diff --git a/recipes-ros/rocon-multimaster/rocon-gateway-tests_0.7.10.bb b/recipes-ros/rocon-multimaster/rocon-gateway-tests_0.7.10.bb
new file mode 100644
index 0000000..463325f
--- /dev/null
+++ b/recipes-ros/rocon-multimaster/rocon-gateway-tests_0.7.10.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "Testing programs for gateways."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "rocon-test"
+
+require rocon-multimaster.inc
diff --git a/recipes-ros/rocon-multimaster/rocon-gateway-utils_0.7.10.bb b/recipes-ros/rocon-multimaster/rocon-gateway-utils_0.7.10.bb
new file mode 100644
index 0000000..ffc4946
--- /dev/null
+++ b/recipes-ros/rocon-multimaster/rocon-gateway-utils_0.7.10.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "Utilities for gateway users (avoids large dependency requirements)."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+require rocon-multimaster.inc
+
+RDEPENDS_${PN} = "rosgraph gateway-msgs rocon-console rocon-python-comms rosservice"
diff --git a/recipes-ros/rocon-multimaster/rocon-gateway_0.7.10.bb b/recipes-ros/rocon-multimaster/rocon-gateway_0.7.10.bb
new file mode 100644
index 0000000..1976ca4
--- /dev/null
+++ b/recipes-ros/rocon-multimaster/rocon-gateway_0.7.10.bb
@@ -0,0 +1,13 @@
+DESCRIPTION = "A hub acts as a shared key-value store for multiple ros systems (primarily used by gateways)."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "roslint"
+
+require rocon-multimaster.inc
+
+RDEPENDS_${PN} = "gateway-msgs python-cryptography rospy rocon-hub-client \
+  rocon-console rocon-python-comms rocon-python-redis rocon-gateway-utils \
+  rocon-python-utils rocon-python-wifi roslib rostopic rosservice rosgraph \
+  std-srvs zeroconf-msgs zeroconf-avahi"
diff --git a/recipes-ros/rocon-multimaster/rocon-hub-client_0.7.10.bb b/recipes-ros/rocon-multimaster/rocon-hub-client_0.7.10.bb
new file mode 100644
index 0000000..db57df6
--- /dev/null
+++ b/recipes-ros/rocon-multimaster/rocon-hub-client_0.7.10.bb
@@ -0,0 +1,8 @@
+DESCRIPTION = "Client api for discovery and connection to rocon hubs."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+require rocon-multimaster.inc
+
+RDEPENDS_${PN} = "gateway-msgs rospy rocon-python-redis rocon-gateway-utils"
diff --git a/recipes-ros/rocon-multimaster/rocon-hub_0.7.10.bb b/recipes-ros/rocon-multimaster/rocon-hub_0.7.10.bb
new file mode 100644
index 0000000..c8f8bd8
--- /dev/null
+++ b/recipes-ros/rocon-multimaster/rocon-hub_0.7.10.bb
@@ -0,0 +1,11 @@
+DESCRIPTION = "A hub acts as a shared key-value store for multiple ros systems (primarily used by gateways)."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "roslint"
+
+require rocon-multimaster.inc
+
+RDEPENDS_${PN} = "avahi-daemon avahi-utils redis std-srvs rosgraph rocon-console \
+  rocon-gateway rocon-python-comms rocon-python-redis rocon-semantic-version"
diff --git a/recipes-ros/rocon-multimaster/rocon-multimaster.inc b/recipes-ros/rocon-multimaster/rocon-multimaster.inc
new file mode 100644
index 0000000..63e9d21
--- /dev/null
+++ b/recipes-ros/rocon-multimaster/rocon-multimaster.inc
@@ -0,0 +1,9 @@
+SRC_URI = "https://github.com/robotics-in-concert/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "1b48d8efe8c69eeecc90a0e53329e8ac"
+SRC_URI[sha256sum] = "eb5806aaab740a202c3e0f9f1899c9b5ce57cd8353f88028e95aa0bc2d966659"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
+inherit catkin
+
+ROS_SPN = "rocon_multimaster"
diff --git a/recipes-ros/rocon-multimaster/rocon-test_0.7.10.bb b/recipes-ros/rocon-multimaster/rocon-test_0.7.10.bb
new file mode 100644
index 0000000..4401fd9
--- /dev/null
+++ b/recipes-ros/rocon-multimaster/rocon-test_0.7.10.bb
@@ -0,0 +1,11 @@
+DESCRIPTION = "Rocon test framework (i.e. multi-launch rostest framework)."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "rostest"
+
+require rocon-multimaster.inc
+
+RDEPENDS_${PN} = "rospy rostest rosunit rocon-console rocon-python-utils \
+  roslaunch rocon-launch"