diff --git a/recipes-extended/pcl/pcl/0001-Fix-incompatibility-with-Boost-1.56.patch b/recipes-extended/pcl/pcl/0001-Fix-incompatibility-with-Boost-1.56.patch
new file mode 100644
index 0000000..419bc69
--- /dev/null
+++ b/recipes-extended/pcl/pcl/0001-Fix-incompatibility-with-Boost-1.56.patch
@@ -0,0 +1,77 @@
+From c2ad66f36569d64a445dbadeae197264d216d48c Mon Sep 17 00:00:00 2001
+From: Sergey Alexandrov <alexandrov88@gmail.com>
+Date: Sat, 23 Aug 2014 13:03:37 +0200
+Subject: [PATCH] Fix incompatibility with Boost 1.56
+
+The fix is based on the proposal of Andrew McMahon (@McDamon, #864).
+
+Upstream-Status: Backport [retrieved from upstream repository]
+
+This patch is copy of:
+https://github.com/PointCloudLibrary/pcl/commit/c2ad66f36569d64a445dbadeae197264d216d48c.patch
+---
+ io/src/lzf_image_io.cpp | 20 ++++++++++++++------
+ 1 file changed, 14 insertions(+), 6 deletions(-)
+
+diff --git a/io/src/lzf_image_io.cpp b/io/src/lzf_image_io.cpp
+index 55eca90..7742f16 100644
+--- a/io/src/lzf_image_io.cpp
++++ b/io/src/lzf_image_io.cpp
+@@ -59,6 +59,17 @@
+ 
+ #define LZF_HEADER_SIZE 37
+ 
++
++// The signature of boost::property_tree::xml_parser::write_xml() changed in Boost 1.56
++// See https://github.com/PointCloudLibrary/pcl/issues/864
++#include <boost/version.hpp>
++#if (BOOST_VERSION >= 105600)
++  typedef boost::property_tree::xml_writer_settings<std::string> xml_writer_settings;
++#else
++  typedef boost::property_tree::xml_writer_settings<char> xml_writer_settings;
++#endif
++
++
+ //////////////////////////////////////////////////////////////////////////////
+ bool
+ pcl::io::LZFImageWriter::saveImageBlob (const char* data, 
+@@ -198,9 +209,8 @@ pcl::io::LZFImageWriter::writeParameter (const double &parameter,
+   catch (std::exception& e)
+   {}
+ 
+-  boost::property_tree::xml_writer_settings<char> settings ('\t', 1);
+   pt.put (tag, parameter);
+-  write_xml (filename, pt, std::locale (), settings);
++  write_xml (filename, pt, std::locale (), xml_writer_settings ('\t', 1));
+ 
+   return (true);
+ }
+@@ -218,13 +228,12 @@ pcl::io::LZFDepth16ImageWriter::writeParameters (const pcl::io::CameraParameters
+   catch (std::exception& e)
+   {}
+ 
+-  boost::property_tree::xml_writer_settings<char> settings ('\t', 1);
+   pt.put ("depth.focal_length_x", parameters.focal_length_x);
+   pt.put ("depth.focal_length_y", parameters.focal_length_y);
+   pt.put ("depth.principal_point_x", parameters.principal_point_x);
+   pt.put ("depth.principal_point_y", parameters.principal_point_y);
+   pt.put ("depth.z_multiplication_factor", z_multiplication_factor_);
+-  write_xml (filename, pt, std::locale (), settings);
++  write_xml (filename, pt, std::locale (), xml_writer_settings ('\t', 1));
+ 
+   return (true);
+ }
+@@ -279,12 +288,11 @@ pcl::io::LZFRGB24ImageWriter::writeParameters (const pcl::io::CameraParameters &
+   catch (std::exception& e)
+   {}
+ 
+-  boost::property_tree::xml_writer_settings<char> settings ('\t', 1);
+   pt.put ("rgb.focal_length_x", parameters.focal_length_x);
+   pt.put ("rgb.focal_length_y", parameters.focal_length_y);
+   pt.put ("rgb.principal_point_x", parameters.principal_point_x);
+   pt.put ("rgb.principal_point_y", parameters.principal_point_y);
+-  write_xml (filename, pt, std::locale (), settings);
++  write_xml (filename, pt, std::locale (), xml_writer_settings ('\t', 1));
+ 
+   return (true);
+ }
diff --git a/recipes-extended/pcl/pcl_1.7.0.bb b/recipes-extended/pcl/pcl_1.7.0.bb
index c34611a..80370fd 100644
--- a/recipes-extended/pcl/pcl_1.7.0.bb
+++ b/recipes-extended/pcl/pcl_1.7.0.bb
@@ -9,6 +9,8 @@ SRC_URI = "https://github.com/PointCloudLibrary/${PN}/archive/${P}.tar.gz"
 SRC_URI[md5sum] = "e2ac2d2e72825d991c6d194f9586b5d8"
 SRC_URI[sha256sum] = "a5446b4d892d0e6b080ab6b6b745faad2f2f415c6c1353b1424f6b38175c777e"
 
+SRC_URI += "file://0001-Fix-incompatibility-with-Boost-1.56.patch"
+
 S = "${WORKDIR}/pcl-${P}"
 
 EXTRA_OECMAKE += "\
diff --git a/recipes-ros/catkin/catkin_0.5.88.bb b/recipes-ros/catkin/catkin_0.5.89.bb
similarity index 87%
rename from recipes-ros/catkin/catkin_0.5.88.bb
rename to recipes-ros/catkin/catkin_0.5.89.bb
index 0396325..76303a2 100644
--- a/recipes-ros/catkin/catkin_0.5.88.bb
+++ b/recipes-ros/catkin/catkin_0.5.89.bb
@@ -6,8 +6,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 DEPENDS = "cmake python-empy python-catkin-pkg python-empy-native python-catkin-pkg-native"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "472ff1f0e04f456af65fa16060fc75c6"
-SRC_URI[sha256sum] = "e393e114f491d54982d854ba6e878fd85ed9606d6a5cc122d30fd950daed269f"
+SRC_URI[md5sum] = "994b57a85d788cc10b13f39c3bc59cfc"
+SRC_URI[sha256sum] = "3cbac7fc3704ccef78984740001b7d5779dd93470522b407ef5b6d9972f9f47a"
 
 SRC_URI += "file://0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch"
 
diff --git a/recipes-ros/octomap/octomap.inc b/recipes-ros/octomap/octomap.inc
index f6240ea..b3bda0b 100644
--- a/recipes-ros/octomap/octomap.inc
+++ b/recipes-ros/octomap/octomap.inc
@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/OctoMap/${ROS_SPN}/archive/v${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "6781c4a12958cca69570c334cf836f21"
-SRC_URI[sha256sum] = "cad32744152970d0ab141d12c122d0482510644f29c61b8464bbfc65ebff1cf0"
+SRC_URI[md5sum] = "e4f9ab54fecfc031ec160b8989340804"
+SRC_URI[sha256sum] = "833adba0d3b203cab0e28a0180490e74bc852a7fea9adf6ee53bbfb8f10bc79a"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
diff --git a/recipes-ros/octomap/octomap_1.6.6.bb b/recipes-ros/octomap/octomap_1.6.8.bb
similarity index 100%
rename from recipes-ros/octomap/octomap_1.6.6.bb
rename to recipes-ros/octomap/octomap_1.6.8.bb
diff --git a/recipes-ros/packagegroups/packagegroup-ros-world.bb b/recipes-ros/packagegroups/packagegroup-ros-world.bb
index d72f99a..693bd86 100644
--- a/recipes-ros/packagegroups/packagegroup-ros-world.bb
+++ b/recipes-ros/packagegroups/packagegroup-ros-world.bb
@@ -155,7 +155,6 @@ RDEPENDS_${PN} = "\
     communication-tests \
     cyclic-timer-tests \
     oneshot-timer-tests \
-    urdfdom-headers \
     urdfdom-py \
     urdf-tutorial \
     velodyne-driver \
diff --git a/recipes-ros/robot-model/collada-parser_1.10.18.bb b/recipes-ros/robot-model/collada-parser_1.10.20.bb
similarity index 100%
rename from recipes-ros/robot-model/collada-parser_1.10.18.bb
rename to recipes-ros/robot-model/collada-parser_1.10.20.bb
diff --git a/recipes-ros/robot-model/collada-urdf_1.10.18.bb b/recipes-ros/robot-model/collada-urdf_1.10.20.bb
similarity index 100%
rename from recipes-ros/robot-model/collada-urdf_1.10.18.bb
rename to recipes-ros/robot-model/collada-urdf_1.10.20.bb
diff --git a/recipes-ros/robot-model/joint-state-publisher_1.10.18.bb b/recipes-ros/robot-model/joint-state-publisher_1.10.20.bb
similarity index 100%
rename from recipes-ros/robot-model/joint-state-publisher_1.10.18.bb
rename to recipes-ros/robot-model/joint-state-publisher_1.10.20.bb
diff --git a/recipes-ros/robot-model/kdl-parser_1.10.18.bb b/recipes-ros/robot-model/kdl-parser_1.10.20.bb
similarity index 100%
rename from recipes-ros/robot-model/kdl-parser_1.10.18.bb
rename to recipes-ros/robot-model/kdl-parser_1.10.20.bb
diff --git a/recipes-ros/robot-model/resource-retriever_1.10.18.bb b/recipes-ros/robot-model/resource-retriever_1.10.20.bb
similarity index 100%
rename from recipes-ros/robot-model/resource-retriever_1.10.18.bb
rename to recipes-ros/robot-model/resource-retriever_1.10.20.bb
diff --git a/recipes-ros/robot-model/robot-model.inc b/recipes-ros/robot-model/robot-model.inc
index 0138a28..46f64fa 100644
--- a/recipes-ros/robot-model/robot-model.inc
+++ b/recipes-ros/robot-model/robot-model.inc
@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "a2852ce1e1b3a7805f0a0836b8942811"
-SRC_URI[sha256sum] = "908dee4ff9031a0f954f98f8c5b646c24efd86ec352887df4882b1b6e067c5b6"
+SRC_URI[md5sum] = "eda49f4a025e229be069622132f56eef"
+SRC_URI[sha256sum] = "d9fa88f5cd904359041cd072fed59cb06f87537ab14c51c89605d1f04be58e9e"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 
diff --git a/recipes-ros/robot-model/urdf-parser-plugin_1.10.18.bb b/recipes-ros/robot-model/urdf-parser-plugin_1.10.20.bb
similarity index 100%
rename from recipes-ros/robot-model/urdf-parser-plugin_1.10.18.bb
rename to recipes-ros/robot-model/urdf-parser-plugin_1.10.20.bb
diff --git a/recipes-ros/robot-model/urdf_1.10.18.bb b/recipes-ros/robot-model/urdf_1.10.20.bb
similarity index 100%
rename from recipes-ros/robot-model/urdf_1.10.18.bb
rename to recipes-ros/robot-model/urdf_1.10.20.bb
diff --git a/recipes-ros/ros-comm/message-filters_1.10.10.bb b/recipes-ros/ros-comm/message-filters_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/message-filters_1.10.10.bb
rename to recipes-ros/ros-comm/message-filters_1.10.11.bb
diff --git a/recipes-ros/ros-comm/ros-comm.inc b/recipes-ros/ros-comm/ros-comm.inc
index 6f58424..e5d51ab 100644
--- a/recipes-ros/ros-comm/ros-comm.inc
+++ b/recipes-ros/ros-comm/ros-comm.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] = "76d68100d0b261b437953a0c1e36999d"
-SRC_URI[sha256sum] = "57cab5aec103eb4a2a6711c3ce364a03e58ed79d39b600efa2c231527a470a33"
+SRC_URI[md5sum] = "d76ea0a49d8cf5ac21345119a617c60b"
+SRC_URI[sha256sum] = "7680d3e14c3dba8d393f7fde21eb2b5ac78d7024ac6fc5b13a653172bf8a2f30"
 
 SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;patchdir=../.."
 
diff --git a/recipes-ros/ros-comm/rosbag-storage_1.10.10.bb b/recipes-ros/ros-comm/rosbag-storage_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosbag-storage_1.10.10.bb
rename to recipes-ros/ros-comm/rosbag-storage_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rosbag_1.10.10.bb b/recipes-ros/ros-comm/rosbag_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosbag_1.10.10.bb
rename to recipes-ros/ros-comm/rosbag_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rosconsole_1.10.10.bb b/recipes-ros/ros-comm/rosconsole_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosconsole_1.10.10.bb
rename to recipes-ros/ros-comm/rosconsole_1.10.11.bb
diff --git a/recipes-ros/ros-comm/roscpp_1.10.10.bb b/recipes-ros/ros-comm/roscpp_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/roscpp_1.10.10.bb
rename to recipes-ros/ros-comm/roscpp_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rosgraph-msgs_1.10.10.bb b/recipes-ros/ros-comm/rosgraph-msgs_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosgraph-msgs_1.10.10.bb
rename to recipes-ros/ros-comm/rosgraph-msgs_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rosgraph_1.10.10.bb b/recipes-ros/ros-comm/rosgraph_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosgraph_1.10.10.bb
rename to recipes-ros/ros-comm/rosgraph_1.10.11.bb
diff --git a/recipes-ros/ros-comm/roslaunch_1.10.10.bb b/recipes-ros/ros-comm/roslaunch_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/roslaunch_1.10.10.bb
rename to recipes-ros/ros-comm/roslaunch_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rosmaster_1.10.10.bb b/recipes-ros/ros-comm/rosmaster_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosmaster_1.10.10.bb
rename to recipes-ros/ros-comm/rosmaster_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rosmsg_1.10.10.bb b/recipes-ros/ros-comm/rosmsg_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosmsg_1.10.10.bb
rename to recipes-ros/ros-comm/rosmsg_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rosnode_1.10.10.bb b/recipes-ros/ros-comm/rosnode_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosnode_1.10.10.bb
rename to recipes-ros/ros-comm/rosnode_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rosout_1.10.10.bb b/recipes-ros/ros-comm/rosout_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosout_1.10.10.bb
rename to recipes-ros/ros-comm/rosout_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rosparam_1.10.10.bb b/recipes-ros/ros-comm/rosparam_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosparam_1.10.10.bb
rename to recipes-ros/ros-comm/rosparam_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rospy_1.10.10.bb b/recipes-ros/ros-comm/rospy_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rospy_1.10.10.bb
rename to recipes-ros/ros-comm/rospy_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rosservice_1.10.10.bb b/recipes-ros/ros-comm/rosservice_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rosservice_1.10.10.bb
rename to recipes-ros/ros-comm/rosservice_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rostest_1.10.10.bb b/recipes-ros/ros-comm/rostest_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rostest_1.10.10.bb
rename to recipes-ros/ros-comm/rostest_1.10.11.bb
diff --git a/recipes-ros/ros-comm/rostopic_1.10.10.bb b/recipes-ros/ros-comm/rostopic_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/rostopic_1.10.10.bb
rename to recipes-ros/ros-comm/rostopic_1.10.11.bb
diff --git a/recipes-ros/ros-comm/roswtf_1.10.10.bb b/recipes-ros/ros-comm/roswtf_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/roswtf_1.10.10.bb
rename to recipes-ros/ros-comm/roswtf_1.10.11.bb
diff --git a/recipes-ros/ros-comm/std-srvs_1.10.10.bb b/recipes-ros/ros-comm/std-srvs_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/std-srvs_1.10.10.bb
rename to recipes-ros/ros-comm/std-srvs_1.10.11.bb
diff --git a/recipes-ros/ros-comm/topic-tools_1.10.10.bb b/recipes-ros/ros-comm/topic-tools_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/topic-tools_1.10.10.bb
rename to recipes-ros/ros-comm/topic-tools_1.10.11.bb
diff --git a/recipes-ros/ros-comm/xmlrpcpp_1.10.10.bb b/recipes-ros/ros-comm/xmlrpcpp_1.10.11.bb
similarity index 100%
rename from recipes-ros/ros-comm/xmlrpcpp_1.10.10.bb
rename to recipes-ros/ros-comm/xmlrpcpp_1.10.11.bb
diff --git a/recipes-ros/rospack/rospack_2.1.23.bb b/recipes-ros/rospack/rospack_2.1.24.bb
similarity index 73%
rename from recipes-ros/rospack/rospack_2.1.23.bb
rename to recipes-ros/rospack/rospack_2.1.24.bb
index 9aca0c4..c224bd5 100644
--- a/recipes-ros/rospack/rospack_2.1.23.bb
+++ b/recipes-ros/rospack/rospack_2.1.24.bb
@@ -6,8 +6,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc
 DEPENDS = "boost python-rospkg-native libtinyxml"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "fd27ee7b35fb5d34be609bac35477306"
-SRC_URI[sha256sum] = "b41cf1775a9216aa2c7604d8e293b7eb11f50d18b1722a491a4b800362c5d7ca"
+SRC_URI[md5sum] = "d625279380f40e8033eeeb451f0e4b5b"
+SRC_URI[sha256sum] = "95e05ef70eb46e483c241278e9c0d7fb10390a61927c2593ce6f408682e1637d"
 
 inherit catkin
 
diff --git a/recipes-ros/slam-gmapping/gmapping_1.3.3.bb b/recipes-ros/slam-gmapping/gmapping_1.3.5.bb
similarity index 77%
rename from recipes-ros/slam-gmapping/gmapping_1.3.3.bb
rename to recipes-ros/slam-gmapping/gmapping_1.3.5.bb
index 2f2e90d..96bc0b7 100644
--- a/recipes-ros/slam-gmapping/gmapping_1.3.3.bb
+++ b/recipes-ros/slam-gmapping/gmapping_1.3.5.bb
@@ -6,8 +6,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=11e24f757f025
 DEPENDS = "nav-msgs openslam-gmapping roscpp rostest tf"
 
 SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "f5ce250bea6e5798735ddba602e69815"
-SRC_URI[sha256sum] = "35fb00bed65a11de5c901fd9b32608bf2fb172d2428779f06489837910b09684"
+SRC_URI[md5sum] = "da3c1ec894314a469e93c344f01a9cd5"
+SRC_URI[sha256sum] = "9ffc587372fa9bb0b966322977cfdfdb52f2233c0ce15c07fb1447148faec08d"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"