diff --git a/conf/layer.conf b/conf/layer.conf
index 3eb7f2e..2ef67f7 100644
--- a/conf/layer.conf
+++ b/conf/layer.conf
@@ -13,6 +13,6 @@ LICENSE_PATH += "${LAYERDIR}/licenses"
 # Version 1 is the manually created meta-ros, prior to the introduction of superflore.
 LAYERVERSION_ros-layer = "1"
 
-LAYERSERIES_COMPAT_ros-layer = "rocko sumo thud"
+LAYERSERIES_COMPAT_ros-layer = "rocko sumo thud warrior"
 
 ROSDISTRO := "indigo"
diff --git a/recipes-devtools/python/python-pyproj.inc b/recipes-devtools/python/python-pyproj.inc
index b742f65..076667c 100644
--- a/recipes-devtools/python/python-pyproj.inc
+++ b/recipes-devtools/python/python-pyproj.inc
@@ -1,12 +1,12 @@
+inherit pypi
+PYPI_PACKAGE = "pyproj"
+
 DESCRIPTION = "Python interface to PROJ.4 library"
 SECTION = "devel/python"
 LICENSE = "ISC & MIT"
 LIC_FILES_CHKSUM = "file://LICENSE;md5=77d9726a341183ab262b28b3d66dfd94 \
-                    file://LICENSE_proj4;md5=74d9aaec5fa0cd734341e8c4dc91b608"
-SRCNAME = "pyproj"
+    file://LICENSE_proj4;md5=74d9aaec5fa0cd734341e8c4dc91b608 \
+"
 
-SRC_URI = "http://pypi.python.org/packages/source/p/pyproj/pyproj-${PV}.tar.gz"
-SRC_URI[md5sum] = "027345e3c033fa400e0e64a1c80d34c9"
-SRC_URI[sha256sum] = "53fa54c8fa8a1dfcd6af4bf09ce1aae5d4d949da63b90570ac5ec849efaf3ea8"
-
-S = "${WORKDIR}/${SRCNAME}-${PV}"
+SRC_URI[md5sum] = "0f02376d59f796108e6e36db42f773c8"
+SRC_URI[sha256sum] = "e0c02b1554b20c710d16d673817b2a89ff94738b0b537aead8ecb2edc4c4487b"
diff --git a/recipes-devtools/python/python-pyproj_1.9.5.1.bb b/recipes-devtools/python/python-pyproj_1.9.6.bb
similarity index 100%
rename from recipes-devtools/python/python-pyproj_1.9.5.1.bb
rename to recipes-devtools/python/python-pyproj_1.9.6.bb
diff --git a/recipes-devtools/python/python-wstool_0.1.13.bb b/recipes-devtools/python/python-wstool_0.1.13.bb
index 6a0ac6c..b76ef1f 100644
--- a/recipes-devtools/python/python-wstool_0.1.13.bb
+++ b/recipes-devtools/python/python-wstool_0.1.13.bb
@@ -13,3 +13,7 @@ S = "${WORKDIR}/${SRCNAME}-${PV}"
 RDEPENDS_${PN} += "python-vcstools python-pyyaml python-rosinstall"
 
 inherit setuptools
+
+PACKAGES =+ "${PN}-zsh-completion"
+FILES_${PN}-zsh-completion += "${datadir}/zsh/"
+RDEPENDS_${PN}-zsh-completion += "zsh"
diff --git a/recipes-devtools/python/python3-pyproj_1.9.5.1.bb b/recipes-devtools/python/python3-pyproj_1.9.6.bb
similarity index 100%
rename from recipes-devtools/python/python3-pyproj_1.9.5.1.bb
rename to recipes-devtools/python/python3-pyproj_1.9.6.bb
diff --git a/recipes-extended/cmusphinx/pocketsphinx_0.8.bb b/recipes-extended/cmusphinx/pocketsphinx_0.8.bb
index ced1a1a..3941731 100644
--- a/recipes-extended/cmusphinx/pocketsphinx_0.8.bb
+++ b/recipes-extended/cmusphinx/pocketsphinx_0.8.bb
@@ -28,3 +28,5 @@ FILES_gstreamer0.10-${PN} += "${libdir}/gstreamer-0.10/libgstpocketsphinx.so"
 FILES_gstreamer0.10-${PN}-staticdev += "${libdir}/gstreamer-0.10/libgstpocketsphinx.a \
 					${libdir}/gstreamer-0.10/libgstpocketsphinx.la"
 FILES_gstreamer0.10-${PN}-dbg += "${libdir}/gstreamer-0.10/.debug"
+
+PNBLACKLIST[pocketsphinx] ?= "Depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
diff --git a/recipes-extended/festival/festival_2.4.bb b/recipes-extended/festival/festival_2.4.bb
index 53efb86..c180855 100644
--- a/recipes-extended/festival/festival_2.4.bb
+++ b/recipes-extended/festival/festival_2.4.bb
@@ -7,12 +7,12 @@ LIC_FILES_CHKSUM = "file://COPYING;md5=929d21c5ebf729ca3fa206e0b64ff0c7"
 
 DEPENDS = "speech-tools"
 
-SRC_URI = "http://www.cstr.ed.ac.uk/downloads/${PN}/${PV}/${PN}-${PV}-release.tar.gz;name=festival \
-    http://www.cstr.ed.ac.uk/downloads/${PN}/${PV}/festlex_CMU.tar.gz;name=CMU \
-    http://www.cstr.ed.ac.uk/downloads/${PN}/${PV}/festlex_OALD.tar.gz;name=OALD \
-    http://www.cstr.ed.ac.uk/downloads/${PN}/${PV}/festlex_POSLEX.tar.gz;name=POSLEX \
-    http://www.cstr.ed.ac.uk/downloads/${PN}/${PV}/voices/festvox_kallpc16k.tar.gz;name=kallpc16k \
-    http://www.cstr.ed.ac.uk/downloads/${PN}/${PV}/voices/festvox_rablpc16k.tar.gz;name=rablpc16k \
+SRC_URI = "http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/${BP}-release.tar.gz;name=festival \
+    http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/festlex_CMU.tar.gz;name=CMU \
+    http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/festlex_OALD.tar.gz;name=OALD \
+    http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/festlex_POSLEX.tar.gz;name=POSLEX \
+    http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/voices/festvox_kallpc16k.tar.gz;name=kallpc16k \
+    http://www.cstr.ed.ac.uk/downloads/${BPN}/${PV}/voices/festvox_rablpc16k.tar.gz;name=rablpc16k \
     "
 SRC_URI[festival.md5sum] = "49707d2f6744d5a67f81a96c36f7cb59"
 SRC_URI[festival.sha256sum] = "1e47f293e0857ffde2bccead97947c040ea0b35ea12dd5796edb51583e5e5d84"
@@ -27,13 +27,15 @@ SRC_URI[kallpc16k.sha256sum] = "7a357c34086fbba8b813f9750f6b5ba13e2a00478a0a2e78
 SRC_URI[rablpc16k.md5sum] = "34cb2478f5b8fa1ed02f5cbb496c1dcd"
 SRC_URI[rablpc16k.sha256sum] = "a017ef70f6d3e64d51d3772ab438eb47a26b529b456dae3cea18936925ec20e8"
 
-S = "${WORKDIR}/${PN}"
+S = "${WORKDIR}/${BPN}"
 
 inherit autotools-brokensep
 
 #disable parallel make (make -j), as festival cannot handle that
 PARALLEL_MAKE = ""
 
+EXTRA_OEMAKE = "CC='${CC}' CXX='${CXX} ${LDFLAGS}'"
+
 do_configure_prepend() { 
     #point to speech-tools in sysroots
     sed -i 's:EST=$(TOP)/../speech_tools:EST=${STAGING_DIR_TARGET}${datadir}/speech-tools:g' ${S}/config/config.in
@@ -77,6 +79,6 @@ do_install() {
     install -m 0755 -d ${D}${datadir}/festival/multisyn
     install -m 0644 ${S}/lib/multisyn/*scm ${D}${datadir}/festival/multisyn
 
-    cp -a ${S}/lib/dicts ${D}${datadir}/festival
-    cp -a ${S}/lib/voices ${D}${datadir}/festival
+    cp -R --no-dereference --preserve=mode,links -v ${S}/lib/dicts ${D}${datadir}/festival
+    cp -R --no-dereference --preserve=mode,links -v ${S}/lib/voices ${D}${datadir}/festival
 }
diff --git a/recipes-extended/freeglut/freeglut_2.8.1.bb b/recipes-extended/freeglut/freeglut_2.8.1.bb
index d1375e1..914aa8d 100644
--- a/recipes-extended/freeglut/freeglut_2.8.1.bb
+++ b/recipes-extended/freeglut/freeglut_2.8.1.bb
@@ -10,4 +10,7 @@ SRC_URI[sha256sum] = "dde46626a62a1cd9cf48a11951cdd592e7067c345cffe193a149dfd47a
 
 S = "${WORKDIR}/freeglut-${PV}"
 
-inherit autotools
+inherit autotools distro_features_check
+
+# Depends on libxi libglu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
diff --git a/recipes-extended/geographiclib/geographiclib_1.48.bb b/recipes-extended/geographiclib/geographiclib_1.48.bb
index d1df08a..ebc8f8f 100644
--- a/recipes-extended/geographiclib/geographiclib_1.48.bb
+++ b/recipes-extended/geographiclib/geographiclib_1.48.bb
@@ -12,3 +12,8 @@ SRC_URI[sha256sum] = "7203d56123b6f6fb31842295d57b2418f79fb0db9a06f2f65ee9e415c6
 S = "${WORKDIR}/GeographicLib-${PV}"
 
 inherit cmake
+
+PACKAGES =+ "${PN}-python ${PN}-node ${PN}-matlab"
+FILES_${PN}-python += "${libdir}/python/"
+FILES_${PN}-node += "${libdir}/node_modules/"
+FILES_${PN}-matlab += "${datadir}/matlab/"
diff --git a/recipes-extended/libfreenect/libfreenect_0.5.2.bb b/recipes-extended/libfreenect/libfreenect_0.5.2.bb
index 017b07f..71c9c23 100644
--- a/recipes-extended/libfreenect/libfreenect_0.5.2.bb
+++ b/recipes-extended/libfreenect/libfreenect_0.5.2.bb
@@ -8,7 +8,10 @@ SRC_URI = "https://github.com/OpenKinect/libfreenect/archive/v${PV}.tar.gz;downl
 SRC_URI[md5sum] = "4d683cffe79f741aeb777cacaa88fd44"
 SRC_URI[sha256sum] = "91af5c09b7eae217c4be69234ae5a6371f24da8ff6986f98c2db19f1993f2a71"
 
-inherit cmake
+inherit cmake distro_features_check
+
+# Depends on freeglut libxi libxmu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
 
 #force libs always into /usr/lib, even when compiling on 64bit arch
 EXTRA_OECMAKE += " -DLIB_SUFFIX=''"
diff --git a/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch b/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch
deleted file mode 100644
index 78675f0..0000000
--- a/recipes-extended/pcl/pcl/0001-Dereference-shared_ptr-fix-for-GCC8.patch
+++ /dev/null
@@ -1,46 +0,0 @@
-From a0b3ce9ca5c69a945695c1c83dab7937a3d99b83 Mon Sep 17 00:00:00 2001
-From: Jochen Sprickerhof <git@jochen.sprickerhof.de>
-Date: Sat, 5 May 2018 23:58:13 +0200
-Subject: [PATCH] Dereference shared_ptr, fix for GCC8
-
-Upstream-Status: Accepted [https://github.com/PointCloudLibrary/pcl/commit/a0b3ce9ca5c69a945695c1c83dab7937a3d99b83]
-
-This patch has been generated with:
-  `git format-patch -1 a0b3ce9ca5c69a945695c1c83dab7937a3d99b83`
-in the pcl repository.
-
-Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
----
- segmentation/include/pcl/segmentation/ground_plane_comparator.h      | 2 +-
- segmentation/include/pcl/segmentation/plane_coefficient_comparator.h | 2 +-
- 2 files changed, 2 insertions(+), 2 deletions(-)
-
-diff --git a/segmentation/include/pcl/segmentation/ground_plane_comparator.h b/segmentation/include/pcl/segmentation/ground_plane_comparator.h
-index e39354d..f96f38b 100644
---- a/segmentation/include/pcl/segmentation/ground_plane_comparator.h
-+++ b/segmentation/include/pcl/segmentation/ground_plane_comparator.h
-@@ -147,7 +147,7 @@ namespace pcl
-       const std::vector<float>&
-       getPlaneCoeffD () const
-       {
--        return (plane_coeff_d_);
-+        return (*plane_coeff_d_);
-       }
- 
-       /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
-diff --git a/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h b/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
-index 9c94813..a21725a 100644
---- a/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
-+++ b/segmentation/include/pcl/segmentation/plane_coefficient_comparator.h
-@@ -141,7 +141,7 @@ namespace pcl
-       const std::vector<float>&
-       getPlaneCoeffD () const
-       {
--        return (plane_coeff_d_);
-+        return (*plane_coeff_d_);
-       }
- 
-       /** \brief Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.
--- 
-2.7.4
-
diff --git a/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch b/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch
index 01170af..cb1e38b 100644
--- a/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch
+++ b/recipes-extended/pcl/pcl/0001-make-the-pcl-library-compile-with-gcc6.patch
@@ -1,4 +1,4 @@
-From 19361abfa1bf21bc9be911f6ffa97f1c43174d8d Mon Sep 17 00:00:00 2001
+From 31f72094a309ef6845e5c6b0b989237b4b59973f Mon Sep 17 00:00:00 2001
 From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
 Date: Tue, 27 Sep 2016 14:05:22 +0200
 Subject: [PATCH] make the pcl library compile with gcc6
@@ -58,23 +58,23 @@ Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
  6 files changed, 6 insertions(+), 6 deletions(-)
 
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e5fd763..c658df5 100644
+index 0b4c1a33d..95e1d31e8 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -272,7 +272,7 @@ endif()
+@@ -277,7 +277,7 @@ endif()
  
  # Eigen (required)
  find_package(Eigen REQUIRED)
 -include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
 +include_directories(${EIGEN_INCLUDE_DIRS})
- add_definitions(-DEIGEN_USE_NEW_STDVECTOR
-                 -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET)
+ 
  # FLANN (required)
+ if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32))
 diff --git a/cmake/Modules/FindOpenNI.cmake b/cmake/Modules/FindOpenNI.cmake
-index 9f772a4..bd36f3e 100644
+index 2c7b26eea..1e62c359b 100644
 --- a/cmake/Modules/FindOpenNI.cmake
 +++ b/cmake/Modules/FindOpenNI.cmake
-@@ -30,7 +30,7 @@ if(NOT WIN32)
+@@ -31,7 +31,7 @@ if(NOT WIN32)
      message(STATUS "OpenNI disabled because libusb-1.0 not found.")
      return()
    else()
@@ -84,10 +84,10 @@ index 9f772a4..bd36f3e 100644
  endif(NOT WIN32)
  
 diff --git a/cmake/Modules/FindOpenNI2.cmake b/cmake/Modules/FindOpenNI2.cmake
-index 713099a..8226895 100644
+index 037a9a399..cc1855e0f 100644
 --- a/cmake/Modules/FindOpenNI2.cmake
 +++ b/cmake/Modules/FindOpenNI2.cmake
-@@ -30,7 +30,7 @@ if(NOT WIN32)
+@@ -31,7 +31,7 @@ if(NOT WIN32)
      message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.")
      return()
    else()
@@ -97,10 +97,10 @@ index 713099a..8226895 100644
  endif(NOT WIN32)
  
 diff --git a/cmake/pcl_find_boost.cmake b/cmake/pcl_find_boost.cmake
-index a3abe1c..c57b87d 100644
+index 6489f3954..0c170116d 100644
 --- a/cmake/pcl_find_boost.cmake
 +++ b/cmake/pcl_find_boost.cmake
-@@ -48,6 +48,6 @@ if(Boost_FOUND)
+@@ -49,6 +49,6 @@ if(Boost_FOUND)
    # Obtain diagnostic information about Boost's automatic linking outputted 
    # during compilation time.
    add_definitions(${Boost_LIB_DIAGNOSTIC_DEFINITIONS})
@@ -109,11 +109,11 @@ index a3abe1c..c57b87d 100644
    link_directories(${Boost_LIBRARY_DIRS})
  endif(Boost_FOUND)
 diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
-index 691ead0..f730743 100644
+index 30696346f..bede67ffa 100644
 --- a/cmake/pcl_targets.cmake
 +++ b/cmake/pcl_targets.cmake
-@@ -858,7 +858,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description)
-         message(WARNING "${_description}: not building because ${_name} not found")
+@@ -864,7 +864,7 @@ macro(PCL_ADD_GRABBER_DEPENDENCY _name _description)
+         message(STATUS "${_description}: not building because ${_name} not found")
        else()
          set(HAVE_${_name_capitalized} TRUE)
 -        include_directories(SYSTEM "${${_name_capitalized}_INCLUDE_DIRS}")
@@ -122,10 +122,10 @@ index 691ead0..f730743 100644
      endif()
  endmacro(PCL_ADD_GRABBER_DEPENDENCY)
 diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
-index 3b3e2d7..342cb62 100644
+index 6a1d55d96..543c279ef 100644
 --- a/test/CMakeLists.txt
 +++ b/test/CMakeLists.txt
-@@ -17,7 +17,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS
+@@ -9,7 +9,7 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS
  if(build)
  
      find_package(Gtest REQUIRED)
@@ -134,6 +134,3 @@ index 3b3e2d7..342cb62 100644
  
      add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc)
  	
--- 
-2.5.5
-
diff --git a/recipes-extended/pcl/pcl_1.8.0.bb b/recipes-extended/pcl/pcl_git.bb
similarity index 73%
rename from recipes-extended/pcl/pcl_1.8.0.bb
rename to recipes-extended/pcl/pcl_git.bb
index 2ad7260..741eeef 100644
--- a/recipes-extended/pcl/pcl_1.8.0.bb
+++ b/recipes-extended/pcl/pcl_git.bb
@@ -5,14 +5,13 @@ LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=5b8a2a1aa14e6de44b4273134946a34c"
 
 DEPENDS = "boost libflann libeigen qhull"
 
-SRC_URI = "https://github.com/PointCloudLibrary/${PN}/archive/${P}.tar.gz"
-SRC_URI[md5sum] = "8c1308be2c13106e237e4a4204a32cca"
-SRC_URI[sha256sum] = "9e54b0c1b59a67a386b9b0f4acb2d764272ff9a0377b825c4ed5eedf46ebfcf4"
+PV = "1.9.1+git${SRCPV}"
+SRCREV = "72f41b60a539cd1da67d1329b57222290122a0bb"
+SRC_URI = "git://github.com/PointCloudLibrary/pcl.git \
+    file://0001-make-the-pcl-library-compile-with-gcc6.patch \
+"
 
-SRC_URI += "file://0001-make-the-pcl-library-compile-with-gcc6.patch"
-SRC_URI += "file://0001-Dereference-shared_ptr-fix-for-GCC8.patch"
-
-S = "${WORKDIR}/pcl-${P}"
+S = "${WORKDIR}/git"
 
 EXTRA_OECMAKE += "\
   -DCMAKE_SKIP_RPATH=ON \
@@ -39,9 +38,15 @@ CXXFLAGS += "${@bb.utils.contains("TARGET_CC_ARCH", "-mfpmath=sse", "", "-ffloat
 
 inherit cmake
 
-FILES_${PN}-dev += "${datadir}/${PN}-1.8/*.cmake"
+FILES_${PN}-dev += "${datadir}/${PN}-1.9/*.cmake ${datadir}/${PN}-1.9/Modules/*.cmake"
 
 # The build is really memory hungry (at least with gcc8), even with just -j 8 it triggers OOMK on system with 32GB ram
 # High memory needs mentioned in: https://github.com/PointCloudLibrary/pcl/issues/2284
 # Setting just empty doesn't work, ninja will by default use number of cores available
-PARALLEL_MAKE = "-j1"
+PARALLEL_MAKE = "-j4"
+
+# Disable thumb for armv[45] to resolve
+# pcl/1.9.1+gitAUTOINC+72f41b60a5-r0/git/features/include/pcl/features/impl/pfh.hpp:129: error: relocation overflow in R_ARM_THM_CALL
+# http://caprica.lgsvl.com:8080/Errors/Details/1510736
+ARM_INSTRUCTION_SET_armv4 = "arm"
+ARM_INSTRUCTION_SET_armv5 = "arm"
diff --git a/recipes-extended/realsense-camera/realsense-camera_1.8.0.bb b/recipes-extended/realsense-camera/realsense-camera_1.8.0.bb
index 0d98e14..0b66ac8 100644
--- a/recipes-extended/realsense-camera/realsense-camera_1.8.0.bb
+++ b/recipes-extended/realsense-camera/realsense-camera_1.8.0.bb
@@ -13,6 +13,8 @@ SRC_URI[sha256sum] = "18e2d3e847b3b1158c124b6167ea2751236a2749aca03532ca7d9f5b7b
 
 S = "${WORKDIR}/realsense-${PV}/realsense_camera"
 
-inherit catkin
+inherit catkin distro_features_check
+
+REQUIRED_DISTRO_FEATURES = "ros-realsense"
 
 EXTRA_OECMAKE = "-DUSE_SYSTEM_LIBREALSENSE:BOOL=ON"
diff --git a/recipes-extended/speech-tools/speech-tools_2.4.bb b/recipes-extended/speech-tools/speech-tools_2.4.bb
index f1f4ec5..da4056c 100644
--- a/recipes-extended/speech-tools/speech-tools_2.4.bb
+++ b/recipes-extended/speech-tools/speech-tools_2.4.bb
@@ -14,10 +14,11 @@ inherit autotools-brokensep
 
 PARALLEL_MAKE = ""
 
-do_configure_prepend() { 
-    #force crosscompilation compiler
-    sed -i 's:CC=gcc:CC=${CC}:g' ${S}/config/compilers/gcc_defaults.mak
-    sed -i 's:CXX=gcc:CXX=${CC}:g' ${S}/config/compilers/gcc_defaults.mak
+EXTRA_OEMAKE = "CC='${CC}' CXX='${CXX} ${LDFLAGS}'"
+
+do_configure_prepend() {
+    # respect CC and CXX from EXTRA_OEMAKE
+    sed -i '/^CC=gcc/d; /^CXX=gcc$/d' ${S}/config/compilers/gcc_defaults.mak
 }
 
 do_install() {
@@ -34,10 +35,10 @@ SYSROOT_PREPROCESS_FUNCS += "speechtools_sysroot_preprocess"
 
 #stage speech_tools directories for usage by festival
 speechtools_sysroot_preprocess() {
-    sysroot_stage_dir ${WORKDIR}/speech_tools/config ${SYSROOT_DESTDIR}${datadir}/${PN}/config
-    sysroot_stage_dir ${WORKDIR}/speech_tools/include ${SYSROOT_DESTDIR}${datadir}/${PN}/include
-    sysroot_stage_dir ${WORKDIR}/speech_tools/base_class ${SYSROOT_DESTDIR}${datadir}/${PN}/base_class
-    sysroot_stage_dir ${WORKDIR}/speech_tools/lib ${SYSROOT_DESTDIR}${datadir}/${PN}/lib
+    sysroot_stage_dir ${S}/config ${SYSROOT_DESTDIR}${datadir}/${PN}/config
+    sysroot_stage_dir ${S}/include ${SYSROOT_DESTDIR}${datadir}/${PN}/include
+    sysroot_stage_dir ${S}/base_class ${SYSROOT_DESTDIR}${datadir}/${PN}/base_class
+    sysroot_stage_dir ${S}/lib ${SYSROOT_DESTDIR}${datadir}/${PN}/lib
 }
 
 RDEPENDS_${PN} += "perl"
diff --git a/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb b/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb
index 5b92565..d435eb5 100644
--- a/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb
+++ b/recipes-extended/wxwidgets/wxpython_2.9.5.0.bb
@@ -12,7 +12,10 @@ SRC_URI[sha256sum] = "1a5b7e771eff467538d0834136188e8a7506a4fe6e85d0a46c40158cdb
 
 S = "${WORKDIR}/wxPython-src-${PV}/wxPython"
 
-inherit pkgconfig pythonnative python-dir distutils
+inherit pkgconfig pythonnative python-dir distutils distro_features_check
+
+# Depends on wxwidgets which depends on libxinerama, libglu, gtk need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
 
 CFLAGS += "-I${STAGING_INCDIR}/wx-2.9/ -I${STAGING_LIBDIR}/wx/include/${TARGET_PREFIX}gtk2-unicode-2.9/"
 CFLAGS += "-std=gnu++11"
@@ -31,3 +34,5 @@ do_iinstall_append() {
     cp -a ${D}${STAGING_DIR_HOST}/* ${D}
     rm -rf ${D}${STAGING_DIR}	
 }
+
+PNBLACKLIST[wxpython] ?= "Depends on wxwidgets which depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
diff --git a/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb b/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb
index 4dfbe0f..b8b1b83 100644
--- a/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb
+++ b/recipes-extended/wxwidgets/wxwidgets_2.9.5.bb
@@ -4,7 +4,7 @@ HOMEPAGE = "http://www.wxwidgets.org"
 LICENSE = "WXwindows"
 LIC_FILES_CHKSUM = "file://docs/licence.txt;md5=18346072db6eb834b6edbd2cdc4f109b"
 
-DEPENDS = "webkit-gtk gstreamer gtk+ jpeg tiff libpng zlib expat libxinerama libglu"
+DEPENDS = "webkitgtk gstreamer gtk+ jpeg tiff libpng zlib expat libxinerama libglu"
 
 SRC_URI = "${SOURCEFORGE_MIRROR}/wxwindows/wxWidgets-${PV}.tar.bz2"
 SRC_URI[md5sum] = "e98c5f92805493f150656403ffef3bb0"
@@ -12,7 +12,10 @@ SRC_URI[sha256sum] = "b74ba96ca537cc5d049d21ec9ab5eb2670406a4aa9f1ea4845ea84a995
 
 S = "${WORKDIR}/wxWidgets-${PV}"
 
-inherit autotools-brokensep pkgconfig binconfig
+inherit autotools-brokensep pkgconfig binconfig distro_features_check
+
+# Depends on libxinerama, libglu, gtk need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
 
 EXTRA_AUTORECONF = " -I ${S}/build/aclocal"
 EXTRA_OECONF = "  --with-opengl \
@@ -53,3 +56,5 @@ wxwidgets_sysroot_preprocess () {
 
 FILES_${PN} += "${bindir} ${libdir}/wx/config"
 FILES_${PN}-dev += "${libdir}/wx/include ${datadir}/bakefile"
+
+PNBLACKLIST[wxwidgets] ?= "Depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
diff --git a/recipes-ros/ar-track-alvar/ar-track-alvar/fix.missing.include.patch b/recipes-ros/ar-track-alvar/ar-track-alvar/fix.missing.include.patch
new file mode 100644
index 0000000..8afc7d8
--- /dev/null
+++ b/recipes-ros/ar-track-alvar/ar-track-alvar/fix.missing.include.patch
@@ -0,0 +1,31 @@
+add missing include
+  
+* CV_RGB is defined in opencv2/imgproc.hpp
+* fixes:
+  ar-track-alvar/0.6.1-r0/ar_track_alvar-0.6.1/src/Marker.cpp: In member function 'virtual void alvar::MarkerData::VisualizeMarkerContent(IplImage*, alvar::Camera*, double*, double*) const':
+  ar-track-alvar/0.6.1-r0/ar_track_alvar-0.6.1/src/Marker.cpp:123:15: error: 'CV_RGB' was not declared in this scope
+  CvScalar rgb=CV_RGB(255,255,0);
+               ^~~~~~
+
+Upstream-Status: Pending
+
+--- a/include/ar_track_alvar/Draw.h     2019-07-03 16:28:16.540970593 +0000
++++ b/include/ar_track_alvar/Draw.h     2019-07-03 16:19:45.113388531 +0000
+@@ -36,6 +36,7 @@
+ #include "Camera.h"
+ #include "Line.h"
+ #include <sstream>
++#include <opencv2/imgproc.hpp>
+
+ namespace alvar {
+
+--- a/include/ar_track_alvar/Marker.h   2019-07-03 16:24:35.995976014 +0000
++++ b/include/ar_track_alvar/Marker.h   2019-07-03 16:24:52.396347425 +0000
+@@ -41,6 +41,7 @@
+ #include <vector>
+ #include "filter/kinect_filtering.h"
+ #include <Eigen/StdVector>
++#include <opencv2/imgproc.hpp>
+
+ namespace alvar {
+
diff --git a/recipes-ros/ar-track-alvar/ar-track-alvar_0.6.1.bb b/recipes-ros/ar-track-alvar/ar-track-alvar_0.6.1.bb
index a1fe0fa..6670b5a 100644
--- a/recipes-ros/ar-track-alvar/ar-track-alvar_0.6.1.bb
+++ b/recipes-ros/ar-track-alvar/ar-track-alvar_0.6.1.bb
@@ -12,3 +12,5 @@ SRC_URI[sha256sum] = "c34ff4358fb167edccc4357d74425e3370691f04be1f8971f5258aa25d
 S = "${WORKDIR}/${ROS_SP}"
 
 inherit catkin
+
+SRC_URI += "file://fix.missing.include.patch"
diff --git a/recipes-ros/audio-common/sound-play_0.2.13.bb b/recipes-ros/audio-common/sound-play_0.2.13.bb
index 204c1e3..83a035c 100644
--- a/recipes-ros/audio-common/sound-play_0.2.13.bb
+++ b/recipes-ros/audio-common/sound-play_0.2.13.bb
@@ -14,3 +14,5 @@ require audio-common.inc
 SRC_URI += "file://0002-sound_play-Fix-build-with-DCATKIN_ENABLE_TESTING-OFF.patch;striplevel=2"
 
 RRECOMMENDS_${PN} += "roscpp roslib audio-common-msgs diagnostic-msgs gst-plugins-base gst-plugins-ugly gst-plugins-good rospy festival python-gst gst-meta-audio"
+
+PNBLACKLIST[sound-play] ?= "Depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
diff --git a/recipes-ros/catkin/catkin_0.6.19.bb b/recipes-ros/catkin/catkin_0.6.19.bb
index e4a4ba2..ea33c02 100644
--- a/recipes-ros/catkin/catkin_0.6.19.bb
+++ b/recipes-ros/catkin/catkin_0.6.19.bb
@@ -1,6 +1,8 @@
 require catkin.inc
 
-SRC_URI += "file://environment.d-catkin.sh"
+SRC_URI += "file://environment.d-catkin.sh \
+    file://0001-strip-l-from-lpthread-library-to-fix-a-build-failure.patch \
+"
 
 DEPENDS_class-native += "catkin-runtime"
 
diff --git a/recipes-ros/catkin/files/0001-allow-proper-cross-compilation-with-catkin.patch b/recipes-ros/catkin/files/0001-allow-proper-cross-compilation-with-catkin.patch
index 0309579..9a3c8ec 100644
--- a/recipes-ros/catkin/files/0001-allow-proper-cross-compilation-with-catkin.patch
+++ b/recipes-ros/catkin/files/0001-allow-proper-cross-compilation-with-catkin.patch
@@ -1,4 +1,4 @@
-From e6179255b99264a51f8733f52d92ca579fbacb61 Mon Sep 17 00:00:00 2001
+From 5de0fe25ec27bca4c593e06cdc0c3dff3d553e06 Mon Sep 17 00:00:00 2001
 From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
 Date: Sun, 15 Apr 2018 02:11:42 +0200
 Subject: [PATCH] allow proper cross-compilation with catkin
@@ -17,11 +17,12 @@ Some of the context lines in patches were ignored. This can lead to incorrectly
 Upstream-Status: Pending
 
 Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+
 ---
  cmake/all.cmake                    |  1 +
- cmake/catkin_package.cmake         |  8 ++++++++
- cmake/catkin_strip_root_path.cmake | 32 +++++++++++++++++++++++++++++
- cmake/templates/pkgConfig.cmake.in | 42 ++++++++++++++++++++++++++++++++++----
+ cmake/catkin_package.cmake         |  8 ++++++
+ cmake/catkin_strip_root_path.cmake | 32 +++++++++++++++++++++++
+ cmake/templates/pkgConfig.cmake.in | 42 +++++++++++++++++++++++++++---
  4 files changed, 79 insertions(+), 4 deletions(-)
  create mode 100644 cmake/catkin_strip_root_path.cmake
 
@@ -170,6 +171,3 @@ index d99b811..3af5c71 100644
          break()
        endif()
      endforeach()
--- 
-2.7.4
-
diff --git a/recipes-ros/catkin/files/0001-strip-l-from-lpthread-library-to-fix-a-build-failure.patch b/recipes-ros/catkin/files/0001-strip-l-from-lpthread-library-to-fix-a-build-failure.patch
new file mode 100644
index 0000000..be94421
--- /dev/null
+++ b/recipes-ros/catkin/files/0001-strip-l-from-lpthread-library-to-fix-a-build-failure.patch
@@ -0,0 +1,26 @@
+From e19e2085e1aa58456ed94c529536df387e0ab340 Mon Sep 17 00:00:00 2001
+From: Jochen Sprickerhof <github@jochen.sprickerhof.de>
+Date: Sat, 26 Jan 2019 07:36:24 +0100
+Subject: [PATCH] strip "-l" from "-lpthread" library, to fix a build failure
+
+ on ros-ros-comm (#975)
+
+Upstream-Status: Backport from 0.17.15 [https://github.com/ros/catkin/commit/98f97ffcffbb7127d4a8aff0fcb26d1578557906]
+
+---
+ cmake/templates/pkgConfig.cmake.in | 2 ++
+ 1 file changed, 2 insertions(+)
+
+diff --git a/cmake/templates/pkgConfig.cmake.in b/cmake/templates/pkgConfig.cmake.in
+index 3af5c71..8bc8979 100644
+--- a/cmake/templates/pkgConfig.cmake.in
++++ b/cmake/templates/pkgConfig.cmake.in
+@@ -135,6 +135,8 @@ foreach(library ${libraries})
+   # keep build configuration keywords, target names and absolute libraries as-is
+   if("${library}" MATCHES "^(debug|optimized|general)$")
+     list(APPEND @PROJECT_NAME@_LIBRARIES ${library})
++  elseif(${library} MATCHES "^-l")
++    list(APPEND @PROJECT_NAME@_LIBRARIES ${library})
+   elseif(TARGET ${library})
+     list(APPEND @PROJECT_NAME@_LIBRARIES ${library})
+   elseif(IS_ABSOLUTE ${library} AND CMAKE_CROSSCOMPILING)
diff --git a/recipes-ros/catkin/files/0001-use-python-provided-by-environment-instead-of-the-ge.patch b/recipes-ros/catkin/files/0001-use-python-provided-by-environment-instead-of-the-ge.patch
index 56dd7a9..3d94a21 100644
--- a/recipes-ros/catkin/files/0001-use-python-provided-by-environment-instead-of-the-ge.patch
+++ b/recipes-ros/catkin/files/0001-use-python-provided-by-environment-instead-of-the-ge.patch
@@ -1,4 +1,4 @@
-From 7894487c0d749124c3b0d82fcebff2309a84024a Mon Sep 17 00:00:00 2001
+From 23972aa72e7364f6fd69cdd102274fc2a29fb395 Mon Sep 17 00:00:00 2001
 From: Lukas Bulwahn <lukas.bulwahn@bmw-carit.de>
 Date: Tue, 31 May 2016 15:38:05 +0200
 Subject: [PATCH] use python provided by environment instead of the generated
diff --git a/recipes-ros/freenect-stack/freenect-camera_0.4.1.bb b/recipes-ros/freenect-stack/freenect-camera_0.4.1.bb
index 717a315..840e95b 100644
--- a/recipes-ros/freenect-stack/freenect-camera_0.4.1.bb
+++ b/recipes-ros/freenect-stack/freenect-camera_0.4.1.bb
@@ -8,3 +8,8 @@ DEPENDS = "camera-info-manager diagnostic-updater dynamic-reconfigure \
     image-transport libfreenect nodelet roscpp sensor-msgs pluginlib"
 
 require freenect-stack.inc
+
+inherit distro_features_check
+
+# Depends on libfreenect which depends on freeglut libxi libxmu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
diff --git a/recipes-ros/freenect-stack/freenect-launch_0.4.1.bb b/recipes-ros/freenect-stack/freenect-launch_0.4.1.bb
index 50a151f..59eee01 100644
--- a/recipes-ros/freenect-stack/freenect-launch_0.4.1.bb
+++ b/recipes-ros/freenect-stack/freenect-launch_0.4.1.bb
@@ -8,3 +8,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9de
 require freenect-stack.inc
 
 RRECOMMENDS_${PN} = "freenect-camera image-proc nodelet rgbd-launch tf"
+
+inherit distro_features_check
+
+# Depends on freenect-camera which depends on libfreenect which depends on freeglut libxi libxmu which need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
diff --git a/recipes-ros/gscam/gscam_0.2.0.bb b/recipes-ros/gscam/gscam_0.2.0.bb
index 87654a3..b021d2d 100644
--- a/recipes-ros/gscam/gscam_0.2.0.bb
+++ b/recipes-ros/gscam/gscam_0.2.0.bb
@@ -11,3 +11,5 @@ SRC_URI[md5sum] = "b0512882e06f5cdd4c6015f16dceb346"
 SRC_URI[sha256sum] = "84d02ed9a0bed769bebddfb67d27085ae779aaf9ab1311aaad94e9d17aa0fbc6"
 
 inherit catkin
+
+PNBLACKLIST[gscam] ?= "Depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
diff --git a/recipes-ros/image-pipeline/image-view/image-view-remove-unused-signals-boost-component.patch b/recipes-ros/image-pipeline/image-view/image-view-remove-unused-signals-boost-component.patch
new file mode 100644
index 0000000..15370a4
--- /dev/null
+++ b/recipes-ros/image-pipeline/image-view/image-view-remove-unused-signals-boost-component.patch
@@ -0,0 +1,14 @@
+Upstream-Status: Pending
+
+diff -uNr image_pipeline-1.12.23.orig/image_view/CMakeLists.txt image_pipeline-1.12.23/image_view/CMakeLists.txt
+--- image_pipeline-1.12.23.orig/image_view/CMakeLists.txt       2018-05-10 12:52:54.000000000 +0000
++++ image_pipeline-1.12.23/image_view/CMakeLists.txt    2019-07-03 17:02:21.775288064 +0000
+@@ -5,7 +5,7 @@
+ generate_dynamic_reconfigure_options(cfg/ImageView.cfg)
+
+ catkin_package(CATKIN_DEPENDS dynamic_reconfigure)
+-find_package(Boost REQUIRED COMPONENTS signals thread)
++find_package(Boost REQUIRED COMPONENTS thread)
+ find_package(OpenCV REQUIRED)
+
+ include_directories(${Boost_INCLUDE_DIRS}
diff --git a/recipes-ros/image-pipeline/image-view_1.12.23.bb b/recipes-ros/image-pipeline/image-view_1.12.23.bb
index 71a9ea7..09f484a 100644
--- a/recipes-ros/image-pipeline/image-view_1.12.23.bb
+++ b/recipes-ros/image-pipeline/image-view_1.12.23.bb
@@ -3,6 +3,11 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "camera-calibration-parsers cv-bridge dynamic-reconfigure image-transport message-filters nodelet opencv rosconsole roscpp sensor-msgs std-srvs stereo-msgs"
+DEPENDS = "camera-calibration-parsers cv-bridge dynamic-reconfigure image-transport message-filters nodelet opencv rosconsole roscpp sensor-msgs std-srvs stereo-msgs gtk+"
 
 require image-pipeline.inc
+
+inherit distro_features_check
+ANY_OF_DISTRO_FEATURES = "${GTK2DISTROFEATURES}"
+
+SRC_URI += "file://image-view-remove-unused-signals-boost-component.patch;patchdir=.."
diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index 445efc8..381be3d 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -145,7 +145,6 @@ RDEPENDS_${PN} = "\
     depthimage-to-laserscan \
     diff-drive-controller \
     gripper-action-controller \
-    gscam \
     imu-processors \
     imu-transformer \
     joint-trajectory-controller \
@@ -154,7 +153,6 @@ RDEPENDS_${PN} = "\
     move-base \
     robot-pose-ekf \
     roslint \
-    ros-pocketsphinx \
     rt-tests-support \
     communication-tests \
     cyclic-timer-tests \
diff --git a/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb b/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
index 1839fd3..2098a8b 100644
--- a/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
+++ b/recipes-ros/robot-model/joint-state-publisher_1.11.14.bb
@@ -9,3 +9,10 @@ DEPENDS = "rospy wxpython sensor-msgs"
 require robot-model.inc
 
 RDEPENDS_${PN} = "wxpython"
+
+inherit distro_features_check
+
+# Depends on wxpython which depends on wxwidgets which depends on libxinerama, libglu, gtk need x11 in DISTRO_FEATURES
+REQUIRED_DISTRO_FEATURES = "x11"
+
+PNBLACKLIST[joint-state-publisher] ?= "Depends on wxpython which depends on wxwidgets which depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
diff --git a/recipes-ros/ros-pocketsphinx/ros-pocketsphinx_0.3.0.bb b/recipes-ros/ros-pocketsphinx/ros-pocketsphinx_0.3.0.bb
index 102f081..d19de7f 100644
--- a/recipes-ros/ros-pocketsphinx/ros-pocketsphinx_0.3.0.bb
+++ b/recipes-ros/ros-pocketsphinx/ros-pocketsphinx_0.3.0.bb
@@ -27,3 +27,5 @@ RDEPENDS_${PN} = "std-srvs rospy gstreamer0.10-pocketsphinx"
 RRECOMMENDS_${PN} += "gst-plugins-good-gconfelements"
 
 ROS_SPN = "ros_pocketsphinx"
+
+PNBLACKLIST[ros-pocketsphinx] ?= "Depends on old gstreamer 0.10 recipes removed from meta-oe in 2.7 Warrior"
diff --git a/recipes-ros2/ros2-demos/ros2-demo-nodes-cpp_git.bb b/recipes-ros2/ros2-demos/ros2-demo-nodes-cpp_git.bb
index d4b4dd3..65ebf80 100644
--- a/recipes-ros2/ros2-demos/ros2-demo-nodes-cpp_git.bb
+++ b/recipes-ros2/ros2-demos/ros2-demo-nodes-cpp_git.bb
@@ -10,3 +10,9 @@ DEPENDS = " \
 ROS_BPN = "demo_nodes_cpp"
 
 include ros2-demos.inc
+
+# FAILED: allocator_tutorial
+# /usr/include/c++/8.2.0/bits/atomic_base.h:514: error: undefined reference to '__atomic_fetch_add_8'
+# http://caprica.lgsvl.com:8080/Errors/Details/1510771
+LDFLAGS_append_armv4 = " -latomic"
+LDFLAGS_append_armv5 = " -latomic"