/nodelet/image_publisher_nodelet.cpp b/image_publisher/src/nodelet/image_publisher_nodelet.cpp
+index 4102d0d..26e1352 100644
+--- a/image_publisher/src/nodelet/image_publisher_nodelet.cpp
++++ b/image_publisher/src/nodelet/image_publisher_nodelet.cpp
+@@ -177,7 +177,7 @@ public:
+     camera_info_.width = image_.cols;
+     camera_info_.height = image_.rows;
+     camera_info_.distortion_model = "plumb_bob";
+-    camera_info_.D = list_of(0)(0)(0)(0)(0);
++    camera_info_.D = list_of(0)(0)(0)(0)(0).convert_to_container<std::vector<double> >();
+     camera_info_.K = list_of(1)(0)(camera_info_.width/2)(0)(1)(camera_info_.height/2)(0)(0)(1);
+     camera_info_.R = list_of(1)(0)(0)(0)(1)(0)(0)(0)(1);
+     camera_info_.P = list_of(1)(0)(camera_info_.width/2)(0)(0)(1)(camera_info_.height/2)(0)(0)(0)(1)(0);
+-- 
+2.5.5
+
diff --git a/recipes-ros/image-pipeline/image-pipeline.inc b/recipes-ros/image-pipeline/image-pipeline.inc
index 36a418b..e3466db 100644
--- a/recipes-ros/image-pipeline/image-pipeline.inc
+++ b/recipes-ros/image-pipeline/image-pipeline.inc
@@ -2,6 +2,9 @@ SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;dow
 SRC_URI[md5sum] = "d727bc9da9f7772649ab7c5c7c9f652e"
 SRC_URI[sha256sum] = "fc3073428fc930523efd6ed4a86d838ab0f0ff04a312eb4188c72a854d300e97"
 
+SRC_URI += "file://0001-address-gcc6-build-error.patch;patchdir=.."
+SRC_URI += "file://0002-explicitly-cast-to-std-vector-double-to-make-gcc6-ha.patch;patchdir=.."
+
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
diff --git a/recipes-ros/navigation/files/0001-address-gcc6-build-error.patch b/recipes-ros/navigation/files/0001-address-gcc6-build-error.patch
new file mode 100644
index 0000000..3df8c76
--- /dev/null
+++ b/recipes-ros/navigation/files/0001-address-gcc6-build-error.patch
@@ -0,0 +1,69 @@
+From def48f89c985736901bb7bbe427f65acd18ef8d6 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Tue, 27 Sep 2016 15:25:19 +0200
+Subject: [PATCH] address gcc6 build error
+
+With gcc6, compiling fails with `stdlib.h: No such file or directory`,
+as including '-isystem /usr/include' breaks with gcc6, cf.,
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
+
+This commit addresses this issue for this package in the same way
+it was addressed in various other ROS packages. A list of related
+commits and pull requests is at:
+
+  https://github.com/ros/rosdistro/issues/12783
+
+The SYSTEM attribute for the eigen and pcl include directories
+was added in commit 9e876d2b [1] on 2012-09-16 during the
+package's transition to ROS Groovy. The reason for using
+the SYSTEM attribute cannot be inferred from that commit.
+
+This attribute remained in the CMakeLists.txt during further
+refinements in commits be4aebdb and 3a156140 on 2014-02-24, and
+was not further touched until now.
+
+[1] https://github.com/ros-planning/navigation/commit/9e876d2b45aca2e2166ac5a508b0e7c7abc50717
+[2] https://github.com/ros-planning/navigation/commit/be4aebdb658381104b8e70f832091926e67ea0b4
+[3] https://github.com/ros-planning/navigation/commit/3a156140439ea2300aaad45f7f2a65dab503ff24
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
+Upstream-Status: Pending [https://github.com/ros-planning/navigation/pull/522]
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+---
+ move_slow_and_clear/CMakeLists.txt | 5 ++---
+ navfn/CMakeLists.txt               | 1 -
+ 2 files changed, 2 insertions(+), 4 deletions(-)
+
+diff --git a/move_slow_and_clear/CMakeLists.txt b/move_slow_and_clear/CMakeLists.txt
+index 078052d..686596e 100644
+--- a/move_slow_and_clear/CMakeLists.txt
++++ b/move_slow_and_clear/CMakeLists.txt
+@@ -19,9 +19,8 @@ find_package(Boost REQUIRED COMPONENTS thread)
+ include_directories(
+     include
+     ${catkin_INCLUDE_DIRS}
+-    SYSTEM
+-        ${EIGEN_INCLUDE_DIRS}
+-        ${PCL_INCLUDE_DIRS}
++    ${EIGEN_INCLUDE_DIRS}
++    ${PCL_INCLUDE_DIRS}
+ )
+ add_definitions(${EIGEN_DEFINITIONS})
+ 
+diff --git a/navfn/CMakeLists.txt b/navfn/CMakeLists.txt
+index ad01c3a..3e3995f 100644
+--- a/navfn/CMakeLists.txt
++++ b/navfn/CMakeLists.txt
+@@ -21,7 +21,6 @@ find_package(PCL REQUIRED)
+ include_directories(
+     include
+     ${catkin_INCLUDE_DIRS}
+-    SYSTEM
+     ${EIGEN_INCLUDE_DIRS}
+     ${PCL_INCLUDE_DIRS}
+ )
+-- 
+2.5.5
+
diff --git a/recipes-ros/navigation/navigation.inc b/recipes-ros/navigation/navigation.inc
index 45f413d..d856f20 100644
--- a/recipes-ros/navigation/navigation.inc
+++ b/recipes-ros/navigation/navigation.inc
@@ -2,6 +2,8 @@ SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downl
 SRC_URI[md5sum] = "d7a392da183b3c2a5fce063e90cbf1f2"
 SRC_URI[sha256sum] = "169f89a4a3a94437ffbf80a9b06b65471c17529169d1940a217e92d85481f18f"
 
+SRC_URI += "file://0001-address-gcc6-build-error.patch;patchdir=.."
+
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
 inherit catkin
diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 35dc0ea..1414041 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -65,8 +65,6 @@ RDEPENDS_${PN} = "\
     hardware-interface \
     joint-limits-interface \
     transmission-interface \
-    collada-parser \
-    collada-urdf \
     kdl-parser \
     resource-retriever \
     urdf-parser-plugin \
@@ -175,6 +173,7 @@ RDEPENDS_${PN} = "\
     rosbridge-suite \
     "
 
+# collada-parser and collada-urdf require collada-dom, which does not compile with gcc6.
 # ar-track-alvar does not compile due to unknown opencv identifiers.
 # 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/urdf/0001-urdf-address-gcc6-build-error-and-tune-156.patch b/recipes-ros/robot-model/urdf/0001-urdf-address-gcc6-build-error-and-tune-156.patch
new file mode 100644
index 0000000..c9846bb
--- /dev/null
+++ b/recipes-ros/robot-model/urdf/0001-urdf-address-gcc6-build-error-and-tune-156.patch
@@ -0,0 +1,56 @@
+From 6b9e3cab6b09c9b65a7bef1374e079a87711a473 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Wed, 21 Sep 2016 21:22:30 +0200
+Subject: [PATCH] [urdf] address gcc6 build error and tune (#156)
+
+With gcc6, compiling fails with `stdlib.h: No such file or directory`,
+as including '-isystem /usr/include' breaks with gcc6, cf.,
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129.
+
+This commit addresses this issue for this package in the same way
+it was addressed in various other ROS packages. A list of related
+commits and pull requests is at:
+
+  https://github.com/ros/rosdistro/issues/12783
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
+Upstream-Status: Accepted [https://github.com/ros/robot_model/commit/6b9e3cab6b09c9b65a7bef1374e079a87711a473]
+
+This patch has been generated with:
+  `git format-patch -1 6b9e3cab6b09c9b65a7bef1374e079a87711a473`
+in the robot_model repository.
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+---
+ urdf/CMakeLists.txt | 7 +++----
+ 1 file changed, 3 insertions(+), 4 deletions(-)
+
+diff --git a/urdf/CMakeLists.txt b/urdf/CMakeLists.txt
+index ae7437e..a0872e9 100644
+--- a/urdf/CMakeLists.txt
++++ b/urdf/CMakeLists.txt
+@@ -20,17 +20,16 @@ catkin_package(
+   DEPENDS urdfdom_headers urdfdom Boost pcrecpp
+ )
+ 
+-include_directories(SYSTEM ${Boost_INCLUDE_DIR})
+-link_directories(${Boost_LIBRARY_DIRS})
+-
+ include_directories(
+   include
++  ${Boost_INCLUDE_DIR}
+   ${catkin_INCLUDE_DIRS}
+   ${urdfdom_INCLUDE_DIRS}
+   ${urdfdom_headers_INCLUDE_DIRS}
+   ${TinyXML_INCLUDE_DIRS}
+   )
+-link_directories(${catkin_LIBRARY_DIRS})
++
++link_directories(${Boost_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS})
+ 
+ add_library(${PROJECT_NAME} src/model.cpp src/rosconsole_bridge.cpp)
+ target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES})
+-- 
+2.5.5
+
diff --git a/recipes-ros/robot-model/urdf_1.11.11.bb b/recipes-ros/robot-model/urdf_1.11.11.bb
index 80b1284..0a83dd6 100644
--- a/recipes-ros/robot-model/urdf_1.11.11.bb
+++ b/recipes-ros/robot-model/urdf_1.11.11.bb
@@ -6,3 +6,5 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9de
 DEPENDS = "rosconsole-bridge roscpp urdfdom-headers urdf-parser-plugin pluginlib urdfdom cmake-modules libtinyxml"
 
 require robot-model.inc
+
+SRC_URI += "file://0001-urdf-address-gcc6-build-error-and-tune-156.patch;striplevel=2"
diff --git a/recipes-ros/vision-opencv/cv-bridge/0001-address-gcc6-build-error-in-cv_bridge-and-tune.patch b/recipes-ros/vision-opencv/cv-bridge/0001-address-gcc6-build-error-in-cv_bridge-and-tune.patch
new file mode 100644
index 0000000..d6651a4
--- /dev/null
+++ b/recipes-ros/vision-opencv/cv-bridge/0001-address-gcc6-build-error-in-cv_bridge-and-tune.patch
@@ -0,0 +1,65 @@
+From aaf08c721c35a654c0ef0ac013e18db1b111bfdc Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Wed, 21 Sep 2016 11:27:28 +0200
+Subject: [PATCH] address gcc6 build error in cv_bridge and tune
+
+With gcc6, compiling fails with `stdlib.h: No such file or directory`,
+as including '-isystem /usr/include' breaks with gcc6, cf.,
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129
+
+This commit addresses this issue for cv_bridge in the same way
+it was done in the commit ead421b8 [1] for image_geometry.
+This issue was also addressed in various other ROS packages.
+A list of related commits and pull requests is at:
+
+  https://github.com/ros/rosdistro/issues/12783
+
+[1] https://github.com/ros-perception/vision_opencv/commit/ead421b85eeb750cbf7988657015296ed6789bcf
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
+Upstream-Status: Accepted [https://github.com/ros-perception/vision_opencv/commit/aaf08c721c35a654c0ef0ac013e18db1b111bfdc]
+
+This patch has been generated with:
+  `git format-patch -1 aaf08c721c35a654c0ef0ac013e18db1b111bfdc`
+in the vision_opencv repository.
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+---
+ cv_bridge/CMakeLists.txt     | 3 +--
+ cv_bridge/src/CMakeLists.txt | 5 +----
+ 2 files changed, 2 insertions(+), 6 deletions(-)
+
+diff --git a/cv_bridge/CMakeLists.txt b/cv_bridge/CMakeLists.txt
+index 075fbbd..cce8af7 100644
+--- a/cv_bridge/CMakeLists.txt
++++ b/cv_bridge/CMakeLists.txt
+@@ -19,8 +19,7 @@ catkin_package(
+ 
+ catkin_python_setup()
+ 
+-include_directories(SYSTEM ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
+-include_directories(include ${catkin_INCLUDE_DIRS})
++include_directories(include ${Boost_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+ 
+ if(NOT ANDROID)
+ add_subdirectory(python)
+diff --git a/cv_bridge/src/CMakeLists.txt b/cv_bridge/src/CMakeLists.txt
+index 8ec321c..37ba30e 100644
+--- a/cv_bridge/src/CMakeLists.txt
++++ b/cv_bridge/src/CMakeLists.txt
+@@ -26,10 +26,7 @@ if(NOT PYTHON_NUMPY_INCLUDE_DIR)
+     endif(PYTHON_NUMPY_PROCESS EQUAL 0)
+  endif(NOT PYTHON_NUMPY_INCLUDE_DIR)
+ 
+-include_directories(SYSTEM ${PYTHON_INCLUDE_PATH}
+-                           ${Boost_INCLUDE_DIRS}
+-                           ${PYTHON_NUMPY_INCLUDE_DIR} # cv_bridge module uses NumPy functions
+-)
++include_directories(${PYTHON_INCLUDE_PATH} ${Boost_INCLUDE_DIRS} ${PYTHON_NUMPY_INCLUDE_DIR})
+ 
+ if (PYTHON_VERSION_MAJOR VERSION_EQUAL 3)
+   add_definitions(-DPYTHON3)
+-- 
+2.5.5
+
diff --git a/recipes-ros/vision-opencv/cv-bridge_1.11.14.bb b/recipes-ros/vision-opencv/cv-bridge_1.11.14.bb
index 0b268b2..c55b34d 100644
--- a/recipes-ros/vision-opencv/cv-bridge_1.11.14.bb
+++ b/recipes-ros/vision-opencv/cv-bridge_1.11.14.bb
@@ -6,3 +6,5 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9de
 DEPENDS = "boost opencv rosconsole sensor-msgs python-numpy-native"
 
 require vision-opencv.inc
+
+SRC_URI += "file://0001-address-gcc6-build-error-in-cv_bridge-and-tune.patch;striplevel=2"