diff --git a/recipes-ros/manipulation-msgs/manipulation-msgs_0.2.1.bb b/recipes-ros/manipulation-msgs/manipulation-msgs_0.2.1.bb
new file mode 100644
index 0000000..a34720c
--- /dev/null
+++ b/recipes-ros/manipulation-msgs/manipulation-msgs_0.2.1.bb
@@ -0,0 +1,16 @@
+DESCRIPTION = "The manipulation_msgs package"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "actionlib-msgs geometry-msgs sensor-msgs shape-msgs household-objects-database-msgs"
+
+SRC_URI = "https://github.com/ros-interactive-manipulation/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "48bb43443982dc6c78afaf2b65a74e67"
+SRC_URI[sha256sum] = "b34fae176367ff727876959e5f40eafeb9a7c158424bc288ae7eb9045e6b3a41"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit catkin
+
+ROS_SPN = "manipulation_msgs"