diff --git a/recipes-ros/geometry-experimental/geometry-experimental.inc b/recipes-ros/geometry-experimental/geometry-experimental.inc
new file mode 100644
index 0000000..b5aaab5
--- /dev/null
+++ b/recipes-ros/geometry-experimental/geometry-experimental.inc
@@ -0,0 +1,7 @@
+SRC_URI = "https://github.com/ros/geometry_experimental/archive/${PV}.tar.gz;downloadfilename=geometry_experimental-${PV}.tar.gz"
+SRC_URI[md5sum] = "530cbf52308427e15a0568f5226313aa"
+SRC_URI[sha256sum] = "10a95045136510c1db5743481930ced6d164c6990d9e1a7c2afd9d6fa5062d02"
+
+inherit catkin
+
+S = "${WORKDIR}/geometry_experimental-${PV}/${ROS_BPN}"
diff --git a/recipes-ros/geometry-experimental/tf2-msgs_0.4.5.bb b/recipes-ros/geometry-experimental/tf2-msgs_0.4.5.bb
new file mode 100644
index 0000000..61eef2d
--- /dev/null
+++ b/recipes-ros/geometry-experimental/tf2-msgs_0.4.5.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "tf2_msgs"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "actionlib-msgs geometry-msgs"
+
+require geometry-experimental.inc
diff --git a/recipes-ros/geometry-experimental/tf2-py_0.4.5.bb b/recipes-ros/geometry-experimental/tf2-py_0.4.5.bb
new file mode 100644
index 0000000..52d2a6d
--- /dev/null
+++ b/recipes-ros/geometry-experimental/tf2-py_0.4.5.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "The tf2_py package"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "rospy tf2"
+
+require geometry-experimental.inc
diff --git a/recipes-ros/geometry-experimental/tf2-ros_0.4.5.bb b/recipes-ros/geometry-experimental/tf2-ros_0.4.5.bb
new file mode 100644
index 0000000..4753d13
--- /dev/null
+++ b/recipes-ros/geometry-experimental/tf2-ros_0.4.5.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "This package contains the ROS bindings for the tf2 library, for both Python and C++."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "actionlib rosgraph tf2 tf2-py"
+
+require geometry-experimental.inc
diff --git a/recipes-ros/geometry-experimental/tf2_0.4.5.bb b/recipes-ros/geometry-experimental/tf2_0.4.5.bb
new file mode 100644
index 0000000..e85a338
--- /dev/null
+++ b/recipes-ros/geometry-experimental/tf2_0.4.5.bb
@@ -0,0 +1,9 @@
+DESCRIPTION = "tf2 is the second generation of the transform library, which lets \
+  the user keep track of multiple coordinate frames over time."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=16;endline=16;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "tf2-msgs geometry-msgs console-bridge rospy"
+
+require geometry-experimental.inc