diff --git a/README.md b/README.md
index 7ef7ff9..b51f804 100644
--- a/README.md
+++ b/README.md
@@ -105,6 +105,25 @@ resolved in the past.
   rely on the remote commits. In case of porting to other versions, you must
   possibly revert some of those commits.
 
+  ament-cmake-core depends on python3-pyparsing which is available in
+  meta-python since pyro
+  1a373a033f482981eb59ff8d9eb7a9437fa18cd4@meta-openembedded and native
+  version since rocko
+  06eb9d658e71b6a61f2589d9618ae2ca35eaaf8b@meta-openembedded
+  python3-pyparsing-native depends on python3-datetime-native,
+  python3-debugger-native and python3-stringold-native which were added
+  in oe-core python3-native in pyro:
+  462ccb35a5de32b52ddb733d1868df6ac5426f20@openembedded-core and
+  800753069f667cd1664d70b3779150c467e3b3fe@openembedded-core simple
+  bbappend as shown in:
+  https://github.com/bmwcarit/meta-ros/pull/607#pullrequestreview-143981126
+  is enough to resolve this if you're using old pyro unsupported
+  release.
+
+  ros2topic (and few more recipes when ROS_USE_PYTHON3 is set to yes)
+  depends on python3-pyyaml which was added in
+  1161ab8f8dda272eb5d09917446cc5b971be1335@meta-openembedded.
+
   cv-bridge and dependent recipes, e.g., the image-transport recipes, depend on
   7568bfdd114597956a1da68746f207ec7f93a48d@openembedded-core.
   For native python-numpy support, these recipes also depend on
diff --git a/classes/ament.bbclass b/classes/ament.bbclass
new file mode 100644
index 0000000..ed1b57f
--- /dev/null
+++ b/classes/ament.bbclass
@@ -0,0 +1,58 @@
+# FIXME: My intuition says that it should be enough to depend on ament-cmake-native only
+#        since ament-cmake has runtime dependencies on all other needed ament-cmake-* packages.
+#        Yet in practice all ament-based packages have to depend explicitly on the native
+#        ament-cmake-* packages.
+DEPENDS_append = " \
+    ament-tools-native \
+    ament-cmake-native \
+    ament-cmake-export-definitions-native \
+    ament-cmake-export-dependencies-native \
+    ament-cmake-export-include-directories-native \
+    ament-cmake-export-interfaces-native \
+    ament-cmake-export-libraries-native \
+    ament-cmake-export-link-flags-native \
+    ament-cmake-libraries-native \
+    ament-cmake-python-native \
+    ament-cmake-target-dependencies-native \
+    ament-cmake-include-directories-native \
+    ament-cmake-test-native \
+"
+
+ROS_BPN ?= "${@d.getVar('BPN', True).replace('-', '_')}"
+
+S = "${WORKDIR}/git/${ROS_BPN}"
+
+EXTRA_OECMAKE_append = " -DBUILD_TESTING=OFF -DPYTHON_SOABI=cpython-35m-${TUNE_ARCH}-${TARGET_OS}${ARMPKGSFX_EABI}"
+export AMENT_PREFIX_PATH="${STAGING_DIR_HOST}${prefix};${STAGING_DIR_NATIVE}${prefix}"
+
+inherit cmake python3native
+
+do_install_append() {
+    rm -rf ${D}${datadir}/${ROS_BPN}/environment
+    rm -f ${D}${datadir}/${ROS_BPN}/local_setup.bash
+    rm -f ${D}${datadir}/${ROS_BPN}/local_setup.sh
+    rm -f ${D}${datadir}/${ROS_BPN}/local_setup.zsh
+    rm -f ${D}${prefix}/local_setup.bash
+    rm -f ${D}${prefix}/local_setup.sh
+    rm -f ${D}${prefix}/local_setup.zsh
+    rm -f ${D}${prefix}/setup.bash
+    rm -f ${D}${prefix}/setup.sh
+    rm -f ${D}${prefix}/setup.zsh
+    rm -f ${D}${prefix}/_order_packages.py
+}
+
+FILES_${PN} = " \
+    ${datadir}/${ROS_BPN}/package.xml \
+    ${datadir}/${ROS_BPN}/resource/* \
+    ${datadir}/${ROS_BPN}/msg/* \
+    ${datadir}/${ROS_BPN}/srv/* \
+    ${datadir}/ament_index/* \
+    ${libdir}/${PYTHON_DIR}/* \
+    ${libdir}/${ROS_BPN}/* \
+    ${libdir}/lib*.so \
+"
+
+FILES_${PN}-dev = " \
+    ${datadir}/${ROS_BPN}/cmake/* \
+    ${includedir} \
+"
diff --git a/classes/pythonpath-insane.bbclass b/classes/pythonpath-insane.bbclass
new file mode 100644
index 0000000..aa69886
--- /dev/null
+++ b/classes/pythonpath-insane.bbclass
@@ -0,0 +1,12 @@
+# Allow python3-native import target's python libs. This is a hacky sortcut.
+#
+# Interfaces and msgs generation involves importing rosidl_typesupport python
+# libraries. But those libraries have their own dependency on a RMW implementation
+# being present. The package rmw-fastrtps-cpp which provides such implementation
+# also brings in dependency on rosidl-typesupport-introspecion-cpp.
+# This rosidl-typesupport-introspecion-cpp being present automatically
+# (through CMake-based mechanism) runs a python script importing modules from
+# that package.
+# If we make native versions of all these packages then we'll end up with
+# a build dependency on asio-native which doesn't exist.
+export PYTHONPATH="${STAGING_DIR_HOST}${libdir}/${PYTHON_DIR}/site-packages"
diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 5fcb4e6..445efc8 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -9,6 +9,7 @@ RDEPENDS_${PN} = "\
     packagegroup-ros-comm \
     packagegroup-ros-kobuki \
     packagegroup-ros-industrial-core \
+    packagegroup-ros2-world \
     actionlib \
     bond \
     bondcpp \
diff --git a/recipes-ros2/ament-cmake-ros/ament-cmake-ros_git.bb b/recipes-ros2/ament-cmake-ros/ament-cmake-ros_git.bb
new file mode 100644
index 0000000..41574e5
--- /dev/null
+++ b/recipes-ros2/ament-cmake-ros/ament-cmake-ros_git.bb
@@ -0,0 +1,11 @@
+SUMMARY = "The ROS specific CMake bits in the ament buildsystem."
+HOMEPAGE = "https://github.com/ros2/ament_cmake_ros"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+SRCREV = "85f37bee18a7e139e62a84909b5677dc44281387"
+SRC_URI = "git://github.com/ros2/ament_cmake_ros.git;protocol=git;"
+
+inherit ament
+
+BBCLASSEXTEND += "native"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-core_git.bb b/recipes-ros2/ament-cmake/ament-cmake-core_git.bb
new file mode 100644
index 0000000..973a061
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-core_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The core of the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=17;endline=17;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-package-native ${PYTHON_PN}-pyparsing-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-package cmake"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-export-definitions_git.bb b/recipes-ros2/ament-cmake/ament-cmake-export-definitions_git.bb
new file mode 100644
index 0000000..5c89757
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-export-definitions_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The ability to export definitions to downstream packages in the ament buildsystem."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-export-dependencies_git.bb b/recipes-ros2/ament-cmake/ament-cmake-export-dependencies_git.bb
new file mode 100644
index 0000000..74c506e
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-export-dependencies_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The ability to export dependencies to downstream packages in the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core ament-cmake-libraries"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-export-include-directories_git.bb b/recipes-ros2/ament-cmake/ament-cmake-export-include-directories_git.bb
new file mode 100644
index 0000000..71af8ca
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-export-include-directories_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The ability to export include directories to downstream packages in the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-export-interfaces_git.bb b/recipes-ros2/ament-cmake/ament-cmake-export-interfaces_git.bb
new file mode 100644
index 0000000..e89a46b
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-export-interfaces_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The ability to export interfaces to downstream packages in the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-export-libraries_git.bb b/recipes-ros2/ament-cmake/ament-cmake-export-libraries_git.bb
new file mode 100644
index 0000000..9ea0526
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-export-libraries_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The ability to export libraries to downstream packages in the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-export-link-flags_git.bb b/recipes-ros2/ament-cmake/ament-cmake-export-link-flags_git.bb
new file mode 100644
index 0000000..1015387
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-export-link-flags_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The ability to export link flags to downstream packages in the ament buildsystem."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-include-directories_git.bb b/recipes-ros2/ament-cmake/ament-cmake-include-directories_git.bb
new file mode 100644
index 0000000..3469a1b
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-include-directories_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The functionality to order include directories according to a chain of prefixes in the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-libraries_git.bb b/recipes-ros2/ament-cmake/ament-cmake-libraries_git.bb
new file mode 100644
index 0000000..cf03fd2
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-libraries_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The functionality to deduplicate libraries in the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-python_git.bb b/recipes-ros2/ament-cmake/ament-cmake-python_git.bb
new file mode 100644
index 0000000..5ca1e35
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-python_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The ability to use Python in the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-target-dependencies_git.bb b/recipes-ros2/ament-cmake/ament-cmake-target-dependencies_git.bb
new file mode 100644
index 0000000..4593173
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-target-dependencies_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The ability to add definitions, include directories and libraries of a package to a target in the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core ament-cmake-include-directories ament-cmake-libraries"
diff --git a/recipes-ros2/ament-cmake/ament-cmake-test_git.bb b/recipes-ros2/ament-cmake/ament-cmake-test_git.bb
new file mode 100644
index 0000000..96bbb27
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake-test_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "The ability to add tests in the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-core-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += "ament-cmake-core"
diff --git a/recipes-ros2/ament-cmake/ament-cmake.inc b/recipes-ros2/ament-cmake/ament-cmake.inc
new file mode 100644
index 0000000..a80678b
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake.inc
@@ -0,0 +1,20 @@
+HOMEPAGE = "https://github.com/ament/ament_cmake"
+
+SRCREV = "af0789c46d03aabf6ee2cae360bf0487dd8a84d4"
+SRC_URI = "git://github.com/ament/ament_cmake.git;protocol=git;"
+
+inherit cmake python3native
+
+ROS_BPN = "${@d.getVar('BPN', True).replace('-', '_')}"
+
+S = "${WORKDIR}/git/${ROS_BPN}"
+
+do_install_append() {
+    rm -f ${D}${datadir}/${ROS_BPN}/local_setup.bash
+    rm -f ${D}${datadir}/${ROS_BPN}/local_setup.sh
+    rm -f ${D}${datadir}/${ROS_BPN}/local_setup.zsh
+}
+
+FILES_${PN} += "${datadir}"
+
+BBCLASSEXTEND += "native"
diff --git a/recipes-ros2/ament-cmake/ament-cmake_git.bb b/recipes-ros2/ament-cmake/ament-cmake_git.bb
new file mode 100644
index 0000000..f42bf2d
--- /dev/null
+++ b/recipes-ros2/ament-cmake/ament-cmake_git.bb
@@ -0,0 +1,20 @@
+SUMMARY = "The entry point package for the ament buildsystem in CMake."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ament-cmake-export-dependencies-native"
+
+include ament-cmake.inc
+
+RDEPENDS_${PN} += " \
+    ament-cmake-core \
+    ament-cmake-export-definitions \
+    ament-cmake-export-dependencies \
+    ament-cmake-export-include-directories \
+    ament-cmake-export-interfaces \
+    ament-cmake-export-libraries \
+    ament-cmake-export-link-flags \
+    ament-cmake-libraries \
+    ament-cmake-python \
+    ament-cmake-target-dependencies \
+    ament-cmake-test \
+"
diff --git a/recipes-ros2/ament-index/ament-index-python_git.bb b/recipes-ros2/ament-index/ament-index-python_git.bb
new file mode 100644
index 0000000..80b76b8
--- /dev/null
+++ b/recipes-ros2/ament-index/ament-index-python_git.bb
@@ -0,0 +1,9 @@
+SUMMARY = "Python API to access the ament resource index."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ament-index.inc
+
+S = "${WORKDIR}/git/ament_index_python"
+
+inherit setuptools3
diff --git a/recipes-ros2/ament-index/ament-index.inc b/recipes-ros2/ament-index/ament-index.inc
new file mode 100644
index 0000000..ece7e8e
--- /dev/null
+++ b/recipes-ros2/ament-index/ament-index.inc
@@ -0,0 +1,4 @@
+HOMEPAGE = "https://github.com/ament/ament_index"
+
+SRCREV = "1df2aef4d7f1271d80082cc01aa08e13bfc58fce"
+SRC_URI = "git://github.com/ament/ament_index.git;protocol=git;"
diff --git a/recipes-ros2/ament-package/ament-package_git.bb b/recipes-ros2/ament-package/ament-package_git.bb
new file mode 100644
index 0000000..0c6c3f9
--- /dev/null
+++ b/recipes-ros2/ament-package/ament-package_git.bb
@@ -0,0 +1,13 @@
+SUMMARY = "The parser for the manifest files in the ament buildsystem."
+HOMEPAGE = "https://github.com/ament/ament_package"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
+
+SRCREV = "2cc251b627607e2d8ada6fa75add45cbe86cb9d8"
+SRC_URI = "git://github.com/ament/ament_package.git;protocol=git;"
+
+S = "${WORKDIR}/git"
+
+inherit setuptools3
+
+BBCLASSEXTEND += "native"
diff --git a/recipes-ros2/ament-tools/ament-tools_git.bb b/recipes-ros2/ament-tools/ament-tools_git.bb
new file mode 100644
index 0000000..4169ffd
--- /dev/null
+++ b/recipes-ros2/ament-tools/ament-tools_git.bb
@@ -0,0 +1,17 @@
+SUMMARY = "The command line tools for the ament buildsystem."
+HOMEPAGE = "https://github.com/ament/ament_tools"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
+DEPENDS = "osrf-pycommon ament-package"
+
+SRCREV = "0885dfb957260bcab00e6a626624cf4e447d19c0"
+SRC_URI = "git://github.com/ament/ament_tools.git;protocol=git;"
+
+S = "${WORKDIR}/git"
+
+inherit setuptools3
+
+PACKAGES_append = " ${PN}-completion"
+FILES_${PN}-completion_append = " ${datadir}/ament_tools/environment"
+
+BBCLASSEXTEND += "native"
diff --git a/recipes-ros2/common-interfaces/common-interfaces.inc b/recipes-ros2/common-interfaces/common-interfaces.inc
new file mode 100644
index 0000000..b370bb7
--- /dev/null
+++ b/recipes-ros2/common-interfaces/common-interfaces.inc
@@ -0,0 +1,6 @@
+HOMEPAGE = "https://github.com/ros2/common_interfaces"
+
+SRCREV = "5372c3c98a71e05e8c7584e77ffe7b68bd08819c"
+SRC_URI = "git://github.com/ros2/common_interfaces.git;protocol=git;"
+
+inherit ament pythonpath-insane
diff --git a/recipes-ros2/common-interfaces/ros2-actionlib-msgs_git.bb b/recipes-ros2/common-interfaces/ros2-actionlib-msgs_git.bb
new file mode 100644
index 0000000..32bee52
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-actionlib-msgs_git.bb
@@ -0,0 +1,13 @@
+SUMMARY = "A package containing some message definitions used in the implementation or actions."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    builtin-interfaces \
+    rosidl-default-runtime \
+    rosidl-typesupport-cpp \
+    ros2-std-msgs \
+"
+
+ROS_BPN = "actionlib_msgs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/common-interfaces/ros2-diagnostic-msgs_git.bb b/recipes-ros2/common-interfaces/ros2-diagnostic-msgs_git.bb
new file mode 100644
index 0000000..4d6774c
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-diagnostic-msgs_git.bb
@@ -0,0 +1,14 @@
+SUMMARY = "A package containing some diagnostics related message and service definitions."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    builtin-interfaces \
+    rosidl-default-runtime \
+    rosidl-typesupport-cpp \
+    ros2-geometry-msgs \
+    ros2-std-msgs \
+"
+
+ROS_BPN = "diagnostic_msgs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/common-interfaces/ros2-geometry-msgs_git.bb b/recipes-ros2/common-interfaces/ros2-geometry-msgs_git.bb
new file mode 100644
index 0000000..8d93033
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-geometry-msgs_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "A package containing some geometry related message definitions."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "ros2-std-msgs"
+
+ROS_BPN = "geometry_msgs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/common-interfaces/ros2-nav-msgs_git.bb b/recipes-ros2/common-interfaces/ros2-nav-msgs_git.bb
new file mode 100644
index 0000000..9d9cb8d
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-nav-msgs_git.bb
@@ -0,0 +1,14 @@
+SUMMARY = "A package containing some navigation related message and service definitions."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    builtin-interfaces \
+    rosidl-default-runtime \
+    rosidl-typesupport-cpp \
+    ros2-std-msgs \
+    ros2-geometry-msgs \
+"
+
+ROS_BPN = "nav_msgs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/common-interfaces/ros2-sensor-msgs_git.bb b/recipes-ros2/common-interfaces/ros2-sensor-msgs_git.bb
new file mode 100644
index 0000000..66f7dd0
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-sensor-msgs_git.bb
@@ -0,0 +1,11 @@
+SUMMARY = "A package containing sensor message definitions."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    ros2-std-msgs \
+    ros2-geometry-msgs \
+"
+
+ROS_BPN = "sensor_msgs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/common-interfaces/ros2-shape-msgs_git.bb b/recipes-ros2/common-interfaces/ros2-shape-msgs_git.bb
new file mode 100644
index 0000000..2291f4c
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-shape-msgs_git.bb
@@ -0,0 +1,13 @@
+SUMMARY = "A package containing some message definitions which describe geometric shapes."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    builtin-interfaces \
+    rosidl-default-runtime \
+    rosidl-typesupport-cpp \
+    ros2-geometry-msgs \
+"
+
+ROS_BPN = "shape_msgs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/common-interfaces/ros2-std-msgs_git.bb b/recipes-ros2/common-interfaces/ros2-std-msgs_git.bb
new file mode 100644
index 0000000..899209c
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-std-msgs_git.bb
@@ -0,0 +1,12 @@
+SUMMARY = "A package containing some standard message definitions."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    builtin-interfaces \
+    rosidl-default-runtime \
+    rosidl-typesupport-cpp \
+"
+
+ROS_BPN = "std_msgs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/common-interfaces/ros2-std-srvs_git.bb b/recipes-ros2/common-interfaces/ros2-std-srvs_git.bb
new file mode 100644
index 0000000..8a1226d
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-std-srvs_git.bb
@@ -0,0 +1,12 @@
+SUMMARY = "A package containing some standard service definitions."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    builtin-interfaces \
+    rosidl-default-runtime \
+    rosidl-typesupport-cpp \
+"
+
+ROS_BPN = "std_srvs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/common-interfaces/ros2-stereo-msgs_git.bb b/recipes-ros2/common-interfaces/ros2-stereo-msgs_git.bb
new file mode 100644
index 0000000..bd8a684
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-stereo-msgs_git.bb
@@ -0,0 +1,14 @@
+SUMMARY = "A package containing some stereo camera related message definitions."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    builtin-interfaces \
+    rosidl-default-runtime \
+    rosidl-typesupport-cpp \
+    ros2-std-msgs \
+    ros2-sensor-msgs \
+"
+
+ROS_BPN = "stereo_msgs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/common-interfaces/ros2-trajectory-msgs_git.bb b/recipes-ros2/common-interfaces/ros2-trajectory-msgs_git.bb
new file mode 100644
index 0000000..0323869
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-trajectory-msgs_git.bb
@@ -0,0 +1,14 @@
+SUMMARY = "A package containing some robot trajectory message definitions."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    builtin-interfaces \
+    rosidl-default-runtime \
+    rosidl-typesupport-cpp \
+    ros2-std-msgs \
+    ros2-geometry-msgs \
+"
+
+ROS_BPN = "trajectory_msgs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/common-interfaces/ros2-visualization-msgs_git.bb b/recipes-ros2/common-interfaces/ros2-visualization-msgs_git.bb
new file mode 100644
index 0000000..9fedbdc
--- /dev/null
+++ b/recipes-ros2/common-interfaces/ros2-visualization-msgs_git.bb
@@ -0,0 +1,14 @@
+SUMMARY = "A package containing some visualization and interaction related message definitions."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    builtin-interfaces \
+    rosidl-default-runtime \
+    rosidl-typesupport-cpp \
+    ros2-std-msgs \
+    ros2-geometry-msgs \
+"
+
+ROS_BPN = "visualization_msgs"
+
+include common-interfaces.inc
diff --git a/recipes-ros2/example-interfaces/example-interfaces_git.bb b/recipes-ros2/example-interfaces/example-interfaces_git.bb
new file mode 100644
index 0000000..4016ff5
--- /dev/null
+++ b/recipes-ros2/example-interfaces/example-interfaces_git.bb
@@ -0,0 +1,27 @@
+SUMMARY = "Contains message and service definitions used by the examples."
+HOMEPAGE = "https://github.com/ros2/example_interfaces"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    rosidl-default-generators \
+    rosidl-cmake \
+    rosidl-parser \
+    rosidl-generator-c \
+    rosidl-generator-cpp \
+    rosidl-generator-py \
+    rmw-implementation-cmake \
+    rmw \
+    rmw-fastrtps-cpp \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+    python-cmake-module \
+"
+
+SRCREV = "b9f9477cd7f368e61f81d55c5021f4c70ad1fe12"
+SRC_URI = "git://github.com/ros2/example_interfaces.git;protocol=git;"
+
+inherit ament pythonpath-insane
+
+S = "${WORKDIR}/git"
+
+FILES_${PN} += "${datadir}/${ROS_BPN}/mapping_rules.yaml"
diff --git a/recipes-ros2/fastcdr/fastcdr/0001-don-t-use-INSTALL_INTERFACE.patch b/recipes-ros2/fastcdr/fastcdr/0001-don-t-use-INSTALL_INTERFACE.patch
new file mode 100644
index 0000000..6cea959
--- /dev/null
+++ b/recipes-ros2/fastcdr/fastcdr/0001-don-t-use-INSTALL_INTERFACE.patch
@@ -0,0 +1,28 @@
+From 596ed4a3481735b7d286da2701ada64e60e595cc Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Tue, 11 Jul 2017 12:47:41 +0300
+Subject: [PATCH] don't use INSTALL_INTERFACE
+
+The build system adds `include` as a system headers folder, but in combination
+with having --sysroot option set for gcc makes gcc ignore the folder.
+
+Upstream-Status: Inappropriate [the line is legit, but breaks in Yocto]
+---
+ src/cpp/CMakeLists.txt | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/src/cpp/CMakeLists.txt b/src/cpp/CMakeLists.txt
+index 19029ef..119ce5e 100644
+--- a/src/cpp/CMakeLists.txt
++++ b/src/cpp/CMakeLists.txt
+@@ -83,7 +83,6 @@ else()
+     # Define public headers
+     target_include_directories(${PROJECT_NAME} PUBLIC
+         $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include> $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include/${PROJECT_NAME}>
+-        $<INSTALL_INTERFACE:include>
+         )
+ endif()
+ 
+-- 
+2.9.3
+
diff --git a/recipes-ros2/fastcdr/fastcdr_git.bb b/recipes-ros2/fastcdr/fastcdr_git.bb
new file mode 100644
index 0000000..244bf46
--- /dev/null
+++ b/recipes-ros2/fastcdr/fastcdr_git.bb
@@ -0,0 +1,13 @@
+SUMMARY = "eProsima FastCDR library provides two serialization mechanisms. One is the standard CDR serialization mechanism, while the other is a faster implementation of it."
+HOMEPAGE = "https://github.com/eProsima/Fast-CDR"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
+
+SRCREV = "8d1489780cd58947e5f7104b84641f680224cdea"
+SRC_URI = "git://github.com/eProsima/Fast-CDR.git;protocol=git; \
+           file://0001-don-t-use-INSTALL_INTERFACE.patch \
+           "
+
+S = "${WORKDIR}/git"
+
+inherit cmake
diff --git a/recipes-ros2/fastrtps/fastrtps/0001-FindTinyXML2-use-pkg-config-to-find-tinyxml2.patch b/recipes-ros2/fastrtps/fastrtps/0001-FindTinyXML2-use-pkg-config-to-find-tinyxml2.patch
new file mode 100644
index 0000000..8782a9c
--- /dev/null
+++ b/recipes-ros2/fastrtps/fastrtps/0001-FindTinyXML2-use-pkg-config-to-find-tinyxml2.patch
@@ -0,0 +1,46 @@
+From 50fbc5f526cea5f7dab554deb2a9256bddf8d0cc Mon Sep 17 00:00:00 2001
+From: Martin Jansa <Martin.Jansa@gmail.com>
+Date: Tue, 10 Apr 2018 08:40:05 +0000
+Subject: [PATCH] FindTinyXML2: use pkg-config to find tinyxml2
+
+* otherwise it finds the whole path to RSS inside fastrtps and then uses
+  it in fastrtpsTargets.cmake which brakes users of this (e.g. rmw-fastrtps-cpp)
+  when they are built after fastrtps WORKDIR was already removed (e.g. with rm-work)
+
+  fastrtps/git-r0 $ grep -B 1 -A 1 work  image/usr/lib/fastrtps/cmake/fastrtpsTargets.cmake
+  set_target_properties(fastrtps PROPERTIES
+    INTERFACE_LINK_LIBRARIES "-lpthread;/OE/build/oe-core/tmp-glibc/work/aarch64-oe-linux/fastrtps/git-r0/recipe-sysroot/usr/lib/libtinyxml2.so"
+  )
+
+Upstream-Status: Pending
+
+Signed-off-by: Martin Jansa <Martin.Jansa@gmail.com>
+---
+ cmake/modules/FindTinyXML2.cmake | 10 +++-------
+ 1 file changed, 3 insertions(+), 7 deletions(-)
+
+diff --git a/cmake/modules/FindTinyXML2.cmake b/cmake/modules/FindTinyXML2.cmake
+index 24aa98a..bdb426a 100644
+--- a/cmake/modules/FindTinyXML2.cmake
++++ b/cmake/modules/FindTinyXML2.cmake
+@@ -4,14 +4,10 @@
+ 
+ option(TINYXML2_FROM_SOURCE "Integrate TinyXML2 source code inside Fast RTPS" OFF)
+ 
+-find_package(TinyXML2 CONFIG QUIET)
++find_package(PkgConfig)
++pkg_check_modules(TinyXML2 REQUIRED tinyxml2)
+ if(TinyXML2_FOUND)
+-    message(STATUS "Found TinyXML2: ${TinyXML2_DIR}")
+-    if(NOT TINYXML2_LIBRARY AND TARGET tinyxml2)
+-        # in this case, we're probably using TinyXML2 version 5.0.0 or greater
+-        # in which case tinyxml2 is an exported target and we should use that
+-        set(TINYXML2_LIBRARY tinyxml2)
+-    endif()
++    set(TINYXML2_LIBRARY ${TinyXML2_LIBRARIES})
+ else()
+     if(THIRDPARTY)
+         set(TINYXML2_FROM_SOURCE ON)
+-- 
+2.7.6
+
diff --git a/recipes-ros2/fastrtps/fastrtps/0001-don-t-use-INSTALL_INTERFACE.patch b/recipes-ros2/fastrtps/fastrtps/0001-don-t-use-INSTALL_INTERFACE.patch
new file mode 100644
index 0000000..0b228a9
--- /dev/null
+++ b/recipes-ros2/fastrtps/fastrtps/0001-don-t-use-INSTALL_INTERFACE.patch
@@ -0,0 +1,29 @@
+From dafc5ef621f67789dd91d0bbb14018548f260b96 Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Tue, 11 Jul 2017 12:50:03 +0300
+Subject: [PATCH] don't use INSTALL_INTERFACE
+
+The build system adds `include` as a system headers folder, but in combination
+with having --sysroot option set for gcc makes gcc ignore the folder.
+
+Upstream-Status: Inappropriate [the line is legit, but breaks in Yocto]
+
+---
+ src/cpp/CMakeLists.txt | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/src/cpp/CMakeLists.txt b/src/cpp/CMakeLists.txt
+index 40cc93d..6f66632 100644
+--- a/src/cpp/CMakeLists.txt
++++ b/src/cpp/CMakeLists.txt
+@@ -292,7 +292,6 @@ else()
+     target_include_directories(${PROJECT_NAME} PUBLIC
+         $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include> $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include/${PROJECT_NAME}>
+         $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src/cpp>
+-        $<INSTALL_INTERFACE:include>
+         )
+ 
+     # Link library to external libraries.
+-- 
+2.9.3
+
diff --git a/recipes-ros2/fastrtps/fastrtps_git.bb b/recipes-ros2/fastrtps/fastrtps_git.bb
new file mode 100644
index 0000000..9225383
--- /dev/null
+++ b/recipes-ros2/fastrtps/fastrtps_git.bb
@@ -0,0 +1,19 @@
+SUMMARY = "Implementation of RTPS Standard."
+HOMEPAGE = "https://github.com/eProsima/Fast-RTPS"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
+DEPENDS = "asio libtinyxml2"
+
+SRCREV = "bfb448e19bff253293e8f28ee8c3d3d78d882be2"
+SRC_URI = "git://github.com/eProsima/Fast-RTPS.git;protocol=git; \
+    file://0001-don-t-use-INSTALL_INTERFACE.patch \
+    file://0001-FindTinyXML2-use-pkg-config-to-find-tinyxml2.patch \
+"
+
+S = "${WORKDIR}/git"
+
+inherit cmake
+
+do_install_append() {
+    rm -r ${D}/usr/examples
+}
diff --git a/recipes-ros2/osrf-pycommon/osrf-pycommon_git.bb b/recipes-ros2/osrf-pycommon/osrf-pycommon_git.bb
new file mode 100644
index 0000000..b467ef6
--- /dev/null
+++ b/recipes-ros2/osrf-pycommon/osrf-pycommon_git.bb
@@ -0,0 +1,13 @@
+SUMMARY = "Commonly needed Python modules, used by Python software developed at OSRF."
+HOMEPAGE = "https://github.com/osrf/osrf_pycommon"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=6c4db32a2fa8717faffa1d4f10136f47"
+
+SRCREV = "e32de70e8b42dcd96bb66d29ddfb62e7fd8b795e"
+SRC_URI = "git://github.com/osrf/osrf_pycommon.git;protocol=git;"
+
+S = "${WORKDIR}/git"
+
+inherit setuptools3
+
+BBCLASSEXTEND += "native"
diff --git a/recipes-ros2/packagegroups/packagegroup-ros2-demos.bb b/recipes-ros2/packagegroups/packagegroup-ros2-demos.bb
new file mode 100644
index 0000000..dc6894e
--- /dev/null
+++ b/recipes-ros2/packagegroups/packagegroup-ros2-demos.bb
@@ -0,0 +1,12 @@
+DESCRIPTION = "ros2-demos package group"
+LICENSE = "MIT"
+
+inherit packagegroup
+
+PACKAGES = "${PN}"
+
+RDEPENDS_${PN} = "\
+        ros2-demo-nodes-cpp \
+        ros2run \
+        ros2topic \
+"
diff --git a/recipes-ros2/packagegroups/packagegroup-ros2-world.bb b/recipes-ros2/packagegroups/packagegroup-ros2-world.bb
new file mode 100644
index 0000000..d76ada4
--- /dev/null
+++ b/recipes-ros2/packagegroups/packagegroup-ros2-world.bb
@@ -0,0 +1,27 @@
+DESCRIPTION = "ros2-world package group"
+LICENSE = "MIT"
+
+inherit packagegroup
+
+PACKAGES = "${PN}"
+
+RDEPENDS_${PN} = "\
+    packagegroup-ros2-demos \
+    ros2cli \
+    ros2msg \
+    ros2run \
+    ros2topic \
+    ros2pkg \
+    ros2node \
+    ros2srv \
+    ros2service \
+    ros2-launch \
+    ros2-actionlib-msgs \
+    ros2-diagnostic-msgs \
+    ros2-nav-msgs \
+    ros2-std-srvs \
+    ros2-stereo-msgs \
+    ros2-trajectory-msgs \
+    ros2-visualization-msgs \
+    rosidl-generator-py \
+"
diff --git a/recipes-ros2/rcl-interfaces/builtin-interfaces_git.bb b/recipes-ros2/rcl-interfaces/builtin-interfaces_git.bb
new file mode 100644
index 0000000..285a7a6
--- /dev/null
+++ b/recipes-ros2/rcl-interfaces/builtin-interfaces_git.bb
@@ -0,0 +1,26 @@
+SUMMARY = "The ROS client library common interfaces."
+HOMEPAGE = "https://github.com/ros2/rcl_interfaces"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    rosidl-default-generators \
+    rosidl-cmake \
+    rosidl-parser \
+    rosidl-generator-c \
+    rosidl-generator-cpp \
+    rosidl-generator-py \
+    rmw-implementation-cmake \
+    rmw \
+    rmw-fastrtps-cpp \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+    python-cmake-module \
+"
+
+SRCREV = "22340f5828a8ea54675d47bef604d7c51fc9e101"
+SRC_URI = "git://github.com/ros2/rcl_interfaces.git;protocol=git;"
+
+ROS_BPN = "builtin_interfaces"
+
+inherit ament pythonpath-insane
+
diff --git a/recipes-ros2/rcl-interfaces/rcl-interfaces_git.bb b/recipes-ros2/rcl-interfaces/rcl-interfaces_git.bb
new file mode 100644
index 0000000..0deb39b
--- /dev/null
+++ b/recipes-ros2/rcl-interfaces/rcl-interfaces_git.bb
@@ -0,0 +1,23 @@
+SUMMARY = "The ROS client library common interfaces."
+HOMEPAGE = "https://github.com/ros2/rcl_interfaces"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    rosidl-default-generators \
+    rosidl-cmake \
+    rosidl-parser \
+    rosidl-generator-c \
+    rosidl-generator-cpp \
+    rosidl-generator-py \
+    rmw-implementation-cmake \
+    rmw \
+    rmw-fastrtps-cpp \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+    python-cmake-module \
+"
+
+SRCREV = "22340f5828a8ea54675d47bef604d7c51fc9e101"
+SRC_URI = "git://github.com/ros2/rcl_interfaces.git;protocol=git;"
+
+inherit ament pythonpath-insane
diff --git a/recipes-ros2/rcl/rcl_git.bb b/recipes-ros2/rcl/rcl_git.bb
new file mode 100644
index 0000000..93c608f
--- /dev/null
+++ b/recipes-ros2/rcl/rcl_git.bb
@@ -0,0 +1,14 @@
+SUMMARY = "The ROS client library common implementation."
+HOMEPAGE = "https://github.com/ros2/rcl_interfaces"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    ament-cmake-ros \
+    rcl-interfaces \
+    rmw-implementation \
+"
+
+SRCREV = "b41d4e333e2b977f7c93a18009cd93a8db5e87f0"
+SRC_URI = "git://github.com/ros2/rcl.git;protocol=git;"
+
+inherit ament
diff --git a/recipes-ros2/rclcpp/rclcpp_git.bb b/recipes-ros2/rclcpp/rclcpp_git.bb
new file mode 100644
index 0000000..ae25aa1
--- /dev/null
+++ b/recipes-ros2/rclcpp/rclcpp_git.bb
@@ -0,0 +1,14 @@
+SUMMARY = "The ROS client library in C++."
+HOMEPAGE = "https://github.com/ros2/rcl_interfaces"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    builtin-interfaces \
+    rosidl-default-runtime \
+    rcl \
+"
+
+SRCREV = "bea1a52e24eaea0ad141a4d13dfa4606fcf190e7"
+SRC_URI = "git://github.com/ros2/rclcpp.git;protocol=git;"
+
+inherit ament pythonpath-insane
diff --git a/recipes-ros2/rclpy/rclpy_git.bb b/recipes-ros2/rclpy/rclpy_git.bb
new file mode 100644
index 0000000..468a088
--- /dev/null
+++ b/recipes-ros2/rclpy/rclpy_git.bb
@@ -0,0 +1,15 @@
+SUMMARY = "Package containing the Python client."
+HOMEPAGE = "https://github.com/ros2/rclpy"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+        python-cmake-module \
+        rcl \
+"
+
+SRCREV = "018b9fbf1c66f1c1c488510e0caa299fb0223277"
+SRC_URI = "git://github.com/ros2/rclpy.git;protocol=git;"
+
+RDEPENDS_${PN} += "${PYTHON_PN}-multiprocessing"
+
+inherit ament
diff --git a/recipes-ros2/rcutils/rcutils_git.bb b/recipes-ros2/rcutils/rcutils_git.bb
new file mode 100644
index 0000000..6e3d668
--- /dev/null
+++ b/recipes-ros2/rcutils/rcutils_git.bb
@@ -0,0 +1,15 @@
+SUMMARY = "Package containing various utility types and functions for C."
+HOMEPAGE = "https://github.com/ros2/rcutils"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+        python3-empy \
+        python3-empy-native \
+"
+
+SRCREV = "85043d2da60cae000ea8137ab3eaff78d2ff2d42"
+SRC_URI = "git://github.com/ros2/rcutils.git;protocol=git;"
+
+inherit ament
+
+S = "${WORKDIR}/git"
diff --git a/recipes-ros2/rmw-fastrtps/fastrtps-cmake-module_git.bb b/recipes-ros2/rmw-fastrtps/fastrtps-cmake-module_git.bb
new file mode 100644
index 0000000..2c1be90
--- /dev/null
+++ b/recipes-ros2/rmw-fastrtps/fastrtps-cmake-module_git.bb
@@ -0,0 +1,5 @@
+SUMMARY = "Provide CMake module to find eProsima FastRTPS."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rmw-fastrtps.inc
diff --git a/recipes-ros2/rmw-fastrtps/rmw-fastrtps-cpp_git.bb b/recipes-ros2/rmw-fastrtps/rmw-fastrtps-cpp_git.bb
new file mode 100644
index 0000000..aabdc8b
--- /dev/null
+++ b/recipes-ros2/rmw-fastrtps/rmw-fastrtps-cpp_git.bb
@@ -0,0 +1,19 @@
+SUMMARY = "Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+DEPENDS = " \
+    ament-cmake-ros \
+    rcutils \
+    fastrtps-cmake-module \
+    fastrtps \
+    fastcdr \
+    rmw \
+    rosidl-generator-c \
+    rosidl-generator-cpp \
+    rosidl-typesupport-introspection-c \
+    rosidl-typesupport-introspection-cpp \
+    rosidl-cmake \
+"
+
+include rmw-fastrtps.inc
diff --git a/recipes-ros2/rmw-fastrtps/rmw-fastrtps.inc b/recipes-ros2/rmw-fastrtps/rmw-fastrtps.inc
new file mode 100644
index 0000000..b1e4ace
--- /dev/null
+++ b/recipes-ros2/rmw-fastrtps/rmw-fastrtps.inc
@@ -0,0 +1,6 @@
+HOMEPAGE = "https://github.com/ros2/rmw_fastrtps"
+
+SRCREV = "640d7de7e2af1a4281ba910d0ed6702e337ed48c"
+SRC_URI = "git://github.com/ros2/rmw_fastrtps.git;protocol=git;"
+
+inherit ament
diff --git a/recipes-ros2/rmw-implementation/rmw-implementation/0001-get-rid-of-poco-vendor-dependency.patch b/recipes-ros2/rmw-implementation/rmw-implementation/0001-get-rid-of-poco-vendor-dependency.patch
new file mode 100644
index 0000000..7e75207
--- /dev/null
+++ b/recipes-ros2/rmw-implementation/rmw-implementation/0001-get-rid-of-poco-vendor-dependency.patch
@@ -0,0 +1,25 @@
+From 0e9f364cad9082daac0d802abc690b1f59ac0243 Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Tue, 11 Jul 2017 12:53:38 +0300
+Subject: [PATCH] get rid of poco-vendor dependency
+
+Upstream-Status: Inappropriate [poco is provided by OE]
+---
+ rmw_implementation/CMakeLists.txt | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/rmw_implementation/CMakeLists.txt b/rmw_implementation/CMakeLists.txt
+index c23861e..e9ed54f 100644
+--- a/rmw_implementation/CMakeLists.txt
++++ b/rmw_implementation/CMakeLists.txt
+@@ -16,7 +16,6 @@ find_package(ament_cmake REQUIRED)
+ find_package(rcutils REQUIRED)
+ 
+ # provides FindPoco.cmake and Poco on platforms without it
+-find_package(poco_vendor)
+ find_package(Poco COMPONENTS Foundation)
+ find_package(rmw_implementation_cmake REQUIRED)
+ 
+-- 
+2.9.3
+
diff --git a/recipes-ros2/rmw-implementation/rmw-implementation_git.bb b/recipes-ros2/rmw-implementation/rmw-implementation_git.bb
new file mode 100644
index 0000000..9416144
--- /dev/null
+++ b/recipes-ros2/rmw-implementation/rmw-implementation_git.bb
@@ -0,0 +1,19 @@
+SUMMARY = "The decision which ROS middleware implementation should be used for C++."
+HOMEPAGE = "https://github.com/ros2/example_interfaces"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+DEPENDS = " \
+    rcutils \
+    rmw \
+    rmw-implementation-cmake \
+    rmw-fastrtps-cpp \
+    poco \
+"
+
+SRCREV = "856611439680209e46d0f4fc4c79d62e7c29867d"
+SRC_URI = "git://github.com/ros2/rmw_implementation.git;protocol=git; \
+           file://0001-get-rid-of-poco-vendor-dependency.patch;patchdir=.. \
+           "
+
+inherit ament
diff --git a/recipes-ros2/rmw/rmw-implementation-cmake_git.bb b/recipes-ros2/rmw/rmw-implementation-cmake_git.bb
new file mode 100644
index 0000000..a7af3da
--- /dev/null
+++ b/recipes-ros2/rmw/rmw-implementation-cmake_git.bb
@@ -0,0 +1,5 @@
+SUMMARY = "CMake functions which can discover and enumerate available implementations."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rmw.inc
diff --git a/recipes-ros2/rmw/rmw.inc b/recipes-ros2/rmw/rmw.inc
new file mode 100644
index 0000000..ecafe15
--- /dev/null
+++ b/recipes-ros2/rmw/rmw.inc
@@ -0,0 +1,6 @@
+HOMEPAGE = "https://github.com/ros2/rmw"
+
+SRCREV = "4c39335411910f1e8d6cb49352b44fef6052455d"
+SRC_URI = "git://github.com/ros2/rmw.git;protocol=git;"
+
+inherit ament
diff --git a/recipes-ros2/rmw/rmw_git.bb b/recipes-ros2/rmw/rmw_git.bb
new file mode 100644
index 0000000..5f24a6a
--- /dev/null
+++ b/recipes-ros2/rmw/rmw_git.bb
@@ -0,0 +1,6 @@
+SUMMARY = "Contains the ROS middleware API."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "rcutils ament-cmake-ros"
+
+include rmw.inc
diff --git a/recipes-ros2/ros2-demos/ros2-demo-nodes-cpp_git.bb b/recipes-ros2/ros2-demos/ros2-demo-nodes-cpp_git.bb
new file mode 100644
index 0000000..d4b4dd3
--- /dev/null
+++ b/recipes-ros2/ros2-demos/ros2-demo-nodes-cpp_git.bb
@@ -0,0 +1,12 @@
+SUMMARY = "C++ nodes which were previously in the ros2/examples repository but are now just used for demo purposes."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = " \
+    example-interfaces \
+    rclcpp \
+    ros2-sensor-msgs \
+"
+
+ROS_BPN = "demo_nodes_cpp"
+
+include ros2-demos.inc
diff --git a/recipes-ros2/ros2-demos/ros2-demos.inc b/recipes-ros2/ros2-demos/ros2-demos.inc
new file mode 100644
index 0000000..5a3beff
--- /dev/null
+++ b/recipes-ros2/ros2-demos/ros2-demos.inc
@@ -0,0 +1,6 @@
+HOMEPAGE = "https://github.com/ros2/demos"
+
+SRCREV = "ac2db5662a45029c1e2205aefdb93302cadc0f43"
+SRC_URI = "git://github.com/ros2/demos.git;protocol=git;"
+
+inherit ament
diff --git a/recipes-ros2/ros2-launch/ros2-launch_git.bb b/recipes-ros2/ros2-launch/ros2-launch_git.bb
new file mode 100644
index 0000000..dbcc7b2
--- /dev/null
+++ b/recipes-ros2/ros2-launch/ros2-launch_git.bb
@@ -0,0 +1,13 @@
+SUMMARY = "The ROS launch tool."
+HOMEPAGE = "https://github.com/ros2/launch"
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+SRCREV = "90181d102362028eb88f225f2b3377f51dc74526"
+SRC_URI = "git://github.com/ros2/launch.git;protocol=git;"
+
+S = "${WORKDIR}/git/launch"
+
+RDEPENDS_${PN} += "${PYTHON_PN}-asyncio"
+
+inherit setuptools3
diff --git a/recipes-ros2/ros2cli/ros2cli.inc b/recipes-ros2/ros2cli/ros2cli.inc
new file mode 100644
index 0000000..c7b6328
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2cli.inc
@@ -0,0 +1,6 @@
+HOMEPAGE = "https://github.com/ros2/ros2cli"
+
+SRCREV = "df36377ff44695b43390dccf2df5a7bffd012e61"
+SRC_URI = "git://github.com/ros2/ros2cli.git;protocol=git;"
+
+S = "${WORKDIR}/git/${PN}"
diff --git a/recipes-ros2/ros2cli/ros2cli_git.bb b/recipes-ros2/ros2cli/ros2cli_git.bb
new file mode 100644
index 0000000..4339e72
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2cli_git.bb
@@ -0,0 +1,10 @@
+SUMMARY = "Framework for ROS 2 command line tools."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ros2cli.inc
+inherit setuptools3
+
+RDEPENDS_${PN} += "rclpy python3-setuptools ${PYTHON_PN}-xmlrpc ${PYTHON_PN}-pydoc"
+
+FILES_${PN} += "${datadir}/ament_index/"
diff --git a/recipes-ros2/ros2cli/ros2msg_git.bb b/recipes-ros2/ros2cli/ros2msg_git.bb
new file mode 100644
index 0000000..0bdff6a
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2msg_git.bb
@@ -0,0 +1,7 @@
+SUMMARY = "The msg command for ROS 2 command line tools."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ros2cli.inc
+
+inherit setuptools3
diff --git a/recipes-ros2/ros2cli/ros2node_git.bb b/recipes-ros2/ros2cli/ros2node_git.bb
new file mode 100644
index 0000000..59efc02
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2node_git.bb
@@ -0,0 +1,7 @@
+SUMMARY = "The node command for ROS 2 command line tools."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ros2cli.inc
+
+inherit setuptools3
diff --git a/recipes-ros2/ros2cli/ros2pkg_git.bb b/recipes-ros2/ros2cli/ros2pkg_git.bb
new file mode 100644
index 0000000..58d1a62
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2pkg_git.bb
@@ -0,0 +1,9 @@
+SUMMARY = "The pkg command for ROS 2 command line tools."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ros2cli.inc
+
+inherit setuptools3
+
+RDEPENDS_${PN} += "ros2cli ament-index-python"
diff --git a/recipes-ros2/ros2cli/ros2run_git.bb b/recipes-ros2/ros2cli/ros2run_git.bb
new file mode 100644
index 0000000..7752136
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2run_git.bb
@@ -0,0 +1,9 @@
+SUMMARY = "The run command for ROS 2 command line tools."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ros2cli.inc
+
+inherit setuptools3
+
+RDEPENDS_${PN} += "ros2pkg"
diff --git a/recipes-ros2/ros2cli/ros2service_git.bb b/recipes-ros2/ros2cli/ros2service_git.bb
new file mode 100644
index 0000000..621ad45
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2service_git.bb
@@ -0,0 +1,7 @@
+SUMMARY = "The service command for ROS 2 command line tools."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ros2cli.inc
+
+inherit setuptools3
diff --git a/recipes-ros2/ros2cli/ros2srv_git.bb b/recipes-ros2/ros2cli/ros2srv_git.bb
new file mode 100644
index 0000000..a88bce6
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2srv_git.bb
@@ -0,0 +1,7 @@
+SUMMARY = "The srv command for ROS 2 command line tools."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ros2cli.inc
+
+inherit setuptools3
diff --git a/recipes-ros2/ros2cli/ros2topic_git.bb b/recipes-ros2/ros2cli/ros2topic_git.bb
new file mode 100644
index 0000000..c6518be
--- /dev/null
+++ b/recipes-ros2/ros2cli/ros2topic_git.bb
@@ -0,0 +1,9 @@
+SUMMARY = "The run command for ROS 2 command line tools."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include ros2cli.inc
+
+inherit setuptools3
+
+RDEPENDS_${PN} += "ros2msg ${PYTHON_PN}-pyyaml"
diff --git a/recipes-ros2/rosidl-typesupport/rosidl-default-generators_git.bb b/recipes-ros2/rosidl-typesupport/rosidl-default-generators_git.bb
new file mode 100644
index 0000000..b9a31af
--- /dev/null
+++ b/recipes-ros2/rosidl-typesupport/rosidl-default-generators_git.bb
@@ -0,0 +1,16 @@
+SUMMARY = "A configuration package defining the default ROS interface generators."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rosidl-typesupport.inc
+
+# TODO: add missing 'buildtool_export_depend' values from package.xml
+RDEPENDS_${PN}-dev += " \
+    rosidl-generator-c \
+    rosidl-generator-cpp \
+    rosidl-generator-py \
+    rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
+    rosidl-typesupport-introspection-c \
+    rosidl-typesupport-introspection-cpp \
+"
diff --git a/recipes-ros2/rosidl-typesupport/rosidl-default-runtime_git.bb b/recipes-ros2/rosidl-typesupport/rosidl-default-runtime_git.bb
new file mode 100644
index 0000000..e517d6b
--- /dev/null
+++ b/recipes-ros2/rosidl-typesupport/rosidl-default-runtime_git.bb
@@ -0,0 +1,14 @@
+SUMMARY = "A configuration package defining the runtime for the ROS interfaces."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rosidl-typesupport.inc
+
+RDEPENDS_${PN}-dev += " \
+    rosidl-generator-cpp-dev \
+    rosidl-generator-py-dev \
+    rosidl-typesupport-c-dev \
+    rosidl-typesupport-cpp-dev \
+    rosidl-typesupport-introspection-c-dev \
+    rosidl-typesupport-introspection-cpp-dev \
+"
diff --git a/recipes-ros2/rosidl-typesupport/rosidl-typesupport-c/0001-Drop-poco_vendor-dependency.patch b/recipes-ros2/rosidl-typesupport/rosidl-typesupport-c/0001-Drop-poco_vendor-dependency.patch
new file mode 100644
index 0000000..a662aa9
--- /dev/null
+++ b/recipes-ros2/rosidl-typesupport/rosidl-typesupport-c/0001-Drop-poco_vendor-dependency.patch
@@ -0,0 +1,25 @@
+From f39a8bd2d8ee244c310a191238c02531ff271399 Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Tue, 4 Jul 2017 11:30:59 +0300
+Subject: [PATCH] Drop poco_vendor dependency
+
+Upstream-Status: Inappropriate [poco is provided by OE]
+---
+ rosidl_typesupport_c/CMakeLists.txt | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/rosidl_typesupport_c/CMakeLists.txt b/rosidl_typesupport_c/CMakeLists.txt
+index 887bbb3..4cced24 100644
+--- a/rosidl_typesupport_c/CMakeLists.txt
++++ b/rosidl_typesupport_c/CMakeLists.txt
+@@ -17,7 +17,6 @@ endif()
+ 
+ find_package(ament_cmake REQUIRED)
+ # provides FindPoco.cmake and Poco on platforms without it
+-find_package(poco_vendor)
+ find_package(Poco COMPONENTS Foundation)
+ find_package(rosidl_generator_c REQUIRED)
+ 
+-- 
+2.9.3
+
diff --git a/recipes-ros2/rosidl-typesupport/rosidl-typesupport-c/0001-rosidl_typesupport_c-remove-redundant-target-linking.patch b/recipes-ros2/rosidl-typesupport/rosidl-typesupport-c/0001-rosidl_typesupport_c-remove-redundant-target-linking.patch
new file mode 100644
index 0000000..19c83bb
--- /dev/null
+++ b/recipes-ros2/rosidl-typesupport/rosidl-typesupport-c/0001-rosidl_typesupport_c-remove-redundant-target-linking.patch
@@ -0,0 +1,48 @@
+From 48838676843a951297d00831e7afaee6529cc04e Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Tue, 18 Jul 2017 10:19:37 +0300
+Subject: [PATCH] rosidl_typesupport_c: remove redundant target linking
+
+It's enough that CMakeLists.txt contains
+
+link_directories(${Poco_LIBRARY_DIR})
+
+The line
+
+target_link_libraries(${PROJECT_NAME} ${Poco_LIBRARIES})
+
+also adds Poco's include dir (which is /usr/include) as a system one
+and that leads to triggering the bug
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129 in gcc >= v6.
+
+| /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-c/git-r0/recipe-sysroot-native/usr/bin/x86_64-refkit-linux/x86_64-refkit-linux-g++   -m64 -march=corei7 -mtune=corei7 -mfpmath=sse -msse4.2 --sysroot=/home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-c/git-r0/recipe-sysroot  -DPOCO_NO_AUTOMATIC_LIBS -DROSIDL_TYPESUPPORT_C_USE_POCO -Drosidl_typesupport_c_EXPORTS -I/home/rojkov/work/iot-ref-kit/build/workspace/sources/rosidl-typesupport-c/rosidl_typesupport_c/include -isystem /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-c/git-r0/recipe-sysroot/usr/include  -O2 -pipe -g -feliminate-unused-debug-types -fdebug-prefix-map=/home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-c/git-r0=/usr/src/debug/rosidl-typesupport-c/git-r0 -fdebug-prefix-map=/home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-c/git-r0/recipe-sysroot-native= -fdebug-prefix-map=/home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-c/git-r0/recipe-sysroot=  -fstack-protector-strong -pie -fpie -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -fvisibility-inlines-hidden -fPIC   -Wall -Wextra -Wpedantic -std=gnu++14 -o CMakeFiles/rosidl_typesupport_c.dir/src/type_support_dispatch.cpp.o -c /home/rojkov/work/iot-ref-kit/build/workspace/sources/rosidl-typesupport-c/rosidl_typesupport_c/src/type_support_dispatch.cpp
+| In file included from /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-c/git-r0/recipe-sysroot/usr/include/c++/7.1.0/ext/string_conversions.h:41:0,
+|                  from /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-c/git-r0/recipe-sysroot/usr/include/c++/7.1.0/bits/basic_string.h:6159,
+|                  from /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-c/git-r0/recipe-sysroot/usr/include/c++/7.1.0/string:52,
+|                  from /home/rojkov/work/iot-ref-kit/build/workspace/sources/rosidl-typesupport-c/rosidl_typesupport_c/src/type_support_dispatch.hpp:23,
+|                  from /home/rojkov/work/iot-ref-kit/build/workspace/sources/rosidl-typesupport-c/rosidl_typesupport_c/src/type_support_dispatch.cpp:15:
+| /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-c/git-r0/recipe-sysroot/usr/include/c++/7.1.0/cstdlib:75:15: fatal error: stdlib.h: No such file or directory
+|  #include_next <stdlib.h>
+|                ^~~~~~~~~~
+| compilation terminated.
+
+Upstream-Status: Inappropriate [isn't reproducible in upstream official builds]
+---
+ rosidl_typesupport_c/CMakeLists.txt | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/rosidl_typesupport_c/CMakeLists.txt b/rosidl_typesupport_c/CMakeLists.txt
+index 4cced24..ceb8456 100644
+--- a/rosidl_typesupport_c/CMakeLists.txt
++++ b/rosidl_typesupport_c/CMakeLists.txt
+@@ -45,7 +45,6 @@ target_include_directories(${PROJECT_NAME}
+   PUBLIC
+   include ${Poco_INCLUDE_DIRS}
+ )
+-target_link_libraries(${PROJECT_NAME} ${Poco_LIBRARIES})
+ ament_target_dependencies(${PROJECT_NAME} "rosidl_generator_c")
+ ament_export_libraries(${PROJECT_NAME})
+ 
+-- 
+2.9.3
+
diff --git a/recipes-ros2/rosidl-typesupport/rosidl-typesupport-c_git.bb b/recipes-ros2/rosidl-typesupport/rosidl-typesupport-c_git.bb
new file mode 100644
index 0000000..f6407bb
--- /dev/null
+++ b/recipes-ros2/rosidl-typesupport/rosidl-typesupport-c_git.bb
@@ -0,0 +1,11 @@
+SUMMARY = "Generate the type support for C messages."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "poco rosidl-generator-c rosidl-cmake"
+
+include rosidl-typesupport.inc
+
+SRC_URI += " \
+    file://0001-Drop-poco_vendor-dependency.patch;patchdir=.. \
+    file://0001-rosidl_typesupport_c-remove-redundant-target-linking.patch;patchdir=.. \
+"
diff --git a/recipes-ros2/rosidl-typesupport/rosidl-typesupport-cpp/0001-rosidl_typesupport_cpp-remove-redundant-target-linki.patch b/recipes-ros2/rosidl-typesupport/rosidl-typesupport-cpp/0001-rosidl_typesupport_cpp-remove-redundant-target-linki.patch
new file mode 100644
index 0000000..200b065
--- /dev/null
+++ b/recipes-ros2/rosidl-typesupport/rosidl-typesupport-cpp/0001-rosidl_typesupport_cpp-remove-redundant-target-linki.patch
@@ -0,0 +1,48 @@
+From ebefa2bc4fd9dca4e61b4ae0998712d0e420c56b Mon Sep 17 00:00:00 2001
+From: Dmitry Rozhkov <dmitry.rozhkov@linux.intel.com>
+Date: Tue, 18 Jul 2017 10:50:57 +0300
+Subject: [PATCH] rosidl_typesupport_cpp: remove redundant target linking
+
+It's enough that CMakeLists.txt contains
+
+link_directories(${Poco_LIBRARY_DIR})
+
+The line
+
+target_link_libraries(${PROJECT_NAME} ${Poco_LIBRARIES})
+
+also adds Poco's include dir (which is /usr/include) as a system one
+and that leads to triggering the bug
+https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70129 in gcc >= v6.
+
+| /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-cpp/git-r0/recipe-sysroot-native/usr/bin/x86_64-refkit-linux/x86_64-refkit-linux-g++   -m64 -march=corei7 -mtune=corei7 -mfpmath=sse -msse4.2 --sysroot=/home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-cpp/git-r0/recipe-sysroot  -DPOCO_NO_AUTOMATIC_LIBS -DROSIDL_TYPESUPPORT_CPP_USE_POCO -Drosidl_typesupport_cpp_EXPORTS -I/home/rojkov/work/iot-ref-kit/build/workspace/sources/rosidl-typesupport-cpp/rosidl_typesupport_cpp/include -isystem /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-cpp/git-r0/recipe-sysroot/usr/include  -O2 -pipe -g -feliminate-unused-debug-types -fdebug-prefix-map=/home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-cpp/git-r0=/usr/src/debug/rosidl-typesupport-cpp/git-r0 -fdebug-prefix-map=/home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-cpp/git-r0/recipe-sysroot-native= -fdebug-prefix-map=/home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-cpp/git-r0/recipe-sysroot=  -fstack-protector-strong -pie -fpie -D_FORTIFY_SOURCE=2 -Wformat -Wformat-security -Werror=format-security -fvisibility-inlines-hidden -fPIC   -Wall -Wextra -Wpedantic -std=gnu++14 -o CMakeFiles/rosidl_typesupport_cpp.dir/src/type_support_dispatch.cpp.o -c /home/rojkov/work/iot-ref-kit/build/workspace/sources/rosidl-typesupport-cpp/rosidl_typesupport_cpp/src/type_support_dispatch.cpp
+| In file included from /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-cpp/git-r0/recipe-sysroot/usr/include/c++/7.1.0/ext/string_conversions.h:41:0,
+|                  from /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-cpp/git-r0/recipe-sysroot/usr/include/c++/7.1.0/bits/basic_string.h:6159,
+|                  from /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-cpp/git-r0/recipe-sysroot/usr/include/c++/7.1.0/string:52,
+|                  from /home/rojkov/work/iot-ref-kit/build/workspace/sources/rosidl-typesupport-cpp/rosidl_typesupport_cpp/src/type_support_dispatch.hpp:23,
+|                  from /home/rojkov/work/iot-ref-kit/build/workspace/sources/rosidl-typesupport-cpp/rosidl_typesupport_cpp/src/service_type_support_dispatch.cpp:17:
+| /home/rojkov/work/iot-ref-kit/build/tmp-glibc/work/corei7-64-refkit-linux/rosidl-typesupport-cpp/git-r0/recipe-sysroot/usr/include/c++/7.1.0/cstdlib:75:15: fatal error: stdlib.h: No such file or directory
+|  #include_next <stdlib.h>
+|                ^~~~~~~~~~
+| compilation terminated.
+
+Upstream-Status: Inappropriate [isn't reproducible in upstream official builds]
+---
+ rosidl_typesupport_cpp/CMakeLists.txt | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/rosidl_typesupport_cpp/CMakeLists.txt b/rosidl_typesupport_cpp/CMakeLists.txt
+index f0ab0b8..7012311 100644
+--- a/rosidl_typesupport_cpp/CMakeLists.txt
++++ b/rosidl_typesupport_cpp/CMakeLists.txt
+@@ -43,7 +43,6 @@ target_include_directories(${PROJECT_NAME}
+   PUBLIC
+   include ${Poco_INCLUDE_DIRS}
+ )
+-target_link_libraries(${PROJECT_NAME} ${Poco_LIBRARIES})
+ ament_target_dependencies(${PROJECT_NAME} "rosidl_generator_c")
+ ament_export_libraries(${PROJECT_NAME})
+ 
+-- 
+2.9.3
+
diff --git a/recipes-ros2/rosidl-typesupport/rosidl-typesupport-cpp_git.bb b/recipes-ros2/rosidl-typesupport/rosidl-typesupport-cpp_git.bb
new file mode 100644
index 0000000..82a5662
--- /dev/null
+++ b/recipes-ros2/rosidl-typesupport/rosidl-typesupport-cpp_git.bb
@@ -0,0 +1,8 @@
+SUMMARY = "Generate the type support for C++ messages."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "poco rosidl-generator-c rosidl-cmake"
+
+include rosidl-typesupport.inc
+
+SRC_URI += "file://0001-rosidl_typesupport_cpp-remove-redundant-target-linki.patch;patchdir=.."
diff --git a/recipes-ros2/rosidl-typesupport/rosidl-typesupport.inc b/recipes-ros2/rosidl-typesupport/rosidl-typesupport.inc
new file mode 100644
index 0000000..1f2301c
--- /dev/null
+++ b/recipes-ros2/rosidl-typesupport/rosidl-typesupport.inc
@@ -0,0 +1,6 @@
+HOMEPAGE = "https://github.com/ros2/rosidl_typesupport"
+
+SRCREV = "aa94c5724d05bd264a11f2d9aa0383b2e8b87001"
+SRC_URI = "git://github.com/ros2/rosidl_typesupport.git;protocol=git;"
+
+inherit ament
diff --git a/recipes-ros2/rosidl/python-cmake-module_git.bb b/recipes-ros2/rosidl/python-cmake-module_git.bb
new file mode 100644
index 0000000..c60d93f
--- /dev/null
+++ b/recipes-ros2/rosidl/python-cmake-module_git.bb
@@ -0,0 +1,5 @@
+SUMMARY = "Provide CMake module with extra functionality for Python."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rosidl.inc
diff --git a/recipes-ros2/rosidl/rosidl-cmake_git.bb b/recipes-ros2/rosidl/rosidl-cmake_git.bb
new file mode 100644
index 0000000..195a0bf
--- /dev/null
+++ b/recipes-ros2/rosidl/rosidl-cmake_git.bb
@@ -0,0 +1,7 @@
+SUMMARY = "The CMake functionality to invoke code generation for ROS interface files."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rosidl.inc
+
+RDEPENDS_${PN} += "rosidl-parser"
diff --git a/recipes-ros2/rosidl/rosidl-generator-c_git.bb b/recipes-ros2/rosidl/rosidl-generator-c_git.bb
new file mode 100644
index 0000000..2af8b56
--- /dev/null
+++ b/recipes-ros2/rosidl/rosidl-generator-c_git.bb
@@ -0,0 +1,17 @@
+SUMMARY = "Generate the ROS interfaces in C++."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "rosidl-typesupport-interface"
+
+include rosidl.inc
+
+RDEPENDS_${PN} += " \
+    rosidl-parser \
+    ${PYTHON_PN}-json \
+    ${PYTHON_PN}-empy \
+"
+
+RDEPENDS_${PN}-dev += " \
+    rosidl-cmake-dev \
+    rosidl-typesupport-interface-dev \
+"
diff --git a/recipes-ros2/rosidl/rosidl-generator-cpp_git.bb b/recipes-ros2/rosidl/rosidl-generator-cpp_git.bb
new file mode 100644
index 0000000..39ae3f5
--- /dev/null
+++ b/recipes-ros2/rosidl/rosidl-generator-cpp_git.bb
@@ -0,0 +1,7 @@
+SUMMARY = "Generate the ROS interfaces in C++."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rosidl.inc
+
+RDEPENDS_${PN} += "rosidl-parser"
diff --git a/recipes-ros2/rosidl/rosidl-generator-py_git.bb b/recipes-ros2/rosidl/rosidl-generator-py_git.bb
new file mode 100644
index 0000000..f31d8f1
--- /dev/null
+++ b/recipes-ros2/rosidl/rosidl-generator-py_git.bb
@@ -0,0 +1,7 @@
+SUMMARY = "Generate the ROS interfaces in Python."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rosidl.inc
+
+RDEPENDS_${PN} += "rmw-implementation rmw-implementation-cmake rosidl-generator-c rosidl-parser"
diff --git a/recipes-ros2/rosidl/rosidl-parser_git.bb b/recipes-ros2/rosidl/rosidl-parser_git.bb
new file mode 100644
index 0000000..579252f
--- /dev/null
+++ b/recipes-ros2/rosidl/rosidl-parser_git.bb
@@ -0,0 +1,5 @@
+SUMMARY = "The parser for ROS interface files."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rosidl.inc
diff --git a/recipes-ros2/rosidl/rosidl-typesupport-interface_git.bb b/recipes-ros2/rosidl/rosidl-typesupport-interface_git.bb
new file mode 100644
index 0000000..fa3600c
--- /dev/null
+++ b/recipes-ros2/rosidl/rosidl-typesupport-interface_git.bb
@@ -0,0 +1,5 @@
+SUMMARY = "The interface for rosidl typesupport packages."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rosidl.inc
diff --git a/recipes-ros2/rosidl/rosidl-typesupport-introspection-c_git.bb b/recipes-ros2/rosidl/rosidl-typesupport-introspection-c_git.bb
new file mode 100644
index 0000000..9356951
--- /dev/null
+++ b/recipes-ros2/rosidl/rosidl-typesupport-introspection-c_git.bb
@@ -0,0 +1,7 @@
+SUMMARY = "Generate the message type support for dynamic message construction in C."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+
+include rosidl.inc
+
+RDEPENDS_${PN} += "rosidl-cmake rosidl-generator-c rosidl-parser"
diff --git a/recipes-ros2/rosidl/rosidl-typesupport-introspection-cpp_git.bb b/recipes-ros2/rosidl/rosidl-typesupport-introspection-cpp_git.bb
new file mode 100644
index 0000000..012ae57
--- /dev/null
+++ b/recipes-ros2/rosidl/rosidl-typesupport-introspection-cpp_git.bb
@@ -0,0 +1,15 @@
+SUMMARY = "Generate the message type support for dynamic message construction in C++."
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+DEPENDS = "rosidl-cmake rosidl-generator-c rosidl-typesupport-introspection-c"
+
+include rosidl.inc
+
+RDEPENDS_${PN} = " \
+    rosidl-cmake \
+    rosidl-generator-c \
+    rosidl-generator-cpp \
+    rosidl-parser \
+    rosidl-typesupport-interface \
+    rosidl-typesupport-introspection-c \
+"
diff --git a/recipes-ros2/rosidl/rosidl.inc b/recipes-ros2/rosidl/rosidl.inc
new file mode 100644
index 0000000..5966529
--- /dev/null
+++ b/recipes-ros2/rosidl/rosidl.inc
@@ -0,0 +1,6 @@
+HOMEPAGE = "https://github.com/ros2/rosidl"
+
+SRCREV = "8a19b290a04b36136bcf931cb4a983ab587b4db6"
+SRC_URI = "git://github.com/ros2/rosidl.git;protocol=git;branch=ardent;"
+
+inherit ament