diff --git a/recipes-extended/freeglut/freeglut_2.8.1.bb b/recipes-extended/freeglut/freeglut_2.8.1.bb
new file mode 100644
index 0000000..d1375e1
--- /dev/null
+++ b/recipes-extended/freeglut/freeglut_2.8.1.bb
@@ -0,0 +1,13 @@
+DESCRIPTION = "freeglut is a completely OpenSourced alternative to the OpenGL Utility Toolkit (GLUT) library."
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://COPYING;md5=89c0b58a3e01ce3d8254c9f59e78adfb"
+
+DEPENDS = "libglu libxi"
+
+SRC_URI = "http://downloads.sourceforge.net/project/freeglut/freeglut/${PV}/freeglut-${PV}.tar.gz"
+SRC_URI[md5sum] = "918ffbddcffbac83c218bc52355b6d5a"
+SRC_URI[sha256sum] = "dde46626a62a1cd9cf48a11951cdd592e7067c345cffe193a149dfd47aef999a"
+
+S = "${WORKDIR}/freeglut-${PV}"
+
+inherit autotools
diff --git a/recipes-extended/libfreenect/libfreenect_0.2.0.bb b/recipes-extended/libfreenect/libfreenect_0.2.0.bb
new file mode 100644
index 0000000..c9488ed
--- /dev/null
+++ b/recipes-extended/libfreenect/libfreenect_0.2.0.bb
@@ -0,0 +1,16 @@
+DESCRIPTION = "Drivers and libraries for the Xbox Kinect device"
+LICENSE = "GPLv2"
+LIC_FILES_CHKSUM = "file://GPL2;md5=eb723b61539feef013de476e68b5c50a"
+
+DEPENDS = "libusb1 freeglut libxi libxmu"
+
+SRC_URI = "https://github.com/OpenKinect/libfreenect/archive/v${PV}.tar.gz;downloadfilename=libfreenect-${PV}.tar.gz"
+SRC_URI[md5sum] = "575c1923ea666cfa5c4b7ad0cb549290"
+SRC_URI[sha256sum] = "3318ebe32b59e23a1b9be290a61ee23a5ed1119365596eb1cb16f6579f837403"
+
+inherit cmake
+
+S = "${WORKDIR}/libfreenect-${PV}"
+
+FILES_${PN}-dev += "/usr/lib/fakenect/libfreenect.so.0.1 /usr/lib/fakenect/libfreenect.so /usr/lib/fakenect/libfreenect.so.0.1.2" 
+FILES_${PN}-dbg += "/usr/lib/fakenect/.debug"
diff --git a/recipes-ros/freenect-stack/freenect-camera_0.3.0.bb b/recipes-ros/freenect-stack/freenect-camera_0.3.0.bb
new file mode 100755
index 0000000..c743b57
--- /dev/null
+++ b/recipes-ros/freenect-stack/freenect-camera_0.3.0.bb
@@ -0,0 +1,12 @@
+DESCRIPTION = "A libfreenect based ROS driver for the Microsoft Kinect.\
+This is a port of the OpenNI driver to use libfreenect."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "camera-info-manager diagnostic-updater dynamic-reconfigure \
+	image-transport libfreenect nodelet roscpp sensor-msgs pluginlib"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+require freenect-stack.inc
diff --git a/recipes-ros/freenect-stack/freenect-stack.inc b/recipes-ros/freenect-stack/freenect-stack.inc
new file mode 100644
index 0000000..61e070a
--- /dev/null
+++ b/recipes-ros/freenect-stack/freenect-stack.inc
@@ -0,0 +1,9 @@
+SRC_URI = "https://github.com/ros-drivers/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${PV}.tar.gz"
+SRC_URI[md5sum] = "14841630d9d28e1b20c82993c59951ac"
+SRC_URI[sha256sum] = "c921ed369a3ef47ccb6e72ddbdfb3188020adecaa94ad77d28bd58086bf6614c"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
+inherit catkin
+
+ROS_SPN = "freenect_stack"