diff --git a/recipes-ros/geometry2/geometry2.inc b/recipes-ros/geometry2/geometry2.inc
index 235e387..0ae7af2 100644
--- a/recipes-ros/geometry2/geometry2.inc
+++ b/recipes-ros/geometry2/geometry2.inc
@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "bd0907555fbbab035a03016729a48b7a"
-SRC_URI[sha256sum] = "61001913ea7568a513171f57a09f02905918cee0b558baa27f7439fbb79700cb"
+SRC_URI[md5sum] = "94fbafe3e86b8b1e21a8d2a15f30d48a"
+SRC_URI[sha256sum] = "f08f4002cfa8c83021e959176d6384e7c4669a8c5363546f27911103bca84232"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
diff --git a/recipes-ros/geometry2/tf2-geometry-msgs_0.5.16.bb b/recipes-ros/geometry2/tf2-geometry-msgs_0.5.17.bb
similarity index 100%
rename from recipes-ros/geometry2/tf2-geometry-msgs_0.5.16.bb
rename to recipes-ros/geometry2/tf2-geometry-msgs_0.5.17.bb
diff --git a/recipes-ros/geometry2/tf2-kdl_0.5.16.bb b/recipes-ros/geometry2/tf2-kdl_0.5.17.bb
similarity index 100%
rename from recipes-ros/geometry2/tf2-kdl_0.5.16.bb
rename to recipes-ros/geometry2/tf2-kdl_0.5.17.bb
diff --git a/recipes-ros/geometry2/tf2-msgs_0.5.16.bb b/recipes-ros/geometry2/tf2-msgs_0.5.17.bb
similarity index 100%
rename from recipes-ros/geometry2/tf2-msgs_0.5.16.bb
rename to recipes-ros/geometry2/tf2-msgs_0.5.17.bb
diff --git a/recipes-ros/geometry2/tf2-py/0001-Use-string-conversion-from-python_compat_h.patch b/recipes-ros/geometry2/tf2-py/0001-Use-string-conversion-from-python_compat_h.patch
deleted file mode 100644
index f3d5f2c..0000000
--- a/recipes-ros/geometry2/tf2-py/0001-Use-string-conversion-from-python_compat_h.patch
+++ /dev/null
@@ -1,26 +0,0 @@
-From 840caf53b0523b160c2add7e02d3559563826e56 Mon Sep 17 00:00:00 2001
-From: Maarten de Vries <maarten@de-vri.es>
-Date: Sun, 16 Jul 2017 19:46:55 +0200
-Subject: [PATCH 1/2] Use string conversion from python_compat.h.
-
-Upstream-Status: Backport [commit 840caf53b0523b160c2add7e02d3559563826e56]
----
- tf2_py/src/tf2_py.cpp | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/tf2_py/src/tf2_py.cpp b/tf2_py/src/tf2_py.cpp
-index 3d680d7..edd38fe 100644
---- a/tf2_py/src/tf2_py.cpp
-+++ b/tf2_py/src/tf2_py.cpp
-@@ -536,7 +536,7 @@ static PyObject *_allFramesAsDot(PyObject *self, PyObject *args, PyObject *kw)
-   ros::Time time;
-   if (!PyArg_ParseTupleAndKeywords(args, kw, "|O&", (char**)keywords, rostime_converter, &time))
-     return NULL;
--  return PyString_FromString(bc->_allFramesAsDot(time.toSec()).c_str());
-+  return stringToPython(bc->_allFramesAsDot(time.toSec()));
- }
- 
- 
--- 
-2.1.4
-
diff --git a/recipes-ros/geometry2/tf2-py/0002-fix-python3-import-error.patch b/recipes-ros/geometry2/tf2-py/0002-fix-python3-import-error.patch
deleted file mode 100644
index 2a85df6..0000000
--- a/recipes-ros/geometry2/tf2-py/0002-fix-python3-import-error.patch
+++ /dev/null
@@ -1,70 +0,0 @@
-From 552c5c239a9ac21f99c99c41d6fe8739072a87de Mon Sep 17 00:00:00 2001
-From: randoms <randoms@bwbot.org>
-Date: Wed, 9 Aug 2017 11:16:07 +0800
-Subject: [PATCH 2/2] fix python3 import error
-
-Upstream-Status: Backport [commit 552c5c239a9ac21f99c99c41d6fe8739072a87de]
-
----
- tf2_py/src/tf2_py.cpp           |  2 +-
- tf2_py/src/tf2_py/__init__.py   |  5 +++--
- tf2_ros/src/tf2_ros/__init__.py | 15 ++++++++-------
- 3 files changed, 12 insertions(+), 10 deletions(-)
-
-diff --git a/tf2_py/src/tf2_py.cpp b/tf2_py/src/tf2_py.cpp
-index edd38fe..279a2d2 100644
---- a/tf2_py/src/tf2_py.cpp
-+++ b/tf2_py/src/tf2_py.cpp
-@@ -632,7 +632,7 @@ struct PyModuleDef tf_module = {
-   module_methods         // methods
- };
- 
--PyMODINIT_FUNC PyInit_tf2()
-+PyMODINIT_FUNC PyInit__tf2()
- {
-   if (!staticInit())
-     return NULL;
-diff --git a/tf2_py/src/tf2_py/__init__.py b/tf2_py/src/tf2_py/__init__.py
-index ccade4e..5a38341 100644
---- a/tf2_py/src/tf2_py/__init__.py
-+++ b/tf2_py/src/tf2_py/__init__.py
-@@ -31,7 +31,8 @@
- #*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- #*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- #*  POSSIBILITY OF SUCH DAMAGE.
--#* 
-+#*
- #* Author: Eitan Marder-Eppstein
- #***********************************************************
--from _tf2 import *
-+from __future__ import absolute_import
-+from ._tf2 import *
-diff --git a/tf2_ros/src/tf2_ros/__init__.py b/tf2_ros/src/tf2_ros/__init__.py
-index b3df91b..af5642c 100644
---- a/tf2_ros/src/tf2_ros/__init__.py
-+++ b/tf2_ros/src/tf2_ros/__init__.py
-@@ -31,13 +31,14 @@
- #*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- #*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- #*  POSSIBILITY OF SUCH DAMAGE.
--#* 
-+#*
- #* Author: Eitan Marder-Eppstein
- #***********************************************************
-+from __future__ import absolute_import
- from tf2_py import *
--from buffer_interface import *
--from buffer import *
--from buffer_client import *
--from transform_listener import *
--from transform_broadcaster import *
--from static_transform_broadcaster import *
-+from .buffer_interface import *
-+from .buffer import *
-+from .buffer_client import *
-+from .transform_listener import *
-+from .transform_broadcaster import *
-+from .static_transform_broadcaster import *
--- 
-2.1.4
-
diff --git a/recipes-ros/geometry2/tf2-py_0.5.16.bb b/recipes-ros/geometry2/tf2-py_0.5.17.bb
similarity index 57%
rename from recipes-ros/geometry2/tf2-py_0.5.16.bb
rename to recipes-ros/geometry2/tf2-py_0.5.17.bb
index 270d263..3e32394 100644
--- a/recipes-ros/geometry2/tf2-py_0.5.16.bb
+++ b/recipes-ros/geometry2/tf2-py_0.5.17.bb
@@ -8,8 +8,3 @@ DEPENDS = "rospy tf2"
 EXTRA_OECMAKE += "-DCMAKE_SKIP_RPATH=ON"
 
 require geometry2.inc
-
-SRC_URI += " \
-    file://0001-Use-string-conversion-from-python_compat_h.patch;patchdir=${WORKDIR}/${ROS_SP} \
-    file://0002-fix-python3-import-error.patch;patchdir=${WORKDIR}/${ROS_SP} \
-"
diff --git a/recipes-ros/geometry2/tf2-ros_0.5.16.bb b/recipes-ros/geometry2/tf2-ros_0.5.17.bb
similarity index 100%
rename from recipes-ros/geometry2/tf2-ros_0.5.16.bb
rename to recipes-ros/geometry2/tf2-ros_0.5.17.bb
diff --git a/recipes-ros/geometry2/tf2-sensor-msgs_0.5.16.bb b/recipes-ros/geometry2/tf2-sensor-msgs_0.5.17.bb
similarity index 100%
rename from recipes-ros/geometry2/tf2-sensor-msgs_0.5.16.bb
rename to recipes-ros/geometry2/tf2-sensor-msgs_0.5.17.bb
diff --git a/recipes-ros/geometry2/tf2-tools_0.5.16.bb b/recipes-ros/geometry2/tf2-tools_0.5.17.bb
similarity index 100%
rename from recipes-ros/geometry2/tf2-tools_0.5.16.bb
rename to recipes-ros/geometry2/tf2-tools_0.5.17.bb
diff --git a/recipes-ros/geometry2/tf2_0.5.16.bb b/recipes-ros/geometry2/tf2_0.5.17.bb
similarity index 100%
rename from recipes-ros/geometry2/tf2_0.5.16.bb
rename to recipes-ros/geometry2/tf2_0.5.17.bb
diff --git a/recipes-ros/razor-imu-9dof/razor-imu-9dof_1.1.1.bb b/recipes-ros/razor-imu-9dof/razor-imu-9dof_1.2.0.bb
similarity index 83%
rename from recipes-ros/razor-imu-9dof/razor-imu-9dof_1.1.1.bb
rename to recipes-ros/razor-imu-9dof/razor-imu-9dof_1.2.0.bb
index e82f469..6ba9e61 100644
--- a/recipes-ros/razor-imu-9dof/razor-imu-9dof_1.1.1.bb
+++ b/recipes-ros/razor-imu-9dof/razor-imu-9dof_1.2.0.bb
@@ -10,8 +10,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=15;md5=d566ef916e9de
 DEPENDS = "dynamic-reconfigure ${PYTHON_PN}-rospkg"
 
 SRC_URI = "https://github.com/KristofRobot/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "4712cbe1d9d8bacd9eebfd51825ada36"
-SRC_URI[sha256sum] = "9917e7ae713016c63786511736bbdc1b671a9685ea0ddfc87839251ca7513c95"
+SRC_URI[md5sum] = "1d036536b614e4e9841c970150692e46"
+SRC_URI[sha256sum] = "9953df3323167510243386525558dd4fc40d628326852db5ebb303fbcc42a7cb"
 
 S = "${WORKDIR}/${ROS_SP}"
 
diff --git a/recipes-ros/slam-gmapping/gmapping_1.3.9.bb b/recipes-ros/slam-gmapping/gmapping_1.3.10.bb
similarity index 77%
rename from recipes-ros/slam-gmapping/gmapping_1.3.9.bb
rename to recipes-ros/slam-gmapping/gmapping_1.3.10.bb
index b2c4e1e..a4497d0 100644
--- a/recipes-ros/slam-gmapping/gmapping_1.3.9.bb
+++ b/recipes-ros/slam-gmapping/gmapping_1.3.10.bb
@@ -6,8 +6,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=11e24f757f025
 DEPENDS = "nodelet nav-msgs openslam-gmapping roscpp tf rosbag-storage"
 
 SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "2a17fa7818b8f6b23ccd66786c1854ff"
-SRC_URI[sha256sum] = "5dfd3dc967d8861b820d5ab7355024c3f1626c3fa7b422cf93a85e292ed4d04a"
+SRC_URI[md5sum] = "b70ca310173d7234d7892f2ab7b21245"
+SRC_URI[sha256sum] = "a4eae02f88d599bf34ed8d3865d37e276af22a644d4c45c3fe35d90a48378abc"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"