diff --git a/recipes-extended/orocos-kdl/orocos-kdl_1.1.102-1.bb b/recipes-extended/orocos-kdl/orocos-kdl_1.1.102-1.bb
new file mode 100644
index 0000000..292e685
--- /dev/null
+++ b/recipes-extended/orocos-kdl/orocos-kdl_1.1.102-1.bb
@@ -0,0 +1,20 @@
+DESCRIPTION = "Kinematics and Dynamics Library: Orocos project to supply RealTime usable kinematics and dynamics code, it contains code for rigid body kinematics calculations and representations for kinematic structures and their inverse and forward kinematic solvers."
+SECTION = "devel"
+LICENSE = "LGPLv2"
+LIC_FILES_CHKSUM = "file://COPYING;md5=a8ffd58e6eb29a955738b8fcc9e9e8f2"
+
+SRC_URI = "git://github.com/orocos/orocos_kinematics_dynamics.git"
+SRCREV = "15fb082c10b58078841c14c067ac55f592733447"
+PV = "1.1.102+git${SRCREV}"
+
+S = "${WORKDIR}/git/orocos_kdl"
+
+inherit cmake
+
+FILES_${PN}-dev += "/usr/share/orocos_kdl/package.xml /usr/share/orocos_kdl/orocos_kdl-config.cmake"
+
+do_install_append() {
+        # remove sysroot library path from pkgconfig files
+        sed -i -e 's#${STAGING_INCDIR}#${includedir}#g' \
+                   ${D}${libdir}/pkgconfig/*.pc
+}
diff --git a/recipes-ros/geometry/kdl-conversions_1.10.6.bb b/recipes-ros/geometry/kdl-conversions_1.10.6.bb
new file mode 100644
index 0000000..356a89e
--- /dev/null
+++ b/recipes-ros/geometry/kdl-conversions_1.10.6.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "Conversion functions between KDL and geometry_msgs types."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "geometry-msgs orocos-kdl"
+
+require geometry.inc
diff --git a/recipes-ros/geometry/tf-conversions_1.10.6.bb b/recipes-ros/geometry/tf-conversions_1.10.6.bb
new file mode 100644
index 0000000..4b283b7
--- /dev/null
+++ b/recipes-ros/geometry/tf-conversions_1.10.6.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "This package contains a set of conversion functions to convert common tf datatypes (point, vector, pose, etc) into semantically identical datatypes used by other libraries."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=19;endline=19;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "libeigen geometry-msgs kdl-conversions tf"
+
+require geometry.inc
diff --git a/recipes-ros/robot-model/kdl-parser_1.10.15.bb b/recipes-ros/robot-model/kdl-parser_1.10.15.bb
new file mode 100644
index 0000000..9d10050
--- /dev/null
+++ b/recipes-ros/robot-model/kdl-parser_1.10.15.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "The Kinematics and Dynamics Library (KDL) defines a tree structure to represent the kinematic and dynamic parameters of a robot mechanism. kdl_parser provides tools to construct a KDL tree from an XML robot representation in URDF."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "libeigen orocos-kdl rosconsole roscpp urdf cmake-modules"
+
+require robot-model.inc
diff --git a/recipes-ros/robot-state-publisher/robot-state-publisher_1.9.9.bb b/recipes-ros/robot-state-publisher/robot-state-publisher_1.9.9.bb
new file mode 100644
index 0000000..e9437be
--- /dev/null
+++ b/recipes-ros/robot-state-publisher/robot-state-publisher_1.9.9.bb
@@ -0,0 +1,14 @@
+DESCRIPTION = "This package allows you to publish the state of a robot to tf."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=17;endline=17;md5=5ee5b8b046ae48ad94a2037ca953a67b"
+
+DEPENDS = "libeigen kdl-parser rosconsole roscpp rostime sensor-msgs tf tf-conversions"
+
+SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "2315f637a70871bb460d6365a240741f"
+SRC_URI[sha256sum] = "7b1321f8e26352c0fc8558ddabfc86897613ac16834fb83d8696ff7d6dd973b5"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit catkin