diff --git a/README.md b/README.md
index cd4d167..66efa91 100644
--- a/README.md
+++ b/README.md
@@ -19,6 +19,8 @@ cross-compilation of the basic ros-comm packages.
   * Sergey 'Jin' Bostandzhyan <jin@dev.digitalstrom.org>
   * Andreas Hildisch, BMW Car IT GmbH <andreas.hildisch@bmw-carit.de>
   * William <william@friedcircuits.us>
+  * Kristof Robot <krirobo@gmail.com>
+
 
 ## HOW TO CONTRIBUTE ##
 
diff --git a/recipes-ros/geometry-experimental/tf2-geometry-msgs_0.4.7.bb b/recipes-ros/geometry-experimental/tf2-geometry-msgs_0.4.7.bb
new file mode 100644
index 0000000..70b1ee0
--- /dev/null
+++ b/recipes-ros/geometry-experimental/tf2-geometry-msgs_0.4.7.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "tf2_geometry_msgs"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "actionlib-msgs geometry-msgs tf2-ros tf2 orocos-kdl"
+
+require geometry-experimental.inc
diff --git a/recipes-ros/geometry-experimental/tf2-kdl_0.4.7.bb b/recipes-ros/geometry-experimental/tf2-kdl_0.4.7.bb
new file mode 100644
index 0000000..c4f2423
--- /dev/null
+++ b/recipes-ros/geometry-experimental/tf2-kdl_0.4.7.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "KDL binding for tf2"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "libeigen orocos-kdl tf2 tf2-ros"
+
+require geometry-experimental.inc
diff --git a/recipes-ros/geometry/eigen-conversions_1.10.6.bb b/recipes-ros/geometry/eigen-conversions_1.10.6.bb
new file mode 100644
index 0000000..a85c736
--- /dev/null
+++ b/recipes-ros/geometry/eigen-conversions_1.10.6.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "Conversion functions between Eigen and KDL, and Eigen and geometry_msgs."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "geometry-msgs libeigen orocos-kdl std-msgs"
+
+require geometry.inc
diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index fa16e74..610c8d8 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -31,12 +31,17 @@ RDEPENDS_${PN} = "\
     console-bridge \
     dynamic-reconfigure \
     angles \
+    tf2 \
+    tf2-geometry-msgs \
+    tf2-kdl \    
     tf2-msgs \
     tf2-py \
     tf2-ros \
-    tf2 \
-    tf \
     tf2-tools \
+    eigen-conversions \
+    kdl-conversions \
+    tf \
+    tf-conversions \
     image-transport \
     nodelet-topic-tools \
     nodelet \
@@ -61,6 +66,8 @@ RDEPENDS_${PN} = "\
     joint-limits-interface \
     transmission-interface \
     collada-parser \
+    collada-urdf \
+    kdl-parser \
     resource-retriever \
     urdf-parser-plugin \
     urdf \
@@ -108,6 +115,10 @@ RDEPENDS_${PN} = "\
     rosserial-msgs \
     rosserial-python \
     rosserial-xbee \
+    robot-state-publisher \
+    octomap \
+    geometric-shapes \
     "
 
 # joint-state-publisher still has some issues
+# freenect-camera requires opengl distro feature.