diff --git a/conf/layer.conf b/conf/layer.conf
index 2fc56b5..6ef59ea 100644
--- a/conf/layer.conf
+++ b/conf/layer.conf
@@ -7,3 +7,5 @@ BBFILES += "${LAYERDIR}/recipes-*/*/*.bb ${LAYERDIR}/recipes-*/*/*.bbappend"
 BBFILE_COLLECTIONS += "ros-layer"
 BBFILE_PATTERN_ros-layer := "^${LAYERDIR}/"
 BBFILE_PRIORITY_ros-layer = "7"
+
+LICENSE_PATH += "${LAYERDIR}/licenses"
diff --git a/licenses/qhull b/licenses/qhull
new file mode 100644
index 0000000..7a73d9f
--- /dev/null
+++ b/licenses/qhull
@@ -0,0 +1,38 @@
+                    Qhull, Copyright (c) 1993-2012
+                    
+                            C.B. Barber
+                           Arlington, MA 
+                          
+                               and
+
+       The National Science and Technology Research Center for
+        Computation and Visualization of Geometric Structures
+                        (The Geometry Center)
+                       University of Minnesota
+
+                       email: qhull@qhull.org
+
+This software includes Qhull from C.B. Barber and The Geometry Center.  
+Qhull is copyrighted as noted above.  Qhull is free software and may 
+be obtained via http from www.qhull.org.  It may be freely copied, modified, 
+and redistributed under the following conditions:
+
+1. All copyright notices must remain intact in all files.
+
+2. A copy of this text file must be distributed along with any copies 
+   of Qhull that you redistribute; this includes copies that you have 
+   modified, or copies of programs or other software products that 
+   include Qhull.
+
+3. If you modify Qhull, you must include a notice giving the
+   name of the person performing the modification, the date of
+   modification, and the reason for such modification.
+
+4. When distributing modified versions of Qhull, or other software 
+   products that include Qhull, you must provide notice that the original 
+   source code may be obtained as noted above.
+
+5. There is no warranty or other guarantee of fitness for Qhull, it is 
+   provided solely "as is".  Bug reports or fixes may be sent to 
+   qhull_bug@qhull.org; the authors may or may not act on them as 
+   they desire.
diff --git a/recipes-extended/qhull/qhull_2012.1.bb b/recipes-extended/qhull/qhull_2012.1.bb
new file mode 100644
index 0000000..280a73f
--- /dev/null
+++ b/recipes-extended/qhull/qhull_2012.1.bb
@@ -0,0 +1,13 @@
+DESCRIPTION = "library to compute convex hulls, Delaunay triangulations and Voronoi diagrams."
+HOMEPAGE = "http://www.qhull.org/"
+SECTION = "libs"
+LICENSE = "qhull"
+LIC_FILES_CHKSUM = "file://COPYING.txt;md5=4d4e8c0754b225e2c78cfdd911e8b09e"
+
+SRC_URI = "http://www.qhull.org/download/qhull-${PV}-src.tgz"
+SRC_URI[md5sum] = "d0f978c0d8dfb2e919caefa56ea2953c"
+SRC_URI[sha256sum] = "a35ecaa610550b7f05c3ce373d89c30cf74b059a69880f03080c556daebcff88"
+
+CFLAGS += "-fPIC"
+
+inherit cmake