gentoo resync : 30.05.2020

author: V3n3RiX <venerix@redcorelinux.org> 2020-05-30 11:44:06 +0100
committer: V3n3RiX <venerix@redcorelinux.org> 2020-05-30 11:44:06 +0100
commit: f516638b7fe9592837389826a6152a7e1b251c54 (patch)
tree: 8bfecb640b7b6403d7a3d662d923eed630033da7 /dev-ros
parent: 1a61119f9f7b057830e2ce0563f913ec86f282ad (diff)
169 files changed, 1893 insertions, 1418 deletions
diff --git a/dev-ros/Manifest.gz b/dev-ros/Manifest.gz
index 8fbf51cb3ffa..0d7d9a4505cb 100644
--- a/dev-ros/Manifest.gz
+++ b/dev-ros/Manifest.gz
diff --git a/dev-ros/amcl/Manifest b/dev-ros/amcl/Manifest
index 79e7d6eb16f9..7fb7f28818a0 100644
--- a/dev-ros/amcl/Manifest
+++ b/dev-ros/amcl/Manifest
@@ -1,5 +1,7 @@
 AUX cmake.patch 331 BLAKE2B 473d4915af835a5f374eddf6d24d8bb003b02aaabc43119fa1d4eb53ecc640ca0225d0be0a03f811414b729344d1218b264231b27cb77480ec613283b03db6b8 SHA512 c2bd6bf44eedf69c03de172b88d9b9471a78b7176d6a5d4db18564986780c9c05ce9d74a65ded689fe1480d2094a2c16feffe27f7797224f6f43d019a806c327
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD amcl-1.16.3-r1.ebuild 1079 BLAKE2B c11f6555c3626edd0584b6612a8eb7e4e4cdfc5dc5f963bc5c65ca9a6affb07ffaa88025aab922de9e39859e5a98039021a63db95b8887a602680e3b5c002872 SHA512 a415f9623f0de95f4d84709fefd0513cbb16ae6c66fdd324d5eade232393afde69c1b5a51eac6ef9abde75323847d79b40d1426a9a99c7c0c4ce8fd8d6c2d28b
+EBUILD amcl-1.16.6.ebuild 1079 BLAKE2B c11f6555c3626edd0584b6612a8eb7e4e4cdfc5dc5f963bc5c65ca9a6affb07ffaa88025aab922de9e39859e5a98039021a63db95b8887a602680e3b5c002872 SHA512 a415f9623f0de95f4d84709fefd0513cbb16ae6c66fdd324d5eade232393afde69c1b5a51eac6ef9abde75323847d79b40d1426a9a99c7c0c4ce8fd8d6c2d28b
 EBUILD amcl-9999.ebuild 1079 BLAKE2B c11f6555c3626edd0584b6612a8eb7e4e4cdfc5dc5f963bc5c65ca9a6affb07ffaa88025aab922de9e39859e5a98039021a63db95b8887a602680e3b5c002872 SHA512 a415f9623f0de95f4d84709fefd0513cbb16ae6c66fdd324d5eade232393afde69c1b5a51eac6ef9abde75323847d79b40d1426a9a99c7c0c4ce8fd8d6c2d28b
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/amcl/amcl-1.16.6.ebuild b/dev-ros/amcl/amcl-1.16.6.ebuild
new file mode 100644
index 000000000000..130de3bbef70
--- /dev/null
+++ b/dev-ros/amcl/amcl-1.16.6.ebuild
@@ -0,0 +1,36 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+PYTHON_COMPAT=( python2_7 )
+
+inherit ros-catkin
+
+DESCRIPTION="Probabilistic localization system for a robot moving in 2D"
+LICENSE="LGPL-2.1"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/diagnostic_updater[${PYTHON_USEDEP}]
+	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/message_filters
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/rosbag
+		dev-libs/boost:=
+	dev-ros/roscpp
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2
+	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2_ros
+"
+DEPEND="${RDEPEND}
+	test? ( dev-ros/rostest[${PYTHON_USEDEP}] dev-python/python_orocos_kdl[${PYTHON_USEDEP}] dev-ros/map_server[${PYTHON_USEDEP}] )
+"
+PATCHES=( "${FILESDIR}/cmake.patch" )
diff --git a/dev-ros/base_local_planner/Manifest b/dev-ros/base_local_planner/Manifest
index 2fd4d04a3a65..ec095d87dc82 100644
--- a/dev-ros/base_local_planner/Manifest
+++ b/dev-ros/base_local_planner/Manifest
@@ -1,8 +1,10 @@
 DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
 DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD base_local_planner-1.16.1.ebuild 1088 BLAKE2B 07d1c699b36f6288a8c464d22428b45032b14e0139a3615f6b0ce2b0d772a33fc9894271c754f4c06a9f917e11b0b078a057f32c02e8e7d9872fdbfebc7ee65b SHA512 7c0a4f6750e3be9f4a480791a44d19fddc588061fb6f8dbeb0641b7b64e7a3f3204b0a21446a568f81391fd266004ec0aed55ac9e655252be87af0e4d20619b5
 EBUILD base_local_planner-1.16.2.ebuild 1153 BLAKE2B 45ba326dfafd52147da17c0b34840c05fe438d1fa0d8bf990698e2c3986c691ae27d5299a42b43bb8e8ab3d5722bea2eedb7be20875aa6531f14c597df26f030 SHA512 eaf64d349960c06921abdd307da4c9689a1120b96c82176b7d78fd83d43d958658866e69aefe83b0d0a55ec31f57924a1fc77b817fe64985115e363514cf501f
 EBUILD base_local_planner-1.16.3.ebuild 1150 BLAKE2B bcf53fe75db20429ea4db153dda57f6d010441cdb78d7fe40d2af649d56c971f21ab049a78732f31d7264119fcdb1a6105e3e4392f0e92f0e080f6a0d50b6670 SHA512 ec286c6760d739e8e1db6d752585f4e080b040fdc154efbb4d1ceaad87d1941462205e9b3d2d4c8178ac23de2fc9223a6dfe642f506c5978cd0eebe5d7e789a2
+EBUILD base_local_planner-1.16.6.ebuild 1150 BLAKE2B d93b4427c41e8708588339ea50dfbb54db0f17c587e5c955a0472da8fbb043bc21d1bc39468c1e718fd01efb9070c9cb6b244cbe6a7813a57fa35a1705f577d9 SHA512 b12c80599ce3d215c93844b3e7675997c4b068f092062e815f922d154e249b8018ca3ce0080957fc787a0b45f15a4d2b9492b8923174a7533641b31e56247f1a
 EBUILD base_local_planner-9999.ebuild 1153 BLAKE2B 45ba326dfafd52147da17c0b34840c05fe438d1fa0d8bf990698e2c3986c691ae27d5299a42b43bb8e8ab3d5722bea2eedb7be20875aa6531f14c597df26f030 SHA512 eaf64d349960c06921abdd307da4c9689a1120b96c82176b7d78fd83d43d958658866e69aefe83b0d0a55ec31f57924a1fc77b817fe64985115e363514cf501f
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/base_local_planner/base_local_planner-1.16.6.ebuild b/dev-ros/base_local_planner/base_local_planner-1.16.6.ebuild
new file mode 100644
index 000000000000..2b56b9d24ec5
--- /dev/null
+++ b/dev-ros/base_local_planner/base_local_planner-1.16.6.ebuild
@@ -0,0 +1,42 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+CATKIN_HAS_MESSAGES=yes
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+PYTHON_COMPAT=( python2_7 )
+CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs"
+
+inherit ros-catkin
+
+DESCRIPTION="Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/angles
+	>=dev-ros/costmap_2d-1.16
+	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
+	dev-cpp/eigen:3
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	>=dev-ros/nav_core-1.16
+	dev-ros/pluginlib
+	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/rosconsole
+	dev-ros/roscpp
+	dev-ros/rospy[${PYTHON_USEDEP}]
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2
+	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2_ros
+	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/voxel_grid
+	dev-libs/boost:=[threads]
+"
+DEPEND="${RDEPEND}
+	dev-ros/cmake_modules
+	test? ( dev-cpp/gtest dev-ros/rosunit[${PYTHON_USEDEP}] )
+"
diff --git a/dev-ros/carrot_planner/Manifest b/dev-ros/carrot_planner/Manifest
index f509c8d52bfa..15310bb980da 100644
--- a/dev-ros/carrot_planner/Manifest
+++ b/dev-ros/carrot_planner/Manifest
@@ -1,8 +1,10 @@
 DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
 DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD carrot_planner-1.16.1.ebuild 595 BLAKE2B c190b4df7617f2e600493e9841940b12b4841e17fea253cf59b20d86d2f701a80951f6b74b3074395967c7c22077f419efda210ee623427dc696dda11b45f833 SHA512 4457a05ddc7305f647c80a265b8ceb7e051452ade4e9f2ea316a53f389ed5e0685c186999de8d739f8a9a5c47c86fc5924bb46c4a2f16bb50286fe2954598f7b
 EBUILD carrot_planner-1.16.2.ebuild 608 BLAKE2B 167e6751811107cf47a1f8eb596faa5ebf44dd65681d1db9bee8e9b4c10671dc6ed5fa4f75686578886217f4e201033fde2f1c280c6520d2b316933074ed6f6b SHA512 96e0afa83da45c339680c20b28a45b3829892d74d77244a794ecb644e51e20e5d513a5dfe94bf65660d0ce26ef5414b1103e51bdc284dafde2dffa90132fbb77
 EBUILD carrot_planner-1.16.3.ebuild 605 BLAKE2B 10430a945a7dded75071129160f0ef7e24bfde4cedafa9dff0bbc7257769f0bf3ef1b5be020d247f45e924d950b71d2a1949e0da12458bd951ea6bfe09a77314 SHA512 b0d37147cb1d25dba11e47bae0ef4c5ee0dc9594a9437e5e00921e9e1b422850cbc526c26447990467c8d3b5ce0b117ad9e2c881e2298e83c8d29dadd8dd906a
+EBUILD carrot_planner-1.16.6.ebuild 605 BLAKE2B 211334c2c5080ac14471730bf767f80f174c27a1b138a6e2ce343c83f01e195cd761f74b65a880b0669de5370acb520a90594c5e356dd9a1917f6d43dda175d3 SHA512 7f7618f9dc9adaf013ee3c8fd562823d8135808f3f03060914f18806223739128308d51def8dbd387a204d2c3fc5d8538a4ee51be842398aebd456bb726a7d43
 EBUILD carrot_planner-9999.ebuild 608 BLAKE2B 167e6751811107cf47a1f8eb596faa5ebf44dd65681d1db9bee8e9b4c10671dc6ed5fa4f75686578886217f4e201033fde2f1c280c6520d2b316933074ed6f6b SHA512 96e0afa83da45c339680c20b28a45b3829892d74d77244a794ecb644e51e20e5d513a5dfe94bf65660d0ce26ef5414b1103e51bdc284dafde2dffa90132fbb77
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/carrot_planner/carrot_planner-1.16.6.ebuild b/dev-ros/carrot_planner/carrot_planner-1.16.6.ebuild
new file mode 100644
index 000000000000..43b515deef9f
--- /dev/null
+++ b/dev-ros/carrot_planner/carrot_planner-1.16.6.ebuild
@@ -0,0 +1,29 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+
+inherit ros-catkin
+
+DESCRIPTION="Attempts to find a legal place to put a carrot for the robot to follow"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/base_local_planner
+	dev-ros/costmap_2d
+	dev-cpp/eigen:3
+	dev-ros/nav_core
+	dev-ros/pluginlib
+	dev-ros/roscpp
+	dev-ros/tf2
+	dev-ros/tf2_ros
+
+	dev-libs/boost:=
+	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/clear_costmap_recovery/Manifest b/dev-ros/clear_costmap_recovery/Manifest
index f370831cb569..0f25e7c82ec2 100644
--- a/dev-ros/clear_costmap_recovery/Manifest
+++ b/dev-ros/clear_costmap_recovery/Manifest
@@ -1,4 +1,6 @@
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD clear_costmap_recovery-1.16.3.ebuild 636 BLAKE2B 732722bb2f8ee5dcd044b921a07d7a6f7c9a5e621ca213f2c2175cc894fee867efbebb4fd28254c1578b25165afa76d5ea34ca919cc704b5a7fa54dbe750fcc9 SHA512 2296a68eaedc697745fa30356e9f277fff7d347818099a35f1553fdc2d0dbf6046a5d88fc37b17970175004f8787f552822447e6cccc38515be0ee25decc742b
+EBUILD clear_costmap_recovery-1.16.6.ebuild 636 BLAKE2B 4cb6ec727bf2877ca64defa6800be82d909df4664d9d333bee68f3bec3fe4c9bf2f69ca06d78a4caa6ecc4c14d571727df7720a3832fd98114742c05b525deda SHA512 dc586c0a5a42a3f3f031f5d8c333778ae2f2b73ed2cd64c4079ffb1f45c1fe02f8818892a32fd5a62c7f605221d87e8955aa16cb75ec246e5d0782529a00a5f3
 EBUILD clear_costmap_recovery-9999.ebuild 636 BLAKE2B 732722bb2f8ee5dcd044b921a07d7a6f7c9a5e621ca213f2c2175cc894fee867efbebb4fd28254c1578b25165afa76d5ea34ca919cc704b5a7fa54dbe750fcc9 SHA512 2296a68eaedc697745fa30356e9f277fff7d347818099a35f1553fdc2d0dbf6046a5d88fc37b17970175004f8787f552822447e6cccc38515be0ee25decc742b
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/clear_costmap_recovery/clear_costmap_recovery-1.16.6.ebuild b/dev-ros/clear_costmap_recovery/clear_costmap_recovery-1.16.6.ebuild
new file mode 100644
index 000000000000..13b23257b73d
--- /dev/null
+++ b/dev-ros/clear_costmap_recovery/clear_costmap_recovery-1.16.6.ebuild
@@ -0,0 +1,30 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+
+inherit ros-catkin
+
+DESCRIPTION="Recovery behavior that attempts to clear space by reverting the costmaps to the static map"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	>=dev-ros/costmap_2d-1.16.3
+	dev-cpp/eigen:3
+	dev-ros/nav_core
+	dev-ros/pluginlib
+	dev-ros/roscpp
+	dev-ros/tf2_ros
+
+	dev-libs/boost:=[threads]
+	dev-libs/console_bridge:=
+"
+DEPEND="${RDEPEND}
+	dev-ros/cmake_modules
+	test? ( dev-ros/rostest dev-cpp/gtest )
+"
diff --git a/dev-ros/cmake_modules/Manifest b/dev-ros/cmake_modules/Manifest
index 4ddcce29bbea..6b71d7c4f2b2 100644
--- a/dev-ros/cmake_modules/Manifest
+++ b/dev-ros/cmake_modules/Manifest
@@ -1,8 +1,6 @@
-DIST cmake_modules-0.4.0.tar.gz 17379 BLAKE2B 36e152ae01a3b7a4d7b4e7db62b27cc13a8df21a32605da30111d6fcfdff6a9d98eafb740139aca297a7e9bde296b1e5b1bc401bf6c6cb602e01c7c96d024d7b SHA512 60bcc800541d6280e3a20c016ac9489efb98e136ed0cc4b13685c1b43001d74ea75b334df8a7b6da414c17ecd7ad8398f4bb6a8fe0bb75155430b47d045a2462
-DIST cmake_modules-0.4.1.tar.gz 18057 BLAKE2B fa61b95fc2a401df8b146fc57a26ea1d0770daf94d4f2d7bf241b213ba58733e6bbbc11af0140d6ac7bf84ab78acd7abdd79570866683bc7a0704294fe8f3c29 SHA512 7bc0ab1c89686cfbabbf5fd5bf1685c8eef7325c62a7ecd5ef38a14b54eb80c65306b70b30bef4a001d4081e6c43e75a39fc38e5e1b6227a6725093417ba4cf2
 DIST cmake_modules-0.4.2.tar.gz 18541 BLAKE2B 448fa9f49c155e60f56094cadfd2f1d26bac426a18ce7355c92f227fb650f77affd49557c98fa4d0b26d4e21ed7b4d2a2e6deb6fdc25a3996705a2b9e3805f56 SHA512 1ab0f9d15296c024caf83f126db675894163ff6104c86e22f105e8027561b291e2a0178e39980439e66e4b691e6122830621fbb09f957eebe94ddd065c23f5e7
-EBUILD cmake_modules-0.4.0.ebuild 378 BLAKE2B dd8e5ea62e68f2c8215bac9cabe3f6a41d1480867ff31d3ce674be3a9e10df36107ba823e8fcd8402ce9125d0c46438aad41680f7c1c4d483de9253dea202ec4 SHA512 22e051b6b8a10f022fc1103d66c3959f6aabccfc05772752723100051a0ad6d366d3dbafe87b8edf30df6f9ed937ff5ca3edca344241cd95a6f134c4c55e9b46
-EBUILD cmake_modules-0.4.1.ebuild 378 BLAKE2B 6754d24dab6e7da85e91617d88521e45a971a24223679a553a6a9c2361ba293c59dad24020deb22f3c2e93718e86fce81ffd6d14e13e5de73c748f6639fa04e3 SHA512 680f503ced4fe891e84760007dd2fd9ea3854f27c971ca3540661369f22fd1d6201b1595e13e242ff746bef204d61639a4cdeac2d9a3da2b96771ffa17f1df3b
+DIST cmake_modules-0.5.0.tar.gz 18605 BLAKE2B 5be0a6f7e69806347eea03796b06679618c071dfdf72bce73d040c3788983f95c967586c800b4429df80ac6996439a0f59c2827dfb96aa50f5fe09169dc3d6e6 SHA512 a7920a094f3b3d8e480c16fd279d960e0c4d919bc4a337ba4f37ad82005805cac0e313a758e0b823986a280a8d3536a5dc36ac9603b7cd43bc0e965e9dfdd028
 EBUILD cmake_modules-0.4.2.ebuild 375 BLAKE2B 0e07ec88f48c4f823b5587eeb764a691265858f1d84386e55cee65f61a06d0cf4d1e5a11f2ff4ea78d04bbb7011e1138c9a21af71457c4ecca4775d710a4c386 SHA512 c3bd32b8ca16b4ed7274d0054fced3ca987854707dda2af695a77cb31d37bfcbfb17e04e52d729c708d4f2f929e1b9b02553bf36f122352b7b7d6128e26ddaa5
-EBUILD cmake_modules-9999.ebuild 378 BLAKE2B dd8e5ea62e68f2c8215bac9cabe3f6a41d1480867ff31d3ce674be3a9e10df36107ba823e8fcd8402ce9125d0c46438aad41680f7c1c4d483de9253dea202ec4 SHA512 22e051b6b8a10f022fc1103d66c3959f6aabccfc05772752723100051a0ad6d366d3dbafe87b8edf30df6f9ed937ff5ca3edca344241cd95a6f134c4c55e9b46
+EBUILD cmake_modules-0.5.0.ebuild 375 BLAKE2B d58eca570616a0078c64957f095d5cb737bf55ba2dcb06d54155a93033c8bde2421f2555e3b2938a1188292f690ad879ddc47ea90239fceca2442d0471343b48 SHA512 596c8d0dc809ca711a0ade9c9e7e9323f9dbe397e1486876c0b85a38cf5fcfc0e77064a48b0db87cdbe24e37f4b9f667a1a179b01b16cba65dec197839362d1b
+EBUILD cmake_modules-9999.ebuild 375 BLAKE2B d58eca570616a0078c64957f095d5cb737bf55ba2dcb06d54155a93033c8bde2421f2555e3b2938a1188292f690ad879ddc47ea90239fceca2442d0471343b48 SHA512 596c8d0dc809ca711a0ade9c9e7e9323f9dbe397e1486876c0b85a38cf5fcfc0e77064a48b0db87cdbe24e37f4b9f667a1a179b01b16cba65dec197839362d1b
 MISC metadata.xml 331 BLAKE2B 542842b17662d8d11d0e8c9bf8e964a0bb220e9fd9b377a5d85ae41760a836cc66d5f4325fd79644878c7514d5d6487b4231417249bad174e294961404f64919 SHA512 cd2600dbf2b4aa2203c0d84f35ee501e48d3e14d16bd66a66c135dc57dab76b5abd9a9888e62babce118f9fb7c80752be6d4a72b0c7a040f844cf37735a537d9
diff --git a/dev-ros/cmake_modules/cmake_modules-0.4.1.ebuild b/dev-ros/cmake_modules/cmake_modules-0.4.1.ebuild
deleted file mode 100644
index f526d47f996f..000000000000
--- a/dev-ros/cmake_modules/cmake_modules-0.4.1.ebuild
+++ /dev/null
@@ -1,17 +0,0 @@
-# Copyright 1999-2017 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/ros/cmake_modules"
-KEYWORDS="~amd64 ~arm"
-
-inherit ros-catkin
-
-DESCRIPTION="CMake Modules which are not distributed with CMake but are commonly used by ROS packages"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND=""
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/cmake_modules/cmake_modules-0.4.0.ebuild b/dev-ros/cmake_modules/cmake_modules-0.5.0.ebuild
index 58dcc7ecabc6..4b3ea76798d0 100644
--- a/dev-ros/cmake_modules/cmake_modules-0.4.0.ebuild
+++ b/dev-ros/cmake_modules/cmake_modules-0.5.0.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/cmake_modules"
 KEYWORDS="~amd64 ~arm"
diff --git a/dev-ros/cmake_modules/cmake_modules-9999.ebuild b/dev-ros/cmake_modules/cmake_modules-9999.ebuild
index 58dcc7ecabc6..4b3ea76798d0 100644
--- a/dev-ros/cmake_modules/cmake_modules-9999.ebuild
+++ b/dev-ros/cmake_modules/cmake_modules-9999.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/cmake_modules"
 KEYWORDS="~amd64 ~arm"
diff --git a/dev-ros/costmap_2d/Manifest b/dev-ros/costmap_2d/Manifest
index 39a92f08d18a..e9ab634a35ce 100644
--- a/dev-ros/costmap_2d/Manifest
+++ b/dev-ros/costmap_2d/Manifest
@@ -1,8 +1,10 @@
 DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
 DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD costmap_2d-1.16.1.ebuild 1129 BLAKE2B 9fef526a72f8c74a2f5416f6023b737a98c0c00accfa854dd45997d0f7fe60631a5c637decd882a931d67d1f62f14e6928fbd67e1c4f745c5c5a2e2b1a58f768 SHA512 289558f8f6435ea8dcce6007015d987dfe0ee43f58eb787794d771dc28a039692e1ee323641e53638c81c6d96e02c30f10116fa568ad57da6f7b8c3031b33ddb
 EBUILD costmap_2d-1.16.2.ebuild 1142 BLAKE2B f1c97efdafbf3bd401a2dbbe3b412f574ebf8eac3fe31881c4bb4be839ef565e768188395dbddd84c811689965fef423317a043226f6d2d356c74cab2fc04b7f SHA512 e384f914270afb78ff60d2963fa68e47f839970ea57131ec8a09318c530b8a7a544fbc34bfb230a045827128e1e5b91cc4324941249773b12abb9d81f40fab41
 EBUILD costmap_2d-1.16.3.ebuild 1139 BLAKE2B 6f8f93df8bf51709e4bbbe9444cd79d0d91bed2532016063d63d9d6c35e923169a9b752f1832de6ef01a24f3c207b79c5eb8f72d953fbbafcaa353eb330efd14 SHA512 6db86133f72cc7ee4c91b77b62a8ac31675ad5239de75d008d1cff937ef66288892254bf9b24ebf1bf3d31cfb1c13d45836eab50cbbf702e0c31a306242b6c6f
+EBUILD costmap_2d-1.16.6.ebuild 1139 BLAKE2B 13c3df2b0a5dd74d3618e8382497cabda65bf677091a86df9ab34ae28b356c7aa798750c31c82ef5664e793f88c972706fc8aa0652061b67903190369249bf71 SHA512 0b5899f6650272326d2e2767b06956d93ef1c5af695c1fc96baf58cacc3182e02f35c31cce73549a3ec874b7fa2ab80abe1f3882d933294130b1685d14a49658
 EBUILD costmap_2d-9999.ebuild 1142 BLAKE2B f1c97efdafbf3bd401a2dbbe3b412f574ebf8eac3fe31881c4bb4be839ef565e768188395dbddd84c811689965fef423317a043226f6d2d356c74cab2fc04b7f SHA512 e384f914270afb78ff60d2963fa68e47f839970ea57131ec8a09318c530b8a7a544fbc34bfb230a045827128e1e5b91cc4324941249773b12abb9d81f40fab41
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/costmap_2d/costmap_2d-1.16.6.ebuild b/dev-ros/costmap_2d/costmap_2d-1.16.6.ebuild
new file mode 100644
index 000000000000..87474f1cdd7c
--- /dev/null
+++ b/dev-ros/costmap_2d/costmap_2d-1.16.6.ebuild
@@ -0,0 +1,47 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+CATKIN_HAS_MESSAGES=yes
+PYTHON_COMPAT=( python2_7 )
+CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs dev-ros/map_msgs"
+
+inherit ros-catkin
+
+DESCRIPTION="Creates a 2D costmap from sensor data"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+REQUIRED_USE="ros_messages_cxx"
+
+RDEPEND="
+	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
+	dev-ros/laser_geometry
+	dev-ros/message_filters
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/pluginlib
+	dev-ros/roscpp
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2
+	dev-ros/tf2_ros
+	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/voxel_grid
+
+	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2_sensor_msgs
+
+	dev-cpp/eigen:3
+	dev-libs/boost:=[threads]
+	dev-libs/tinyxml2:=
+"
+DEPEND="${RDEPEND}
+	dev-ros/cmake_modules
+	test? (
+		dev-ros/map_server
+		dev-ros/rosbag
+		dev-ros/rostest[${PYTHON_USEDEP}]
+		dev-ros/rosunit
+	)"
diff --git a/dev-ros/dwa_local_planner/Manifest b/dev-ros/dwa_local_planner/Manifest
index bed07b0da8c9..6f2b11b34a47 100644
--- a/dev-ros/dwa_local_planner/Manifest
+++ b/dev-ros/dwa_local_planner/Manifest
@@ -1,8 +1,10 @@
 DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
 DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD dwa_local_planner-1.16.1.ebuild 746 BLAKE2B 8b654dc13b03bc20450717659ec46fdb5aa7feb9c29b7ec53d06a85c3f2823773eaf58f2e2e63f33459ce9ebaacae9d1a49b25e0651e1dff3db2b2d62b70043d SHA512 fcfdb8d8c5899488c71c424c8507db0d6d65e18347b2b0d2d00ff20f6b09fc16f72c87839328c77fa251d2a7e7cb0ea376df819a289021f88a2cbab445c69984
 EBUILD dwa_local_planner-1.16.2.ebuild 827 BLAKE2B e82648179639420c67dfe780a59b37dbc4d4f7b14927f28c1a31a5e98ced5a3c057197f55b546a22fe6dcad8cec8e328318ea54660fa554f02f9092921b6cc65 SHA512 6b934ce33bf82f25e59bc498c603aee0f8afdae264b0ebac7b8b04346bd25a75abdd1afb6fa3fafed0a3a1015c7ea6deefe6d7ceacb9bd4beb3068c2f949b2d3
 EBUILD dwa_local_planner-1.16.3.ebuild 824 BLAKE2B 04e195b2d8cf1b215bdbe642bc45e0bf5957ab365f0884ec588305405aa8455b2d008290a78b6899b665884eb4be9974c2394c177dee5784fce2583c5e6dd822 SHA512 0c8bc1ec0aee66a0b59fd6429ca25abfd5ff3712f069458ae70f947f9030a6aa7a2360822d98a6b17650bf903f0139b48422155c0671a67174e2b45989279078
+EBUILD dwa_local_planner-1.16.6.ebuild 824 BLAKE2B 0b412e8be4d90c5c5bd6c881229f185c784914ef3bcf1402e9eaa9f6e478cf00f892e23ea22a054d0881e75867cb890ad2cd873a7e8258d86b4b1c544153b1a0 SHA512 eff80aabefee58c4bfa753427e5570554215140c7cb3871bdc50754d5b9951da8a3fbc3f25f2db2a3149e543f538ce2a53b290ad878e3e3af985347699c54f43
 EBUILD dwa_local_planner-9999.ebuild 827 BLAKE2B e82648179639420c67dfe780a59b37dbc4d4f7b14927f28c1a31a5e98ced5a3c057197f55b546a22fe6dcad8cec8e328318ea54660fa554f02f9092921b6cc65 SHA512 6b934ce33bf82f25e59bc498c603aee0f8afdae264b0ebac7b8b04346bd25a75abdd1afb6fa3fafed0a3a1015c7ea6deefe6d7ceacb9bd4beb3068c2f949b2d3
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/dwa_local_planner/dwa_local_planner-1.16.6.ebuild b/dev-ros/dwa_local_planner/dwa_local_planner-1.16.6.ebuild
new file mode 100644
index 000000000000..462c98c473a6
--- /dev/null
+++ b/dev-ros/dwa_local_planner/dwa_local_planner-1.16.6.ebuild
@@ -0,0 +1,36 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+PYTHON_COMPAT=( python2_7 )
+
+inherit ros-catkin
+
+DESCRIPTION="Dynamic Window Approach to local robot navigation on a plane"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/angles
+	dev-ros/base_local_planner
+	dev-ros/costmap_2d
+	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
+	dev-cpp/eigen:3
+	dev-ros/nav_core
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/pluginlib
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/roscpp
+
+	dev-ros/tf2
+	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2_ros
+
+	dev-libs/boost:=[threads]
+	dev-libs/console_bridge:=
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/fake_localization/Manifest b/dev-ros/fake_localization/Manifest
index d793fd39d12c..294a308b4ab1 100644
--- a/dev-ros/fake_localization/Manifest
+++ b/dev-ros/fake_localization/Manifest
@@ -1,7 +1,4 @@
-AUX boost170.patch 378 BLAKE2B 9e9cf95eefc7232744cf165e88b0cd8f9ce6d20db95f375f54acc98c238563acb5a18edd267fe002ddf1341ea0951921e29f3954c2435058a5e4353037346813 SHA512 ca18f9ecb6e382385995dce25851636df9f1edd1b0951b650bb292202e94758a71c820f00947f4edc3c6065e09d828b7c88c325d8a239f425b5aca423157b95a
-DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
-DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
-EBUILD fake_localization-1.16.2.ebuild 803 BLAKE2B e4a4f7e50b2dfedb16e3b6cf64b42f18ad0281e6316c32e301e75ca382b7fa8df4520ca8c4720ce9f5658fabfc489c7d69a3f300623f6fec3e9515a73897e096 SHA512 9c9d3f649d752f6ed4e05d1c50de2caf696d4053a006ac2737b2c2248222c210e0f259bc02c8bfd019d348d201f21d1a5662a94fa9665f040b4012544252e3c1
-EBUILD fake_localization-1.16.3.ebuild 803 BLAKE2B e4a4f7e50b2dfedb16e3b6cf64b42f18ad0281e6316c32e301e75ca382b7fa8df4520ca8c4720ce9f5658fabfc489c7d69a3f300623f6fec3e9515a73897e096 SHA512 9c9d3f649d752f6ed4e05d1c50de2caf696d4053a006ac2737b2c2248222c210e0f259bc02c8bfd019d348d201f21d1a5662a94fa9665f040b4012544252e3c1
-EBUILD fake_localization-9999.ebuild 803 BLAKE2B e4a4f7e50b2dfedb16e3b6cf64b42f18ad0281e6316c32e301e75ca382b7fa8df4520ca8c4720ce9f5658fabfc489c7d69a3f300623f6fec3e9515a73897e096 SHA512 9c9d3f649d752f6ed4e05d1c50de2caf696d4053a006ac2737b2c2248222c210e0f259bc02c8bfd019d348d201f21d1a5662a94fa9665f040b4012544252e3c1
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
+EBUILD fake_localization-1.16.6.ebuild 778 BLAKE2B 47f02bad288a9dcf6428a4d45678aa54f23729fcedd4db97b05b754b00b21baee9eaed040f68485928dd6c7f60afe2b53dff42dfd16c3670793292f2b6e21798 SHA512 b9c4255d6607731b61245667c90c571e52cba635c068d4559c3930cbe3c9e80ec05189efa78405bd7293d8327c30470c4c187a23b4726fd438c537052cc51b1e
+EBUILD fake_localization-9999.ebuild 778 BLAKE2B 47f02bad288a9dcf6428a4d45678aa54f23729fcedd4db97b05b754b00b21baee9eaed040f68485928dd6c7f60afe2b53dff42dfd16c3670793292f2b6e21798 SHA512 b9c4255d6607731b61245667c90c571e52cba635c068d4559c3930cbe3c9e80ec05189efa78405bd7293d8327c30470c4c187a23b4726fd438c537052cc51b1e
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/fake_localization/fake_localization-1.16.2.ebuild b/dev-ros/fake_localization/fake_localization-1.16.6.ebuild
index 946772aaddd8..1634273142ee 100644
--- a/dev-ros/fake_localization/fake_localization-1.16.2.ebuild
+++ b/dev-ros/fake_localization/fake_localization-1.16.6.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-planning/navigation"
 ROS_SUBDIR=${PN}
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
@@ -20,11 +19,13 @@ RDEPEND="
 	dev-ros/roscpp
 	dev-ros/rospy[${PYTHON_USEDEP}]
 	dev-ros/rosconsole
-	dev-ros/nav_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP},${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP},${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
 	dev-ros/tf2_ros
 	dev-ros/message_filters
+"
+DEPEND="${RDEPEND}
 	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 "
-DEPEND="${RDEPEND}"
-PATCHES=( "${FILESDIR}/boost170.patch" )
diff --git a/dev-ros/fake_localization/fake_localization-9999.ebuild b/dev-ros/fake_localization/fake_localization-9999.ebuild
index 946772aaddd8..1634273142ee 100644
--- a/dev-ros/fake_localization/fake_localization-9999.ebuild
+++ b/dev-ros/fake_localization/fake_localization-9999.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-planning/navigation"
 ROS_SUBDIR=${PN}
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
@@ -20,11 +19,13 @@ RDEPEND="
 	dev-ros/roscpp
 	dev-ros/rospy[${PYTHON_USEDEP}]
 	dev-ros/rosconsole
-	dev-ros/nav_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP},${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP},${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
 	dev-ros/tf2_ros
 	dev-ros/message_filters
+"
+DEPEND="${RDEPEND}
 	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 "
-DEPEND="${RDEPEND}"
-PATCHES=( "${FILESDIR}/boost170.patch" )
diff --git a/dev-ros/fake_localization/files/boost170.patch b/dev-ros/fake_localization/files/boost170.patch
deleted file mode 100644
index b7f877a82b4f..000000000000
--- a/dev-ros/fake_localization/files/boost170.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-Index: fake_localization/CMakeLists.txt
-===================================================================
---- fake_localization.orig/CMakeLists.txt
-+++ fake_localization/CMakeLists.txt
-@@ -14,7 +14,7 @@ find_package(catkin REQUIRED
-         )
- 
- 
--find_package(Boost REQUIRED COMPONENTS signals)
-+find_package(Boost REQUIRED COMPONENTS)
- 
- catkin_package(
-     CATKIN_DEPENDS
diff --git a/dev-ros/gazebo_dev/Manifest b/dev-ros/gazebo_dev/Manifest
index e7dbb49be05c..fc929d12ea36 100644
--- a/dev-ros/gazebo_dev/Manifest
+++ b/dev-ros/gazebo_dev/Manifest
@@ -2,9 +2,11 @@ DIST gazebo_ros_pkgs-2.7.3.tar.gz 1836260 BLAKE2B 7867bec1461769923ba36ea2e56b21
 DIST gazebo_ros_pkgs-2.7.4.tar.gz 1839281 BLAKE2B 3a8342465e69c6b7d986b6a9f04b42451479434839a10ecebc1993ad57ffecf78b1f67013fe54919477a252ef547ab5ed768b4f0303de7395e6a693e1aafced1 SHA512 43c1fed13a653a93df85110d49fcd5d324b80e080cdef08ad15cd293d25b0eca59ec9610e420074f2bf406567a79a8c0b8ae88a289981626f2f5be1dc8b06c22
 DIST gazebo_ros_pkgs-2.8.4.tar.gz 1853755 BLAKE2B 4551557629cb43e651714b2e1a6aca3b127cd769bad47144b1fb769138f5c15cee45ab012a6e695559f42dbd7b0989984a2c979abc8779f63f815f909ec4a411 SHA512 6595e06b1269e2cdf8850a040f40e59a9169cc0790e7b646ba025767a72fc4eabcacd069d1cd3f82b1ca66ff47811df117134323a10e409aa2fe8b9c1f812525
 DIST gazebo_ros_pkgs-2.8.5.tar.gz 1854305 BLAKE2B f82021144b788b5fe19269ad28e1970a5f932ec91f7afdc0e45c4870125138b51cfadd794c08b52836f21e9d07c026cda80656794201b606b11b344ae73847e8 SHA512 124af0cff7933ce61127fd3ea61261e94b154954586af420c78775a6e4c69a741402aa563cb8d12a6b0f8a794a3948533c0a01555b00546c7c89742e43b25666
+DIST gazebo_ros_pkgs-2.8.7.tar.gz 1860830 BLAKE2B 2d0bf4774b1eff0bc658baf101d3450e5d94bcf8603a6e012b8a62422eb6a6b32e3c00c82f2854182ff990cf5017c23dac02d645c6a634d9fdb34403870ffd20 SHA512 3326c88dd7145a5beeaa0bd9c19f6abc2fb5483cfff1748b01c8f137c7223ffef80ff0df5cd0a2cb255006eaa44eef60cc878b362eed4a1d9a43a1a09ad24eaa
 EBUILD gazebo_dev-2.7.3.ebuild 429 BLAKE2B 0cfb994b78a221e41ad5c82a7cb051f88bd26a31527f2cdc47279d5d941358233ec6321ba1e05cb4bab9305b53f506192ab96b0f512240d2fe28561caf124101 SHA512 a724a7ab312b8dda2dea5dcc0d40ed2e9024629b392aa0495dd3b1910f8bb499d2d04086a89764496252338b3594edb42db775950161e904e0d0632de68c2b58
 EBUILD gazebo_dev-2.7.4.ebuild 429 BLAKE2B 0cfb994b78a221e41ad5c82a7cb051f88bd26a31527f2cdc47279d5d941358233ec6321ba1e05cb4bab9305b53f506192ab96b0f512240d2fe28561caf124101 SHA512 a724a7ab312b8dda2dea5dcc0d40ed2e9024629b392aa0495dd3b1910f8bb499d2d04086a89764496252338b3594edb42db775950161e904e0d0632de68c2b58
 EBUILD gazebo_dev-2.8.4.ebuild 429 BLAKE2B 0cfb994b78a221e41ad5c82a7cb051f88bd26a31527f2cdc47279d5d941358233ec6321ba1e05cb4bab9305b53f506192ab96b0f512240d2fe28561caf124101 SHA512 a724a7ab312b8dda2dea5dcc0d40ed2e9024629b392aa0495dd3b1910f8bb499d2d04086a89764496252338b3594edb42db775950161e904e0d0632de68c2b58
 EBUILD gazebo_dev-2.8.5.ebuild 426 BLAKE2B f3a1c0411f63f023e771d8196cc2bdeade104317a27fa785a70f47909b6a0cb23df920f20452047a7c34fb2f265b2b20065ff09dfe9766d3c320f25e8b523055 SHA512 cc17d8c023011dcfe5a7af0876eea0164611220cac10c26ddd7ff8fcfc5fdbe06b068b9d178072293ca6eed7c4644a12f70c6cd749ef8f3727a2b86774e6769b
+EBUILD gazebo_dev-2.8.7.ebuild 426 BLAKE2B 8fdc674a5cb07104c7b90def41f6f9a7f97341012646d4a6fb933136585f134698fc84e940ff5ed50f181bfc073f9cefbaffbf391f204d4cf4c17dfbb85a4093 SHA512 0fb06d1d8b2a5817eb5ecfb7653975b16ccb4fbd39ac8917eb1de586d68d6988c044442ede6806fd2937d0d7964a073784b6fe073f1507fc478e78707e85a672
 EBUILD gazebo_dev-9999.ebuild 429 BLAKE2B 0cfb994b78a221e41ad5c82a7cb051f88bd26a31527f2cdc47279d5d941358233ec6321ba1e05cb4bab9305b53f506192ab96b0f512240d2fe28561caf124101 SHA512 a724a7ab312b8dda2dea5dcc0d40ed2e9024629b392aa0495dd3b1910f8bb499d2d04086a89764496252338b3594edb42db775950161e904e0d0632de68c2b58
 MISC metadata.xml 344 BLAKE2B 673236d235252b8d24e90577c187252fe83ac05f87c29b123c3e064be9649efca3e8e23f0f60e2fd7a1d1b4f1c8c59dd6ae18bed904057f68c8a99c8c2e49fda SHA512 9b7223f95a007995d9a626aa653d2f0f8dc84364c325109fbd9b2f84f0359db12f2d2e3d16391f33364627082f52f8bac6b81c1992d64630bd70e476ce2c5d4d
diff --git a/dev-ros/gazebo_dev/gazebo_dev-2.8.7.ebuild b/dev-ros/gazebo_dev/gazebo_dev-2.8.7.ebuild
new file mode 100644
index 000000000000..20ebd7592009
--- /dev/null
+++ b/dev-ros/gazebo_dev/gazebo_dev-2.8.7.ebuild
@@ -0,0 +1,19 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
+KEYWORDS="~amd64"
+ROS_SUBDIR=${PN}
+
+inherit ros-catkin
+
+DESCRIPTION="Provides a cmake config for the default version of Gazebo for the ROS distribution."
+LICENSE="Apache-2.0"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	sci-electronics/gazebo
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/gazebo_msgs/Manifest b/dev-ros/gazebo_msgs/Manifest
index 0c2f43df342c..2c5eb5300d4b 100644
--- a/dev-ros/gazebo_msgs/Manifest
+++ b/dev-ros/gazebo_msgs/Manifest
@@ -3,10 +3,12 @@ DIST gazebo_ros_pkgs-2.7.3.tar.gz 1836260 BLAKE2B 7867bec1461769923ba36ea2e56b21
 DIST gazebo_ros_pkgs-2.7.4.tar.gz 1839281 BLAKE2B 3a8342465e69c6b7d986b6a9f04b42451479434839a10ecebc1993ad57ffecf78b1f67013fe54919477a252ef547ab5ed768b4f0303de7395e6a693e1aafced1 SHA512 43c1fed13a653a93df85110d49fcd5d324b80e080cdef08ad15cd293d25b0eca59ec9610e420074f2bf406567a79a8c0b8ae88a289981626f2f5be1dc8b06c22
 DIST gazebo_ros_pkgs-2.8.4.tar.gz 1853755 BLAKE2B 4551557629cb43e651714b2e1a6aca3b127cd769bad47144b1fb769138f5c15cee45ab012a6e695559f42dbd7b0989984a2c979abc8779f63f815f909ec4a411 SHA512 6595e06b1269e2cdf8850a040f40e59a9169cc0790e7b646ba025767a72fc4eabcacd069d1cd3f82b1ca66ff47811df117134323a10e409aa2fe8b9c1f812525
 DIST gazebo_ros_pkgs-2.8.5.tar.gz 1854305 BLAKE2B f82021144b788b5fe19269ad28e1970a5f932ec91f7afdc0e45c4870125138b51cfadd794c08b52836f21e9d07c026cda80656794201b606b11b344ae73847e8 SHA512 124af0cff7933ce61127fd3ea61261e94b154954586af420c78775a6e4c69a741402aa563cb8d12a6b0f8a794a3948533c0a01555b00546c7c89742e43b25666
+DIST gazebo_ros_pkgs-2.8.7.tar.gz 1860830 BLAKE2B 2d0bf4774b1eff0bc658baf101d3450e5d94bcf8603a6e012b8a62422eb6a6b32e3c00c82f2854182ff990cf5017c23dac02d645c6a634d9fdb34403870ffd20 SHA512 3326c88dd7145a5beeaa0bd9c19f6abc2fb5483cfff1748b01c8f137c7223ffef80ff0df5cd0a2cb255006eaa44eef60cc878b362eed4a1d9a43a1a09ad24eaa
 EBUILD gazebo_msgs-2.6.2.ebuild 569 BLAKE2B 4c4470d4e6d924ab245632427f226de4c7923dfa89119d950cd816ac3674754a7efa2b273c8964c34fc6df51ee3efd4bc424845c4bbea6cdfaeb0f520f8b45f7 SHA512 13c1129fbe075af3e061bd0e47351664fd69dad5f1d4ff5cb66d9788d80e6254314f53300e0441761c35d53a7b93bfec81d02737cc8c13b1ba12b4e636611fb0
 EBUILD gazebo_msgs-2.7.3.ebuild 569 BLAKE2B 4c4470d4e6d924ab245632427f226de4c7923dfa89119d950cd816ac3674754a7efa2b273c8964c34fc6df51ee3efd4bc424845c4bbea6cdfaeb0f520f8b45f7 SHA512 13c1129fbe075af3e061bd0e47351664fd69dad5f1d4ff5cb66d9788d80e6254314f53300e0441761c35d53a7b93bfec81d02737cc8c13b1ba12b4e636611fb0
 EBUILD gazebo_msgs-2.7.4.ebuild 569 BLAKE2B 4c4470d4e6d924ab245632427f226de4c7923dfa89119d950cd816ac3674754a7efa2b273c8964c34fc6df51ee3efd4bc424845c4bbea6cdfaeb0f520f8b45f7 SHA512 13c1129fbe075af3e061bd0e47351664fd69dad5f1d4ff5cb66d9788d80e6254314f53300e0441761c35d53a7b93bfec81d02737cc8c13b1ba12b4e636611fb0
 EBUILD gazebo_msgs-2.8.4.ebuild 569 BLAKE2B 4c4470d4e6d924ab245632427f226de4c7923dfa89119d950cd816ac3674754a7efa2b273c8964c34fc6df51ee3efd4bc424845c4bbea6cdfaeb0f520f8b45f7 SHA512 13c1129fbe075af3e061bd0e47351664fd69dad5f1d4ff5cb66d9788d80e6254314f53300e0441761c35d53a7b93bfec81d02737cc8c13b1ba12b4e636611fb0
 EBUILD gazebo_msgs-2.8.5.ebuild 569 BLAKE2B 4c4470d4e6d924ab245632427f226de4c7923dfa89119d950cd816ac3674754a7efa2b273c8964c34fc6df51ee3efd4bc424845c4bbea6cdfaeb0f520f8b45f7 SHA512 13c1129fbe075af3e061bd0e47351664fd69dad5f1d4ff5cb66d9788d80e6254314f53300e0441761c35d53a7b93bfec81d02737cc8c13b1ba12b4e636611fb0
+EBUILD gazebo_msgs-2.8.7.ebuild 569 BLAKE2B 4c4470d4e6d924ab245632427f226de4c7923dfa89119d950cd816ac3674754a7efa2b273c8964c34fc6df51ee3efd4bc424845c4bbea6cdfaeb0f520f8b45f7 SHA512 13c1129fbe075af3e061bd0e47351664fd69dad5f1d4ff5cb66d9788d80e6254314f53300e0441761c35d53a7b93bfec81d02737cc8c13b1ba12b4e636611fb0
 EBUILD gazebo_msgs-9999.ebuild 569 BLAKE2B 4c4470d4e6d924ab245632427f226de4c7923dfa89119d950cd816ac3674754a7efa2b273c8964c34fc6df51ee3efd4bc424845c4bbea6cdfaeb0f520f8b45f7 SHA512 13c1129fbe075af3e061bd0e47351664fd69dad5f1d4ff5cb66d9788d80e6254314f53300e0441761c35d53a7b93bfec81d02737cc8c13b1ba12b4e636611fb0
 MISC metadata.xml 344 BLAKE2B 673236d235252b8d24e90577c187252fe83ac05f87c29b123c3e064be9649efca3e8e23f0f60e2fd7a1d1b4f1c8c59dd6ae18bed904057f68c8a99c8c2e49fda SHA512 9b7223f95a007995d9a626aa653d2f0f8dc84364c325109fbd9b2f84f0359db12f2d2e3d16391f33364627082f52f8bac6b81c1992d64630bd70e476ce2c5d4d
diff --git a/dev-ros/gazebo_msgs/gazebo_msgs-2.8.7.ebuild b/dev-ros/gazebo_msgs/gazebo_msgs-2.8.7.ebuild
new file mode 100644
index 000000000000..b8da68f271a3
--- /dev/null
+++ b/dev-ros/gazebo_msgs/gazebo_msgs-2.8.7.ebuild
@@ -0,0 +1,20 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
+KEYWORDS="~amd64"
+PYTHON_COMPAT=( python2_7 )
+CATKIN_HAS_MESSAGES=yes
+ROS_SUBDIR=${PN}
+CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/geometry_msgs dev-ros/sensor_msgs dev-ros/trajectory_msgs dev-ros/std_msgs dev-ros/std_srvs"
+
+inherit ros-catkin
+
+DESCRIPTION="Message and service data structures for interacting with Gazebo from ROS"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND=""
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/gazebo_plugins/Manifest b/dev-ros/gazebo_plugins/Manifest
index a0189f202460..dd17276b0c7e 100644
--- a/dev-ros/gazebo_plugins/Manifest
+++ b/dev-ros/gazebo_plugins/Manifest
@@ -1,5 +1,5 @@
 AUX ocv4.patch 557 BLAKE2B 65adfeae5045dc21b29193a7bcbbf22cb4649425d551b8710bc557cbcf13f04f00fb319a2ea8962cd4cd4dd08976ad0257897f37a746410c59af12cd2cd4857d SHA512 335f85ee02cc1b54504d33fb8c06b49fb80f1d1e7bbb427870718a0adc92227bff9ba4ecfc7e6e7dc8f4bf95a404ef2d7894305504b4fe9f97ceeda84f4f2a5d
-DIST gazebo_ros_pkgs-2.8.5.tar.gz 1854305 BLAKE2B f82021144b788b5fe19269ad28e1970a5f932ec91f7afdc0e45c4870125138b51cfadd794c08b52836f21e9d07c026cda80656794201b606b11b344ae73847e8 SHA512 124af0cff7933ce61127fd3ea61261e94b154954586af420c78775a6e4c69a741402aa563cb8d12a6b0f8a794a3948533c0a01555b00546c7c89742e43b25666
-EBUILD gazebo_plugins-2.8.5.ebuild 1476 BLAKE2B 07ce18f1ee9342aeb2c0360ce4ad9126242618e3e5310b47d9228f1bfcf6f626ad236d8f2df56d635d86d998a69cb380ab1f4fefd4d8543e210819c20d72af88 SHA512 1579dd3b4368b38cba8a973e89fcc91c5b1113518c42d0d2e7dff55ee2b402b418cc0d06568494a72ceb232f2a710f23354d56fe50a1fb0a4176a5e25e053c13
-EBUILD gazebo_plugins-9999.ebuild 1439 BLAKE2B bd96afb07bcc5170d29af1a1e9e4919644a715506704dacc9914422a6256ec17d39fe672cb6d1a4a4d0724aae7407921592dcf18077fbc162c685ca03d7cfe45 SHA512 367ba1406ea9cd16cef287b530708ea34b7a3eb658e0ba2c2ea21c478468403213eb74e68ecdfc04a6aff63a99ad69476b968f47bdc4f6cbe1269e4b95abbeab
+DIST gazebo_ros_pkgs-2.8.7.tar.gz 1860830 BLAKE2B 2d0bf4774b1eff0bc658baf101d3450e5d94bcf8603a6e012b8a62422eb6a6b32e3c00c82f2854182ff990cf5017c23dac02d645c6a634d9fdb34403870ffd20 SHA512 3326c88dd7145a5beeaa0bd9c19f6abc2fb5483cfff1748b01c8f137c7223ffef80ff0df5cd0a2cb255006eaa44eef60cc878b362eed4a1d9a43a1a09ad24eaa
+EBUILD gazebo_plugins-2.8.7.ebuild 1415 BLAKE2B a6dbfc7f5c2f6bc6c6b97faf626458a4a4e439be31bd91dc5fcf603b999bc13e5ad46bb5f01f4533329e05f6c29e50eb4a14f2699e53905fc48b481d22d53e8b SHA512 e893574f0285188529395c524dbe67bda5b1b95b3c32cfc0466d49a33f76173fdacdcbc1f9cd0893b5f338bfda582856613760b2faef535e6e456be0602db341
+EBUILD gazebo_plugins-9999.ebuild 1415 BLAKE2B a6dbfc7f5c2f6bc6c6b97faf626458a4a4e439be31bd91dc5fcf603b999bc13e5ad46bb5f01f4533329e05f6c29e50eb4a14f2699e53905fc48b481d22d53e8b SHA512 e893574f0285188529395c524dbe67bda5b1b95b3c32cfc0466d49a33f76173fdacdcbc1f9cd0893b5f338bfda582856613760b2faef535e6e456be0602db341
 MISC metadata.xml 344 BLAKE2B 673236d235252b8d24e90577c187252fe83ac05f87c29b123c3e064be9649efca3e8e23f0f60e2fd7a1d1b4f1c8c59dd6ae18bed904057f68c8a99c8c2e49fda SHA512 9b7223f95a007995d9a626aa653d2f0f8dc84364c325109fbd9b2f84f0359db12f2d2e3d16391f33364627082f52f8bac6b81c1992d64630bd70e476ce2c5d4d
diff --git a/dev-ros/gazebo_plugins/gazebo_plugins-2.8.5.ebuild b/dev-ros/gazebo_plugins/gazebo_plugins-2.8.7.ebuild
index 4d6a5baf32c3..cb8474d4c001 100644
--- a/dev-ros/gazebo_plugins/gazebo_plugins-2.8.5.ebuild
+++ b/dev-ros/gazebo_plugins/gazebo_plugins-2.8.7.ebuild
@@ -1,38 +1,32 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
 KEYWORDS="~amd64"
-PYTHON_COMPAT=( python2_7 )
 CATKIN_HAS_MESSAGES=yes
 ROS_SUBDIR=${PN}
 
 inherit ros-catkin
 
-DESCRIPTION="Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components"
+DESCRIPTION="Robot-independent Gazebo plugins"
 LICENSE="BSD Apache-2.0"
 SLOT="0"
 IUSE=""
 
 RDEPEND="
 	dev-ros/gazebo_dev
-	dev-ros/gazebo_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/roscpp
 	dev-ros/rospy
 	dev-ros/nodelet
 	dev-ros/angles
 	dev-ros/std_srvs
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
 	dev-ros/urdf
 	dev-ros/tf
 	dev-ros/tf2_ros
 	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
 	dev-ros/driver_base[${PYTHON_USEDEP}]
-	dev-ros/rosgraph_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/trajectory_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/pcl_conversions
 	dev-ros/image_transport
 	dev-ros/rosconsole
@@ -41,7 +35,6 @@ RDEPEND="
 	dev-ros/polled_camera
 	dev-ros/diagnostic_updater
 	dev-ros/camera_info_manager
-	dev-ros/moveit_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-libs/libxml2
 	>=sci-electronics/gazebo-7:=
 	dev-libs/protobuf:=
@@ -50,5 +43,13 @@ RDEPEND="
 	dev-libs/boost:=
 	dev-ros/roslib[${PYTHON_USEDEP}]
 "
-DEPEND="${RDEPEND}"
+DEPEND="${RDEPEND}
+	dev-ros/gazebo_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/rosgraph_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/trajectory_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/moveit_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
 PATCHES=( "${FILESDIR}/ocv4.patch" )
diff --git a/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild b/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild
index 88ed4a6fdf55..cb8474d4c001 100644
--- a/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild
+++ b/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild
@@ -1,38 +1,32 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
 KEYWORDS="~amd64"
-PYTHON_COMPAT=( python2_7 )
 CATKIN_HAS_MESSAGES=yes
 ROS_SUBDIR=${PN}
 
 inherit ros-catkin
 
-DESCRIPTION="Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components"
+DESCRIPTION="Robot-independent Gazebo plugins"
 LICENSE="BSD Apache-2.0"
 SLOT="0"
 IUSE=""
 
 RDEPEND="
 	dev-ros/gazebo_dev
-	dev-ros/gazebo_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/roscpp
 	dev-ros/rospy
 	dev-ros/nodelet
 	dev-ros/angles
 	dev-ros/std_srvs
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
 	dev-ros/urdf
 	dev-ros/tf
 	dev-ros/tf2_ros
 	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
 	dev-ros/driver_base[${PYTHON_USEDEP}]
-	dev-ros/rosgraph_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/trajectory_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/pcl_conversions
 	dev-ros/image_transport
 	dev-ros/rosconsole
@@ -41,7 +35,6 @@ RDEPEND="
 	dev-ros/polled_camera
 	dev-ros/diagnostic_updater
 	dev-ros/camera_info_manager
-	dev-ros/moveit_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-libs/libxml2
 	>=sci-electronics/gazebo-7:=
 	dev-libs/protobuf:=
@@ -50,4 +43,13 @@ RDEPEND="
 	dev-libs/boost:=
 	dev-ros/roslib[${PYTHON_USEDEP}]
 "
-DEPEND="${RDEPEND}"
+DEPEND="${RDEPEND}
+	dev-ros/gazebo_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/rosgraph_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/trajectory_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/moveit_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
+PATCHES=( "${FILESDIR}/ocv4.patch" )
diff --git a/dev-ros/gazebo_ros/Manifest b/dev-ros/gazebo_ros/Manifest
index 830dffa46649..c9e87f7065cd 100644
--- a/dev-ros/gazebo_ros/Manifest
+++ b/dev-ros/gazebo_ros/Manifest
@@ -4,10 +4,12 @@ DIST gazebo_ros_pkgs-2.7.3.tar.gz 1836260 BLAKE2B 7867bec1461769923ba36ea2e56b21
 DIST gazebo_ros_pkgs-2.7.4.tar.gz 1839281 BLAKE2B 3a8342465e69c6b7d986b6a9f04b42451479434839a10ecebc1993ad57ffecf78b1f67013fe54919477a252ef547ab5ed768b4f0303de7395e6a693e1aafced1 SHA512 43c1fed13a653a93df85110d49fcd5d324b80e080cdef08ad15cd293d25b0eca59ec9610e420074f2bf406567a79a8c0b8ae88a289981626f2f5be1dc8b06c22
 DIST gazebo_ros_pkgs-2.8.4.tar.gz 1853755 BLAKE2B 4551557629cb43e651714b2e1a6aca3b127cd769bad47144b1fb769138f5c15cee45ab012a6e695559f42dbd7b0989984a2c979abc8779f63f815f909ec4a411 SHA512 6595e06b1269e2cdf8850a040f40e59a9169cc0790e7b646ba025767a72fc4eabcacd069d1cd3f82b1ca66ff47811df117134323a10e409aa2fe8b9c1f812525
 DIST gazebo_ros_pkgs-2.8.5.tar.gz 1854305 BLAKE2B f82021144b788b5fe19269ad28e1970a5f932ec91f7afdc0e45c4870125138b51cfadd794c08b52836f21e9d07c026cda80656794201b606b11b344ae73847e8 SHA512 124af0cff7933ce61127fd3ea61261e94b154954586af420c78775a6e4c69a741402aa563cb8d12a6b0f8a794a3948533c0a01555b00546c7c89742e43b25666
+DIST gazebo_ros_pkgs-2.8.7.tar.gz 1860830 BLAKE2B 2d0bf4774b1eff0bc658baf101d3450e5d94bcf8603a6e012b8a62422eb6a6b32e3c00c82f2854182ff990cf5017c23dac02d645c6a634d9fdb34403870ffd20 SHA512 3326c88dd7145a5beeaa0bd9c19f6abc2fb5483cfff1748b01c8f137c7223ffef80ff0df5cd0a2cb255006eaa44eef60cc878b362eed4a1d9a43a1a09ad24eaa
 EBUILD gazebo_ros-2.6.2.ebuild 1009 BLAKE2B 356b118f6b7e0e2638a9b513ded0b9a9ef94a413b17ecaad22d73984ae88980be5e77390774e2ef43fd470c8af1e5e997399a8011f1bbca04b4186e0bc1105bb SHA512 61c285486cf13f06346311cd83bb04c4c9dc87963ec2927d658a8782a5a4b43fe7f54bf07127652f20ae9dde473f1234e3fd2fc84b691f665b9f6d95f978c132
 EBUILD gazebo_ros-2.7.3.ebuild 1282 BLAKE2B 2ad6a1a6e9a192a34ac8140b20ebc4787a31971d176e4ddd7f929746b1d694955e50b166f732908906ee1b5385dd51cbca746ee1ff4727e48948fca8c3ce0f37 SHA512 5d25298b56befcd572bd1939b075ed34a772410e10ebe73975a6e1f756e10bd090a2cd4776fa4bda21bd994ed1cce20155a1dae02bf8918e46259228ec3c43f8
 EBUILD gazebo_ros-2.7.4.ebuild 1029 BLAKE2B 6cf605bc53c1088714faff8352aff0d7a47655e17cec74bcb2dfd8122d87bdbc9073e10de7a5f271af7339c3143f03a4138a50614a12053bb4beea99be179483 SHA512 db98b128349f555b484af6e2507da1f0603daded2c31fda700ad3339cb3d654e5c945da53e69e06b7c4962fa5e41ca2f1b11a9436b5e9ef440c1e70c7588f872
 EBUILD gazebo_ros-2.8.4.ebuild 1029 BLAKE2B 6cf605bc53c1088714faff8352aff0d7a47655e17cec74bcb2dfd8122d87bdbc9073e10de7a5f271af7339c3143f03a4138a50614a12053bb4beea99be179483 SHA512 db98b128349f555b484af6e2507da1f0603daded2c31fda700ad3339cb3d654e5c945da53e69e06b7c4962fa5e41ca2f1b11a9436b5e9ef440c1e70c7588f872
 EBUILD gazebo_ros-2.8.5.ebuild 1026 BLAKE2B befc99333d36e2366eb794f9d2a820a310759ec9aa3e573d382f7fa7aac1e1499d8c1d7844e9343843ef66012a38e9a22781471e8c496758dce10360144f5961 SHA512 373e347c174d56497d381d3e0c6a76795caaeea32c083e878fd245b012b661c9385da8f51e19282f06ff7595fddf40ac0f573c491cc21ee1abf0611dfe1da35b
+EBUILD gazebo_ros-2.8.7.ebuild 1026 BLAKE2B df4eeb0fce0223ce1fcc82edd1f86803dc8976ee18817aba06785284df4de4fa058fa8006d83d6150b5148c149bdda6d2c5d161d55879f0363e1a082b287aceb SHA512 92d9f63c5fe95142d6dbc89c83392f93ead16c9f0895cfae48c34c6b892e573f8e118ef7426f5c12d9f0122c577ca2c5f73877feed58272bb6a8fd4e795d73e2
 EBUILD gazebo_ros-9999.ebuild 1029 BLAKE2B 6cf605bc53c1088714faff8352aff0d7a47655e17cec74bcb2dfd8122d87bdbc9073e10de7a5f271af7339c3143f03a4138a50614a12053bb4beea99be179483 SHA512 db98b128349f555b484af6e2507da1f0603daded2c31fda700ad3339cb3d654e5c945da53e69e06b7c4962fa5e41ca2f1b11a9436b5e9ef440c1e70c7588f872
 MISC metadata.xml 344 BLAKE2B 673236d235252b8d24e90577c187252fe83ac05f87c29b123c3e064be9649efca3e8e23f0f60e2fd7a1d1b4f1c8c59dd6ae18bed904057f68c8a99c8c2e49fda SHA512 9b7223f95a007995d9a626aa653d2f0f8dc84364c325109fbd9b2f84f0359db12f2d2e3d16391f33364627082f52f8bac6b81c1992d64630bd70e476ce2c5d4d
diff --git a/dev-ros/gazebo_ros/gazebo_ros-2.8.7.ebuild b/dev-ros/gazebo_ros/gazebo_ros-2.8.7.ebuild
new file mode 100644
index 000000000000..254d5552bb46
--- /dev/null
+++ b/dev-ros/gazebo_ros/gazebo_ros-2.8.7.ebuild
@@ -0,0 +1,36 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
+KEYWORDS="~amd64"
+PYTHON_COMPAT=( python2_7 )
+CATKIN_HAS_MESSAGES=yes
+ROS_SUBDIR=${PN}
+
+inherit ros-catkin
+
+DESCRIPTION="ROS plugins that offer message and service publishers for interfacing with gazebo"
+LICENSE="Apache-2.0"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/gazebo_dev
+	dev-libs/tinyxml
+	sci-electronics/gazebo:=
+	dev-libs/protobuf:=
+	dev-ros/gazebo_plugins[${PYTHON_USEDEP}]
+	dev-ros/roslib[${PYTHON_USEDEP}]
+	dev-ros/roscpp
+	dev-ros/tf[${PYTHON_USEDEP}]
+	dev-ros/dynamic_reconfigure
+	dev-libs/libxml2
+	dev-libs/boost:=[threads]
+	dev-ros/gazebo_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/std_msgs
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
+	dev-ros/rosgraph_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/gazebo_ros_control/Manifest b/dev-ros/gazebo_ros_control/Manifest
index f416c5d73f18..32c5f14d59d4 100644
--- a/dev-ros/gazebo_ros_control/Manifest
+++ b/dev-ros/gazebo_ros_control/Manifest
@@ -5,10 +5,12 @@ DIST gazebo_ros_pkgs-2.7.3.tar.gz 1836260 BLAKE2B 7867bec1461769923ba36ea2e56b21
 DIST gazebo_ros_pkgs-2.7.4.tar.gz 1839281 BLAKE2B 3a8342465e69c6b7d986b6a9f04b42451479434839a10ecebc1993ad57ffecf78b1f67013fe54919477a252ef547ab5ed768b4f0303de7395e6a693e1aafced1 SHA512 43c1fed13a653a93df85110d49fcd5d324b80e080cdef08ad15cd293d25b0eca59ec9610e420074f2bf406567a79a8c0b8ae88a289981626f2f5be1dc8b06c22
 DIST gazebo_ros_pkgs-2.8.4.tar.gz 1853755 BLAKE2B 4551557629cb43e651714b2e1a6aca3b127cd769bad47144b1fb769138f5c15cee45ab012a6e695559f42dbd7b0989984a2c979abc8779f63f815f909ec4a411 SHA512 6595e06b1269e2cdf8850a040f40e59a9169cc0790e7b646ba025767a72fc4eabcacd069d1cd3f82b1ca66ff47811df117134323a10e409aa2fe8b9c1f812525
 DIST gazebo_ros_pkgs-2.8.5.tar.gz 1854305 BLAKE2B f82021144b788b5fe19269ad28e1970a5f932ec91f7afdc0e45c4870125138b51cfadd794c08b52836f21e9d07c026cda80656794201b606b11b344ae73847e8 SHA512 124af0cff7933ce61127fd3ea61261e94b154954586af420c78775a6e4c69a741402aa563cb8d12a6b0f8a794a3948533c0a01555b00546c7c89742e43b25666
+DIST gazebo_ros_pkgs-2.8.7.tar.gz 1860830 BLAKE2B 2d0bf4774b1eff0bc658baf101d3450e5d94bcf8603a6e012b8a62422eb6a6b32e3c00c82f2854182ff990cf5017c23dac02d645c6a634d9fdb34403870ffd20 SHA512 3326c88dd7145a5beeaa0bd9c19f6abc2fb5483cfff1748b01c8f137c7223ffef80ff0df5cd0a2cb255006eaa44eef60cc878b362eed4a1d9a43a1a09ad24eaa
 EBUILD gazebo_ros_control-2.6.2-r1.ebuild 743 BLAKE2B 7398cf457863ad2296e87275ad1a5dca21c5742d48bc9713a11a0a16d3b24906913460380349161f809abf61843616b12a18eea9472169db97f258b6d490fa60 SHA512 f7cee8fa23e02e997dea2462c6d87bfdf12fe68c6e5cc812c81fa119389517b4ee0743f93201bc4f2845ac154ac802ee0118da00a96c075a9296cad87b10dda0
 EBUILD gazebo_ros_control-2.7.3.ebuild 975 BLAKE2B 6c89cd3e49119edcd893a7f764d359035a08774b429f3b458178614f60dd0db9488f2c68f35f85c24cc100cd4705403e8b99df0a8fab1ce49a9b31c8c98c23d4 SHA512 94554d46030657d71e14614c0f297ad9e7541ef08bb601a2e8578d7187e31186c997f8298626a07b28d8110c8017e0cc129b4c07ab8831cf14c1c8df774a4e60
 EBUILD gazebo_ros_control-2.7.4.ebuild 722 BLAKE2B edd1cd3d2d5bfdc2e5c3e73264f49c3447831dc44a2363a0bcd2c8afaa3daaa0878032f43186c4a911d35f5d78e43377fd9aff973d1c0b9a5b2bcceb692b609a SHA512 5528e932fad26207b866e59b6d577892ee1a95493727434450ce5e7a07f9432e5d5fc426e89f2a7598f0ac8a4f1ba39b5354355dc7cba13fff90fe2632cb9715
 EBUILD gazebo_ros_control-2.8.4.ebuild 722 BLAKE2B edd1cd3d2d5bfdc2e5c3e73264f49c3447831dc44a2363a0bcd2c8afaa3daaa0878032f43186c4a911d35f5d78e43377fd9aff973d1c0b9a5b2bcceb692b609a SHA512 5528e932fad26207b866e59b6d577892ee1a95493727434450ce5e7a07f9432e5d5fc426e89f2a7598f0ac8a4f1ba39b5354355dc7cba13fff90fe2632cb9715
 EBUILD gazebo_ros_control-2.8.5.ebuild 719 BLAKE2B 5ff337b05ffaf84f0ba0e11b1b681e7e31e86af8c3829916404b85c4516e2ac080f42ff38f6bc9e2e432bc19930059ea627a4d3fa6b2432f1553eb2b8093d10d SHA512 4598b1d44a404b4ece5d67379c85798bf8db7c9d2e0580a7afb73d35ccad375bb68b95a566fba1a2e7c721a449a62b84f2d51552c3eb76619ee8acdccf5caadc
+EBUILD gazebo_ros_control-2.8.7.ebuild 719 BLAKE2B 483855692f3b863287a79e05125f097dd0bb4708c00658019140c3c56f20fb036c7803b88905875a0044da48f052eed1cd78580c988f3139573c7b8e6bdb7e3a SHA512 aece3d186009bcef502fc6d1296fd2aead0808d1a652783181cf53abd4b626f3f77e6eec29d6c4f5b5312e01c28dd4027b34f53edbef97be24cc6a9af322832a
 EBUILD gazebo_ros_control-9999.ebuild 722 BLAKE2B edd1cd3d2d5bfdc2e5c3e73264f49c3447831dc44a2363a0bcd2c8afaa3daaa0878032f43186c4a911d35f5d78e43377fd9aff973d1c0b9a5b2bcceb692b609a SHA512 5528e932fad26207b866e59b6d577892ee1a95493727434450ce5e7a07f9432e5d5fc426e89f2a7598f0ac8a4f1ba39b5354355dc7cba13fff90fe2632cb9715
 MISC metadata.xml 344 BLAKE2B 673236d235252b8d24e90577c187252fe83ac05f87c29b123c3e064be9649efca3e8e23f0f60e2fd7a1d1b4f1c8c59dd6ae18bed904057f68c8a99c8c2e49fda SHA512 9b7223f95a007995d9a626aa653d2f0f8dc84364c325109fbd9b2f84f0359db12f2d2e3d16391f33364627082f52f8bac6b81c1992d64630bd70e476ce2c5d4d
diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.8.7.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.8.7.ebuild
new file mode 100644
index 000000000000..886fb0efaaf6
--- /dev/null
+++ b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.8.7.ebuild
@@ -0,0 +1,33 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
+KEYWORDS="~amd64"
+ROS_SUBDIR=${PN}
+
+inherit ros-catkin
+
+DESCRIPTION="ROS control plugins for gazebo"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/roscpp
+	dev-ros/gazebo_dev
+	dev-ros/gazebo_ros
+	dev-ros/control_toolbox
+	dev-ros/controller_manager
+	dev-ros/hardware_interface
+	dev-ros/transmission_interface
+	dev-ros/pluginlib
+		dev-libs/tinyxml2:=
+	>=dev-ros/joint_limits_interface-0.11.0
+	>=dev-ros/urdf-1.12.3-r1
+	dev-libs/urdfdom:=
+	sci-electronics/gazebo:=
+	dev-libs/boost:=[threads]
+	dev-libs/console_bridge:=
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/gencpp/Manifest b/dev-ros/gencpp/Manifest
index 329252137421..f464c6dd92f9 100644
--- a/dev-ros/gencpp/Manifest
+++ b/dev-ros/gencpp/Manifest
@@ -1,6 +1,4 @@
-DIST gencpp-0.6.0.tar.gz 9164 BLAKE2B 97b7e3904cde95ca6304e498d5f338cf303a55c407c187994b3dcb2bb062bd6dc1b4a2ab6f0cc949bfc6c481199586abef115fe54b4b99e99bc99dac8ae261cf SHA512 0ef0ae3d5f93ab5693455eb5319a0b8fbaab4ee56bd890e0ef96bfbdf8959affe61551f30739bab7e945c213c9b2fb51ff5e89c5b3a40d945da23e1ba88b9c1e
-DIST gencpp-0.6.2.tar.gz 9407 BLAKE2B 7676b9f22961d09684faa44f39ca3ac02196d6679f636019ab4cb4624297d3ebb16f301f53532954aec74c25e267924a5facfff6c8d0bffee02d88d665927359 SHA512 3f076369069940f2261f4bfd9b5c644709bf58c951ee309bb33ed689fe83cb331b63a5986826540b8df6fa04ace3b1b8520fbfe85856afb5bafd52ebc4459a87
-EBUILD gencpp-0.6.0.ebuild 451 BLAKE2B 9ef7eb964d6d19b594a3c7bf6fc94735ec828511197ea1823822d28e1bf9b5a5e16e206814591c56a4157904ade3f94378eb93a16c97db5196cdb9dc6a3962e9 SHA512 3fc3703e501bbb8f29fec1edb6a08a0fca1a7172a64c9d816a5ddce9c5e9c730456355f92802ab7f3930785e40f46d29cc430198dff78ca7438cd03ad0f716f7
-EBUILD gencpp-0.6.2.ebuild 451 BLAKE2B 9ef7eb964d6d19b594a3c7bf6fc94735ec828511197ea1823822d28e1bf9b5a5e16e206814591c56a4157904ade3f94378eb93a16c97db5196cdb9dc6a3962e9 SHA512 3fc3703e501bbb8f29fec1edb6a08a0fca1a7172a64c9d816a5ddce9c5e9c730456355f92802ab7f3930785e40f46d29cc430198dff78ca7438cd03ad0f716f7
-EBUILD gencpp-9999.ebuild 451 BLAKE2B 9ef7eb964d6d19b594a3c7bf6fc94735ec828511197ea1823822d28e1bf9b5a5e16e206814591c56a4157904ade3f94378eb93a16c97db5196cdb9dc6a3962e9 SHA512 3fc3703e501bbb8f29fec1edb6a08a0fca1a7172a64c9d816a5ddce9c5e9c730456355f92802ab7f3930785e40f46d29cc430198dff78ca7438cd03ad0f716f7
+DIST gencpp-0.6.5.tar.gz 9803 BLAKE2B 3f22693cf8924a9c6c88aea287eb44f15670c0289c441a4dc631e9386d28702be074551ce2f0585cfc8f237a4d3925206c56d9cd760aae63655c9e7fc6bd82d2 SHA512 37f8869f2671a2dbbaf2d6fe9517cf0675639b3d1ce1940cb3ae3ce40432a61cafbe8e272a71b49cc1068f33dd5201cf3e0a2e0bed1c9ed1a5053669e35596aa
+EBUILD gencpp-0.6.5.ebuild 411 BLAKE2B 65fbfe4a890a867e2e47add66048d5b3847acdbe31904828976c34d519590c4745d82fce9c7171fa0bbf66f456447cf0cfcf22f57abcdba36999535292b84109 SHA512 ab067fcec07f504bf4df0118c1101f61fe4b7c4680780d7a1b44e116f7be99be895da92cf1d3d8431e8add53ed558a32c47fe7b0c57ac4e9115b9a78e9a00060
+EBUILD gencpp-9999.ebuild 411 BLAKE2B 65fbfe4a890a867e2e47add66048d5b3847acdbe31904828976c34d519590c4745d82fce9c7171fa0bbf66f456447cf0cfcf22f57abcdba36999535292b84109 SHA512 ab067fcec07f504bf4df0118c1101f61fe4b7c4680780d7a1b44e116f7be99be895da92cf1d3d8431e8add53ed558a32c47fe7b0c57ac4e9115b9a78e9a00060
 MISC metadata.xml 324 BLAKE2B acb13fb86def5c4a53edd5c0db5d4c65d73e99f6d18a2fa1509981878637f006f9b14c5cd40e56b886b73c4ac8ec957844da3e424bb515248c07298388eb23c4 SHA512 031c6670cbdd1abdf53174d877a08985012d75ffa1fb16415501d128ac519567f6b9ae3c786a878aba25481c4413ebbcbc34d3782bf1d85cc6976caccd1aaaac
diff --git a/dev-ros/gencpp/gencpp-0.6.2.ebuild b/dev-ros/gencpp/gencpp-0.6.2.ebuild
deleted file mode 100644
index 8a8bb1f41638..000000000000
--- a/dev-ros/gencpp/gencpp-0.6.2.ebuild
+++ /dev/null
@@ -1,19 +0,0 @@
-# Copyright 1999-2020 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/ros/gencpp"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
-
-inherit ros-catkin
-
-DESCRIPTION="ROS C++ message definition and serialization generators"
-HOMEPAGE="http://wiki.ros.org/gencpp"
-LICENSE="BSD"
-SLOT="0/${PV}"
-IUSE=""
-
-RDEPEND="dev-ros/genmsg[${PYTHON_USEDEP}]"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/gencpp/gencpp-0.6.0.ebuild b/dev-ros/gencpp/gencpp-0.6.5.ebuild
index 8a8bb1f41638..87b3e6abb207 100644
--- a/dev-ros/gencpp/gencpp-0.6.0.ebuild
+++ b/dev-ros/gencpp/gencpp-0.6.5.ebuild
@@ -1,11 +1,10 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/gencpp"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/gencpp/gencpp-9999.ebuild b/dev-ros/gencpp/gencpp-9999.ebuild
index 8a8bb1f41638..87b3e6abb207 100644
--- a/dev-ros/gencpp/gencpp-9999.ebuild
+++ b/dev-ros/gencpp/gencpp-9999.ebuild
@@ -1,11 +1,10 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/gencpp"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/geneus/Manifest b/dev-ros/geneus/Manifest
index f05573892f72..c02628dfd489 100644
--- a/dev-ros/geneus/Manifest
+++ b/dev-ros/geneus/Manifest
@@ -1,6 +1,4 @@
-DIST geneus-2.2.5.tar.gz 14230 BLAKE2B 81a9b05889ff5701bad3e32207773a306571959321caeb34f90110128e93cbe477aaf7b7685fc80b91575114eafba668d73a3c0072aae66540be5574e77a372a SHA512 d3fb85e5ef05a8a2815a5eb65772994f1da8aa6455a72a4b68126c6ae0467cb0c79026e3a47983db873d696121a7e1996be2a3028cdc24e55f44baccce2e3f76
-DIST geneus-2.2.6.tar.gz 14637 BLAKE2B eb25f2dda7407442edd00952a541d34c2bba13db99d73689092421aece4780b9416adfe13b75f0b22be09599543d3e372879770d1a7fed27bee23675381a0928 SHA512 1a194ca481886223f67ba257072435f95de3a98cbefd559cfa883b5451b5ef0759a56941e0d579aa8300a7e0aacb99af6512531df66eef6bde5bdc9d4c076bc3
-EBUILD geneus-2.2.5.ebuild 408 BLAKE2B aac428bf7cd3dfcce1196ffa54930fb270f3d3f716d5b80c2546d8ba0b0815206ccaa2c007a1af67928d742aef8742d25a4d4d009adcc6bdf54b577ca9d2d72c SHA512 0b3595baa083802538296c0c543392ebbb8121087fb1152ef9e65a720fa490cbce6df7c48cfb1bf930abb6227cf088f3ecb41e6a19672c65f2fb7f76756e3362
-EBUILD geneus-2.2.6.ebuild 408 BLAKE2B aac428bf7cd3dfcce1196ffa54930fb270f3d3f716d5b80c2546d8ba0b0815206ccaa2c007a1af67928d742aef8742d25a4d4d009adcc6bdf54b577ca9d2d72c SHA512 0b3595baa083802538296c0c543392ebbb8121087fb1152ef9e65a720fa490cbce6df7c48cfb1bf930abb6227cf088f3ecb41e6a19672c65f2fb7f76756e3362
-EBUILD geneus-9999.ebuild 408 BLAKE2B aac428bf7cd3dfcce1196ffa54930fb270f3d3f716d5b80c2546d8ba0b0815206ccaa2c007a1af67928d742aef8742d25a4d4d009adcc6bdf54b577ca9d2d72c SHA512 0b3595baa083802538296c0c543392ebbb8121087fb1152ef9e65a720fa490cbce6df7c48cfb1bf930abb6227cf088f3ecb41e6a19672c65f2fb7f76756e3362
+DIST geneus-3.0.0.tar.gz 21401 BLAKE2B 4e7b779956e8c03676ea315664bb7e669cef31112f4b45fb3cd784cdca78e7c344dcd34ab0c6ad42940cc8c1a7648385334ecb84d9a41379bf033aa60ff7baf5 SHA512 f97cd44628d11fd9be4a369dac931b94e4789b032a6f22cf11f84666a0f6750326581146821e995ffa44c3bfcfbff6ac7075c50af0ead9682620fbdf75e84da1
+EBUILD geneus-3.0.0.ebuild 368 BLAKE2B 16c787a8f00c45356a14a1d850ba794024848d82f868c48f82998fb3197fa87eb6262a159e74f72a65f4d9f11c8ad3f2a1509bdc1374cc691d003697d9713ca3 SHA512 ea4889d4ca6ad505c3facbc1a4bd3a70e5d73050daebd1afe5f20284601b72972deeb9c8ccee30b72f19a0b9b93ff8b783277aa0bd2043e1fc5c29594ca8d416
+EBUILD geneus-9999.ebuild 368 BLAKE2B 16c787a8f00c45356a14a1d850ba794024848d82f868c48f82998fb3197fa87eb6262a159e74f72a65f4d9f11c8ad3f2a1509bdc1374cc691d003697d9713ca3 SHA512 ea4889d4ca6ad505c3facbc1a4bd3a70e5d73050daebd1afe5f20284601b72972deeb9c8ccee30b72f19a0b9b93ff8b783277aa0bd2043e1fc5c29594ca8d416
 MISC metadata.xml 332 BLAKE2B a24bf94d452832939c570e02b18234732d90f1fd266843a9503d5062938ef59482137d2b12795ccd0bb8742abcc2ede1ba7336f6f3a13647e5f2b79375d7f030 SHA512 31f145f147c19fd15f90fa280eba4580ce22dbef5dc9477f97932f5dd306061a7bcc26aaa62074ccbd3eafd413dd4dbb307ca8410b030c061550e70ee40607ba
diff --git a/dev-ros/geneus/geneus-2.2.6.ebuild b/dev-ros/geneus/geneus-2.2.6.ebuild
deleted file mode 100644
index 4f131a728a8a..000000000000
--- a/dev-ros/geneus/geneus-2.2.6.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2020 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/jsk-ros-pkg/geneus"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
-
-inherit ros-catkin
-
-DESCRIPTION="EusLisp ROS message and service generators"
-LICENSE="BSD"
-SLOT="0/${PV}"
-IUSE=""
-
-RDEPEND="dev-ros/genmsg[${PYTHON_USEDEP}]"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/geneus/geneus-2.2.5.ebuild b/dev-ros/geneus/geneus-3.0.0.ebuild
index 4f131a728a8a..7959c6dd1a03 100644
--- a/dev-ros/geneus/geneus-2.2.5.ebuild
+++ b/dev-ros/geneus/geneus-3.0.0.ebuild
@@ -1,11 +1,10 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/jsk-ros-pkg/geneus"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/geneus/geneus-9999.ebuild b/dev-ros/geneus/geneus-9999.ebuild
index 4f131a728a8a..7959c6dd1a03 100644
--- a/dev-ros/geneus/geneus-9999.ebuild
+++ b/dev-ros/geneus/geneus-9999.ebuild
@@ -1,11 +1,10 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/jsk-ros-pkg/geneus"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/genlisp/Manifest b/dev-ros/genlisp/Manifest
index 1941c91ab70a..4365b1fcf2ef 100644
--- a/dev-ros/genlisp/Manifest
+++ b/dev-ros/genlisp/Manifest
@@ -1,6 +1,4 @@
-DIST genlisp-0.4.16.tar.gz 10059 BLAKE2B c6833f5af7b9da0405ed8b83a22e3f1bc584c0353485cabf3317ed82b4cca64dae0014febc9ae09a6532f869f35f9ba15c6008bd8f160eaba19e35cf90738630 SHA512 1cf180a337716f704d0e152a77049349aee9935273592b83aca64f3a9f926ed8775669114744ebf265dd09e70cf24af24e5c3e12a7bb3e7ecd90dc86f3cca3a6
-DIST genlisp-0.4.17.tar.gz 10154 BLAKE2B b16ccb9a5ad0e43906736786001b26e1de4548e40dfbf3bd24c4f2e6e1fcfb180a6dc7851f5a2c47d51dd247cc804f7cf7e3c023e88a2f442958c9ff59547ec4 SHA512 a86f4f921ff6e51323e1bf0e2ea5ada5dba106f6197b52ece4bbfe876951aead19ff9142395968bcccc06d83047232ecdad42f7ed9f380cf0f0a63e8717577dd
-EBUILD genlisp-0.4.16.ebuild 405 BLAKE2B 0260797d0d5bf80294602602103df87c8f3b12f288f98e23e384c821f529aa4ea58434812ecb199bc58aac2286cf9a6bff15274736467de6494ec8a0be5fd6b5 SHA512 b551d2110496735ea0be6de02dc2669a16a7473ace7091c63d8ad39480d0ac2300667f99207d4a6218521ffee95d45fd21b8fb41a161029f91970edf1ecacdf5
-EBUILD genlisp-0.4.17.ebuild 405 BLAKE2B 0260797d0d5bf80294602602103df87c8f3b12f288f98e23e384c821f529aa4ea58434812ecb199bc58aac2286cf9a6bff15274736467de6494ec8a0be5fd6b5 SHA512 b551d2110496735ea0be6de02dc2669a16a7473ace7091c63d8ad39480d0ac2300667f99207d4a6218521ffee95d45fd21b8fb41a161029f91970edf1ecacdf5
-EBUILD genlisp-9999.ebuild 405 BLAKE2B 0260797d0d5bf80294602602103df87c8f3b12f288f98e23e384c821f529aa4ea58434812ecb199bc58aac2286cf9a6bff15274736467de6494ec8a0be5fd6b5 SHA512 b551d2110496735ea0be6de02dc2669a16a7473ace7091c63d8ad39480d0ac2300667f99207d4a6218521ffee95d45fd21b8fb41a161029f91970edf1ecacdf5
+DIST genlisp-0.4.18.tar.gz 10243 BLAKE2B 437fcb5de19d543cf0b34466260541f9d64bfda96ad6521e3300a020faddb57c5fc625ecc7d7d2e25c336569f0cf7b32e79dfa61b1971105cad524458926efd9 SHA512 300c4c84d96d80fa20d8c8ea01def4f3eaec41d06b4c57b6d8a7885f22a1e38259a7526542bc13dfdde6276b5e51ecc7f59bed2a5092883f5494e3aba439c45d
+EBUILD genlisp-0.4.18.ebuild 365 BLAKE2B 027684d2f3c02547ee8e0bc1526ba41a4b089e378f6d15bc9d348a784b0e56c84c3a18806fed2019ccbd8087836497c6ad71530e78755d33f15b3a6ef8e5313e SHA512 2c45c3c915133bf8b125e065544ea9f2b5daf7db7e66e98a6dded57aad387ccc9ac40859883555450122f1665efbecafad66d60d608347485c9e245a2687ca89
+EBUILD genlisp-9999.ebuild 365 BLAKE2B 027684d2f3c02547ee8e0bc1526ba41a4b089e378f6d15bc9d348a784b0e56c84c3a18806fed2019ccbd8087836497c6ad71530e78755d33f15b3a6ef8e5313e SHA512 2c45c3c915133bf8b125e065544ea9f2b5daf7db7e66e98a6dded57aad387ccc9ac40859883555450122f1665efbecafad66d60d608347485c9e245a2687ca89
 MISC metadata.xml 325 BLAKE2B 0aaea5b7b4f0c686a5c27a7551d9b33da2fee26858b13837bc30810b880a0b70850b7f85d6cdaa7b60975cc66087f4a0370d417ef1879659737530617696b5dc SHA512 f1bda8492546d5a2cecaed684a06df6d41b1b1883cf1dba70dd51f88993a5466924394468d750fc5778bd1530b660e12c0d1e186f30530e5919c9a46a9382159
diff --git a/dev-ros/genlisp/genlisp-0.4.17.ebuild b/dev-ros/genlisp/genlisp-0.4.17.ebuild
deleted file mode 100644
index 6037f8745550..000000000000
--- a/dev-ros/genlisp/genlisp-0.4.17.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2020 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/ros/genlisp"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
-
-inherit ros-catkin
-
-DESCRIPTION="Common-Lisp ROS message and service generators"
-LICENSE="BSD"
-SLOT="0/${PV}"
-IUSE=""
-
-RDEPEND="dev-ros/genmsg[${PYTHON_USEDEP}]"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/genlisp/genlisp-0.4.16.ebuild b/dev-ros/genlisp/genlisp-0.4.18.ebuild
index 6037f8745550..57df2bad4108 100644
--- a/dev-ros/genlisp/genlisp-0.4.16.ebuild
+++ b/dev-ros/genlisp/genlisp-0.4.18.ebuild
@@ -1,11 +1,10 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/genlisp"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/genlisp/genlisp-9999.ebuild b/dev-ros/genlisp/genlisp-9999.ebuild
index 6037f8745550..57df2bad4108 100644
--- a/dev-ros/genlisp/genlisp-9999.ebuild
+++ b/dev-ros/genlisp/genlisp-9999.ebuild
@@ -1,11 +1,10 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/genlisp"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/genmsg/Manifest b/dev-ros/genmsg/Manifest
index 1361af83de76..31e48f5fac25 100644
--- a/dev-ros/genmsg/Manifest
+++ b/dev-ros/genmsg/Manifest
@@ -1,6 +1,4 @@
-DIST genmsg-0.5.11.tar.gz 59507 BLAKE2B 080661242a9b6e71d2a098236bce380230c54b5017b2e3b4753fe79a0269fac8ecbd4a36f83710a7d499638bf7289203bea63e0f1215d008a2813a619e70935b SHA512 81ec559e1682aef3ca58c18fa33ce4b6a8d6d835be9831bc1b0401ed440b68f7e021a5a6ebfc17a9cb3b95a3c8434542724f5222f3730793c08a87762ff0c45b
-DIST genmsg-0.5.12.tar.gz 59591 BLAKE2B ca1275994a71be82054f9c3d980fc4b56b03576fb26236a5a0bf45443a5a9eb0cc078cf082004b01f893e2b5e8ffb4c0a7a285596346ee6c79a3ae084219b5c6 SHA512 e87762904eaacf37011a57c3ba0f78e96a7f8048f2222e5831774b7726e8600e0264c6d48d1e3cbb0b0d8671fccc045555c13146931dfbb16fdf193ce9b056be
-EBUILD genmsg-0.5.11.ebuild 456 BLAKE2B 171a321e04fec97d33b83b715251e1ffa2fed3600d6b2b7adbce57e4db3d2ec0c94743a26fbc7bb5c9bca8b30b09cf7a6697e9b997748a5c1422f5dfd5bf953e SHA512 a3f6c2a9c09e0efc9d8b3349e61a08671a0358edaadb8ee9caf2295c87979694a2f20cc9b08672909d7dd43d1d2596eb1df5a98a46a606261b005383dc7bf662
-EBUILD genmsg-0.5.12.ebuild 456 BLAKE2B 171a321e04fec97d33b83b715251e1ffa2fed3600d6b2b7adbce57e4db3d2ec0c94743a26fbc7bb5c9bca8b30b09cf7a6697e9b997748a5c1422f5dfd5bf953e SHA512 a3f6c2a9c09e0efc9d8b3349e61a08671a0358edaadb8ee9caf2295c87979694a2f20cc9b08672909d7dd43d1d2596eb1df5a98a46a606261b005383dc7bf662
-EBUILD genmsg-9999.ebuild 456 BLAKE2B 171a321e04fec97d33b83b715251e1ffa2fed3600d6b2b7adbce57e4db3d2ec0c94743a26fbc7bb5c9bca8b30b09cf7a6697e9b997748a5c1422f5dfd5bf953e SHA512 a3f6c2a9c09e0efc9d8b3349e61a08671a0358edaadb8ee9caf2295c87979694a2f20cc9b08672909d7dd43d1d2596eb1df5a98a46a606261b005383dc7bf662
+DIST genmsg-0.5.16.tar.gz 60357 BLAKE2B 5d26540123606cac3590d54848f5999fc470008fe5c71abeaac01108f7b22a4d5b0282ebc109e747d1caf459daa88bce26ce206b480f63626205adba7decb1ed SHA512 6a658cc3a895f546592a540f2bcbfb3819321242ddaf47eabbf02207994af4cf4152bce042846d4ae3fcdda2664b6b255702a2cebfcaa80892b964a6822a5390
+EBUILD genmsg-0.5.16.ebuild 394 BLAKE2B c745821f7622046d2b16b92c1b29bc744d0579780b68a55ce5dbf8339ca3c67981571e1e6651fb0c25876a29b67aa00edbc1c099bc406b7852c00e09ff7c4bc9 SHA512 9c177d74dff0af31bf9762a18687afa4797e92cfd2579698321f43877c343f405963415fd7ca73de3908ab5cd17fc206b9be907473d1b1447c1630daf7222c47
+EBUILD genmsg-9999.ebuild 394 BLAKE2B c745821f7622046d2b16b92c1b29bc744d0579780b68a55ce5dbf8339ca3c67981571e1e6651fb0c25876a29b67aa00edbc1c099bc406b7852c00e09ff7c4bc9 SHA512 9c177d74dff0af31bf9762a18687afa4797e92cfd2579698321f43877c343f405963415fd7ca73de3908ab5cd17fc206b9be907473d1b1447c1630daf7222c47
 MISC metadata.xml 324 BLAKE2B 4e885cafaf86dab897c52a6e27092584252b7daff9d9597c0bfd45b148b91ec763c3e46abbeb3db64fb5d17fc2d1ff83cf252201c165a3b52bc5e4d4033abcc6 SHA512 be0ee3a5595270480a29bf98888215b692009bdfaf06591c3cd56196b1c437e847abac787d4304f0166e76525b5ca7d82d81f660f1309a5139081bd205d95939
diff --git a/dev-ros/genmsg/genmsg-0.5.12.ebuild b/dev-ros/genmsg/genmsg-0.5.12.ebuild
deleted file mode 100644
index 89aee70ca2cd..000000000000
--- a/dev-ros/genmsg/genmsg-0.5.12.ebuild
+++ /dev/null
@@ -1,19 +0,0 @@
-# Copyright 1999-2020 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/genmsg"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
-
-inherit ros-catkin
-
-DESCRIPTION="Python library for generating ROS message and service data structures for various languages"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND=""
-DEPEND="${RDEPEND}
-	test? ( dev-python/nose[${PYTHON_USEDEP}] )
-"
diff --git a/dev-ros/genmsg/genmsg-0.5.11.ebuild b/dev-ros/genmsg/genmsg-0.5.16.ebuild
index 89aee70ca2cd..7e40ce45fa63 100644
--- a/dev-ros/genmsg/genmsg-0.5.11.ebuild
+++ b/dev-ros/genmsg/genmsg-0.5.16.ebuild
@@ -1,14 +1,13 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros/genmsg"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 
 inherit ros-catkin
 
-DESCRIPTION="Python library for generating ROS message and service data structures for various languages"
+DESCRIPTION="Python library for generating ROS message and service data structures"
 LICENSE="BSD"
 SLOT="0"
 IUSE=""
diff --git a/dev-ros/genmsg/genmsg-9999.ebuild b/dev-ros/genmsg/genmsg-9999.ebuild
index 89aee70ca2cd..7e40ce45fa63 100644
--- a/dev-ros/genmsg/genmsg-9999.ebuild
+++ b/dev-ros/genmsg/genmsg-9999.ebuild
@@ -1,14 +1,13 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros/genmsg"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 
 inherit ros-catkin
 
-DESCRIPTION="Python library for generating ROS message and service data structures for various languages"
+DESCRIPTION="Python library for generating ROS message and service data structures"
 LICENSE="BSD"
 SLOT="0"
 IUSE=""
diff --git a/dev-ros/genpy/Manifest b/dev-ros/genpy/Manifest
index f081ed2d83fd..756379708e70 100644
--- a/dev-ros/genpy/Manifest
+++ b/dev-ros/genpy/Manifest
@@ -1,6 +1,5 @@
-DIST genpy-0.6.7.tar.gz 52001 BLAKE2B 6c2a6cbbac6b0c72b1d5bec160f2f06ac86852afa2664835a4223e5adc5df6ae13a3a506d1c684f39f1066094f437fc54e4deb927c9e58209231af599b70af77 SHA512 645db3b343d53a640c6cbae91ec178bb99249899632b88f54831a524c2c3d76a68c8e45e2820b536509eb3d84a37735f9a3cd04f46522a98748a38534cc9d6b8
-DIST genpy-0.6.8.tar.gz 52344 BLAKE2B 1b58011126d577c7c16c0b37940d491f18e9a1013296b873dfa6e53697c2b6a3e7a829b760e591b3fa502a5fd53461256547212483cd13e27f476e0a16e8121a SHA512 5de1bea04a08c4fa72ae369d56c0f4b6a0106f7317490bc9c9c65c4506028f4aa44cb149d85d270c85c72ce5847db9110e7d48a1a4331a7d588222647f3dfc5f
-EBUILD genpy-0.6.7.ebuild 522 BLAKE2B 33d9d2ba05b851c41096951342382384a51e8e6803bbf66f722038f163eac286a024d0810ac255c751b7ccdeb85729d08b26484cb3bc06285e6980b75005c0de SHA512 8ea305fe253b0dbf03328261f0df46554fda381dd8a8e8578c4a379eb119754299103aa9d1978e823ac6d74f99a87687e56eeb7ee3cabe1baee91edba41450b0
-EBUILD genpy-0.6.8.ebuild 522 BLAKE2B 33d9d2ba05b851c41096951342382384a51e8e6803bbf66f722038f163eac286a024d0810ac255c751b7ccdeb85729d08b26484cb3bc06285e6980b75005c0de SHA512 8ea305fe253b0dbf03328261f0df46554fda381dd8a8e8578c4a379eb119754299103aa9d1978e823ac6d74f99a87687e56eeb7ee3cabe1baee91edba41450b0
-EBUILD genpy-9999.ebuild 522 BLAKE2B 33d9d2ba05b851c41096951342382384a51e8e6803bbf66f722038f163eac286a024d0810ac255c751b7ccdeb85729d08b26484cb3bc06285e6980b75005c0de SHA512 8ea305fe253b0dbf03328261f0df46554fda381dd8a8e8578c4a379eb119754299103aa9d1978e823ac6d74f99a87687e56eeb7ee3cabe1baee91edba41450b0
+AUX yaml.patch 543 BLAKE2B c476c582c2363bd5bdf9b472dc784726eb2bd65081d3629f7d822decbb92ecfe0c695691219c661b7bad850521346eb591c9c00498c3ab1e0f85597b8497c3a8 SHA512 4fc53e0c904d5dfa637476b833e8a5038305ebd0672f5acf08f81b2ae97970b0e4996df483ff087a2eb16957b659d0a528545fe8704cc26f1f6029105a2aea87
+DIST genpy-0.6.11.tar.gz 53128 BLAKE2B c0c6d9aa8d713e873a5cbceda8763c23e4b6259f5708be1575c4eae600b3f96bd8f05cda281711c799a0a4e00d69623ed0ddcb7812b4894d7c45717121f51c00 SHA512 267391cce6119085ae974f00fa4a33767b2b62a5d61bd290b3d2164cee275ce88b21d124b2da9ca9d85ac6a3a030ceddef766be34fba9c0d57ba26d6e1e41186
+EBUILD genpy-0.6.11.ebuild 519 BLAKE2B 9f3ce5dfb4bf2fbf28fefb6039d5b62075de77e5b51acecc86ead5c897e01850c805b6cf488a9a587a76ec4dcab42303f55f092c5baee81dd81707d5f5a6f395 SHA512 54bb873005224a1dcf347c02bd26282d0dfd67f4b526bb9aa674e9be8e557366afbcb7a2bdf6e887dac2b3778b8b5a40dbf6995e1bf788bd7530e67e51eea872
+EBUILD genpy-9999.ebuild 519 BLAKE2B 9f3ce5dfb4bf2fbf28fefb6039d5b62075de77e5b51acecc86ead5c897e01850c805b6cf488a9a587a76ec4dcab42303f55f092c5baee81dd81707d5f5a6f395 SHA512 54bb873005224a1dcf347c02bd26282d0dfd67f4b526bb9aa674e9be8e557366afbcb7a2bdf6e887dac2b3778b8b5a40dbf6995e1bf788bd7530e67e51eea872
 MISC metadata.xml 323 BLAKE2B 025145a67d18622d14ea6ac43585246aac2cdc4f65e63b04dbfd32aa6f04f4e301e22f2e326a486e2fad3c1ef82f9890179a8dc142f4aa551b5b9db155e616da SHA512 523ec83e710fb0b80d731b536c8605a4211bfa176951a1af5ee6f6e60fee1ca3634c0d659b2d3ae71f3bb9d3765cc44cfdada5c7a364cea63f323c462227f364
diff --git a/dev-ros/genpy/files/yaml.patch b/dev-ros/genpy/files/yaml.patch
new file mode 100644
index 000000000000..f4959213f356
--- /dev/null
+++ b/dev-ros/genpy/files/yaml.patch
@@ -0,0 +1,13 @@
+Index: genpy-0.6.11/test/test_genpy_message.py
+===================================================================
+--- genpy-0.6.11.orig/test/test_genpy_message.py
++++ genpy-0.6.11/test/test_genpy_message.py
+@@ -612,7 +612,7 @@ d: """ + """
+         def roundtrip(m):
+             yaml_text = strify_message(m)
+             print(yaml_text)
+-            loaded = yaml.load(yaml_text)
++            loaded = yaml.safe_load(yaml_text)
+             print('loaded', loaded)
+             new_inst = m.__class__()
+             if loaded is not None:
diff --git a/dev-ros/genpy/genpy-0.6.7.ebuild b/dev-ros/genpy/genpy-0.6.11.ebuild
index 68c34049dcc0..29c86a165741 100644
--- a/dev-ros/genpy/genpy-0.6.7.ebuild
+++ b/dev-ros/genpy/genpy-0.6.11.ebuild
@@ -1,11 +1,10 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/genpy"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 
 inherit ros-catkin
 
@@ -22,3 +21,4 @@ DEPEND="${RDEPEND}
 		dev-python/nose[${PYTHON_USEDEP}]
 	)
 "
+PATCHES=( "${FILESDIR}/yaml.patch" )
diff --git a/dev-ros/genpy/genpy-0.6.8.ebuild b/dev-ros/genpy/genpy-0.6.8.ebuild
deleted file mode 100644
index 68c34049dcc0..000000000000
--- a/dev-ros/genpy/genpy-0.6.8.ebuild
+++ /dev/null
@@ -1,24 +0,0 @@
-# Copyright 1999-2020 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/ros/genpy"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
-
-inherit ros-catkin
-
-DESCRIPTION="Python ROS message and service generators"
-HOMEPAGE="http://wiki.ros.org/genpy"
-LICENSE="BSD"
-SLOT="0/${PV}"
-IUSE=""
-
-RDEPEND="dev-ros/genmsg[${PYTHON_USEDEP}]
-		dev-python/pyyaml[${PYTHON_USEDEP}]"
-DEPEND="${RDEPEND}
-	test? (
-		dev-python/nose[${PYTHON_USEDEP}]
-	)
-"
diff --git a/dev-ros/genpy/genpy-9999.ebuild b/dev-ros/genpy/genpy-9999.ebuild
index 68c34049dcc0..29c86a165741 100644
--- a/dev-ros/genpy/genpy-9999.ebuild
+++ b/dev-ros/genpy/genpy-9999.ebuild
@@ -1,11 +1,10 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/genpy"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 
 inherit ros-catkin
 
@@ -22,3 +21,4 @@ DEPEND="${RDEPEND}
 		dev-python/nose[${PYTHON_USEDEP}]
 	)
 "
+PATCHES=( "${FILESDIR}/yaml.patch" )
diff --git a/dev-ros/global_planner/Manifest b/dev-ros/global_planner/Manifest
index 2b8f0b17ab5e..17a3e47ab736 100644
--- a/dev-ros/global_planner/Manifest
+++ b/dev-ros/global_planner/Manifest
@@ -4,11 +4,13 @@ DIST navigation-1.16.0.tar.gz 336708 BLAKE2B 74fdc7c3afb00bfbded011678c90b22cc95
 DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
 DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD global_planner-1.15.1-r1.ebuild 665 BLAKE2B 2f62de5934ed9a91e6a1e56e8028e2bb09e3166688530461b25cb9a3de23213bcd80b39c8c7ecaffd48b848f6cbaa79d429fabc344cb402e7ea1e1ab0df70ce6 SHA512 12c07e61b53c227e1ba6b4d8866a9e2addaac4bc156b7d4cb5520b07aeb0726f7a7b492cc222f9152d341de11a0f5fc2f9fef600b539ea4227afb2b37ab506a7
 EBUILD global_planner-1.15.2.ebuild 665 BLAKE2B 63ee38169ee7c4305119341480e3cb7e654fa060a1f7ef7e0d3260e3f116027cea6810d8e5c1ed90e7df16dc989af05a00a1fe4eb3a8ccbdd1ccb9525485b21a SHA512 695a3bc09081066c1535a42fca547b0367b3c0ebcdba1ba0a0a6e904353ad723d07a9762370103e9c16071b44f8ff5ed2ccefa1536d777097c78efa673516f7b
 EBUILD global_planner-1.16.0.ebuild 753 BLAKE2B c056f8414769bb08204b92aad7fbf2321d6d5c0e1ef72e9ece1c19a28d1ea2edd64e0804d91b8f819cf0e4e7d595b9fd370631d800e5532891d6ca15c1ca133f SHA512 9fc33db22f9273457a1f18af48a3ab70a861ef753460658c1003a51d361b337ab3860f9fe05f33c151776d25dff47faac9bc5c00bb83156d58ff5e8ca05ae8b8
 EBUILD global_planner-1.16.1.ebuild 753 BLAKE2B c056f8414769bb08204b92aad7fbf2321d6d5c0e1ef72e9ece1c19a28d1ea2edd64e0804d91b8f819cf0e4e7d595b9fd370631d800e5532891d6ca15c1ca133f SHA512 9fc33db22f9273457a1f18af48a3ab70a861ef753460658c1003a51d361b337ab3860f9fe05f33c151776d25dff47faac9bc5c00bb83156d58ff5e8ca05ae8b8
 EBUILD global_planner-1.16.2.ebuild 753 BLAKE2B c056f8414769bb08204b92aad7fbf2321d6d5c0e1ef72e9ece1c19a28d1ea2edd64e0804d91b8f819cf0e4e7d595b9fd370631d800e5532891d6ca15c1ca133f SHA512 9fc33db22f9273457a1f18af48a3ab70a861ef753460658c1003a51d361b337ab3860f9fe05f33c151776d25dff47faac9bc5c00bb83156d58ff5e8ca05ae8b8
 EBUILD global_planner-1.16.3.ebuild 750 BLAKE2B ccf5b21111e750c0a47c7c9d4af27177b4157e4035316a630705cc18be947b9a86ec585704d1668235d65620a4e4b7b10da21a2a8ce446635e9adc7bed0a65de SHA512 bc37925e2dcfbbe7f8e59841a96aea4910338cc346e01c5fd251abf13e942201e0d94b04ab0bfb35dea872e8ef2d0479d4029df9acb2fdbc822df4ac27001fa0
+EBUILD global_planner-1.16.6.ebuild 750 BLAKE2B 5bbeece139b29ae0915f1b459863653c028b0ca8d3e92977ceeec6ddf2aeb67867a7582ff7f131a369501becb3bcda3f1b417b6840a11f3a1fb5b19a99f7b3fa SHA512 942279e6f904135aecc5ee487fb274a2cf57ba9c53a203538f5d630a585dee0809d00e8bfc093cfe91de55cfe500bd10e1e021ba8921b636db07f44eedbf44b6
 EBUILD global_planner-9999.ebuild 753 BLAKE2B c056f8414769bb08204b92aad7fbf2321d6d5c0e1ef72e9ece1c19a28d1ea2edd64e0804d91b8f819cf0e4e7d595b9fd370631d800e5532891d6ca15c1ca133f SHA512 9fc33db22f9273457a1f18af48a3ab70a861ef753460658c1003a51d361b337ab3860f9fe05f33c151776d25dff47faac9bc5c00bb83156d58ff5e8ca05ae8b8
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/fake_localization/fake_localization-1.16.3.ebuild b/dev-ros/global_planner/global_planner-1.16.6.ebuild
index 946772aaddd8..cc0651737472 100644
--- a/dev-ros/fake_localization/fake_localization-1.16.3.ebuild
+++ b/dev-ros/global_planner/global_planner-1.16.6.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
 EAPI=5
@@ -9,22 +9,26 @@ PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
-DESCRIPTION="A ROS node that simply forwards odometry information"
+DESCRIPTION="Path planner library and node"
 LICENSE="BSD"
 SLOT="0"
 IUSE=""
 
 RDEPEND="
-	dev-libs/boost:=
-	dev-ros/angles
+	>=dev-ros/costmap_2d-1.16
+	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/nav_core
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/navfn
+	dev-ros/pluginlib
 	dev-ros/roscpp
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-ros/rosconsole
-	dev-ros/nav_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP},${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP},${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/tf2_ros
-	dev-ros/message_filters
+
+	dev-libs/boost:=
+	dev-libs/console_bridge:=
+
+	dev-ros/angles
 	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 "
 DEPEND="${RDEPEND}"
-PATCHES=( "${FILESDIR}/boost170.patch" )
diff --git a/dev-ros/interactive_marker_tutorials/Manifest b/dev-ros/interactive_marker_tutorials/Manifest
index b6cd092ee51e..cde78917176c 100644
--- a/dev-ros/interactive_marker_tutorials/Manifest
+++ b/dev-ros/interactive_marker_tutorials/Manifest
@@ -1,4 +1,6 @@
 DIST visualization_tutorials-0.10.3.tar.gz 428877 BLAKE2B 4bcd482ae61f29908ca23dda653d1c6d0e6a0a9df56df8343d1dfb5124f8d60c9a12ef8b1565c4655617dcd62d80a2aa51f2fd9b2c5329e33c3cc22e3e63c22d SHA512 2e484791851291d2316c7a20e92d988d71b6c41c98bad98c78bed465069dcfe5fc1ddd5c15c6981e951db2c114e965747c07e27f4851c2705af3dd036b992781
+DIST visualization_tutorials-0.11.0.tar.gz 429489 BLAKE2B d4558a15b696ba05ed156a64ab2c0ad7229314f73d2823c0a46f53132801619d28fc5c68f5d8e0f3e2cadb7bb5078b3518da87ea18940432760b20bddeda578d SHA512 78ebe536a3a209fb0c61fb7dbc0aa115b5f4e6297303b1fc03740402decea719077037a90f4c45a0f6ece95e3578d6dad1095a0b1f0a90c136b738d0350aac9b
 EBUILD interactive_marker_tutorials-0.10.3-r1.ebuild 631 BLAKE2B a35e25dd19e6280ba002ea71274d10105f0ed40b43d2aab2a89db0a6c496b1c04068cebc5874533e2f1c6adb7e7dd711f92d2004d0a7b7abf9fae6b869b4104c SHA512 6ca56c0b03b28cfde6aae740c77481ff3b7c9cf4e21de0753f5e6784af4db43563165e369af15ba3c718d525bcbdf86ada545b80da4597fea557f91abb5e1d94
+EBUILD interactive_marker_tutorials-0.11.0.ebuild 631 BLAKE2B f3497f4d43a9b6fa9e3615115c0c1d185ca35917619f99c0b87e4f0a9b880788c860c067feef3ee5bf732bf9278032a0f21a92bf20b8c0e6cde0c8d4ae47308a SHA512 1326389a84f2a6e4662476b8c6f45cc4cb5c6b8946d6f1282d957613ac08030291ac4238ff2e75690cf1ac1997170e778d4d82155712a5385245054f26f841ff
 EBUILD interactive_marker_tutorials-9999.ebuild 631 BLAKE2B a35e25dd19e6280ba002ea71274d10105f0ed40b43d2aab2a89db0a6c496b1c04068cebc5874533e2f1c6adb7e7dd711f92d2004d0a7b7abf9fae6b869b4104c SHA512 6ca56c0b03b28cfde6aae740c77481ff3b7c9cf4e21de0753f5e6784af4db43563165e369af15ba3c718d525bcbdf86ada545b80da4597fea557f91abb5e1d94
 MISC metadata.xml 355 BLAKE2B fb6b9ee20af31ea0d99819722e6df9dc086b3b4de71d9a3aba80bee73490a62738ce308e9b1e77ee22c079e21ff7623b13fd7d46fd8d670232ea45a3cffd47ae SHA512 5e233967a9e4b9c0f790ddfa82d4c2febbb2948b3ed3abe4ec91d1ec0e80202738daed074eb911a63ccd6209837f5e52ab985ff4e792f3e90a38120963e8db34
diff --git a/dev-ros/interactive_marker_tutorials/interactive_marker_tutorials-0.11.0.ebuild b/dev-ros/interactive_marker_tutorials/interactive_marker_tutorials-0.11.0.ebuild
new file mode 100644
index 000000000000..19ee9324c9d7
--- /dev/null
+++ b/dev-ros/interactive_marker_tutorials/interactive_marker_tutorials-0.11.0.ebuild
@@ -0,0 +1,26 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-visualization/visualization_tutorials"
+KEYWORDS="~amd64"
+ROS_SUBDIR=${PN}
+PYTHON_COMPAT=( python2_7 )
+
+inherit ros-catkin
+
+DESCRIPTION="Interactive marker tutorials"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/roscpp
+	dev-ros/interactive_markers
+	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
+	dev-ros/tf[${PYTHON_USEDEP}]
+	dev-ros/rospy[${PYTHON_USEDEP}]
+	dev-ros/roslib[${PYTHON_USEDEP}]
+	dev-libs/boost:=
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/librviz_tutorial/Manifest b/dev-ros/librviz_tutorial/Manifest
index 24d6e4c0a322..883e60956253 100644
--- a/dev-ros/librviz_tutorial/Manifest
+++ b/dev-ros/librviz_tutorial/Manifest
@@ -1,8 +1,10 @@
 DIST visualization_tutorials-0.10.1.tar.gz 428608 BLAKE2B abee44fa91388e792a5e2ccadf07a32236f7575f5a0e0121ddfdc0135bf63b12c8d603d4bee3ef463f0c64debf9e9c6f8c7c89c2e8dce8375d3264039b6378b0 SHA512 38ad2c29456ff994914b1ca3b2ab6d90b0c9224481d360fd7f88b38c0e9615d35eb94b90abb699738b5f4fac091489bdf2373168bc3a0acc0e6ba3a61b646bbf
 DIST visualization_tutorials-0.10.2.tar.gz 428684 BLAKE2B 751d18089c69cdb8cd0cfac97235d213cce9d098264dc49fcaf7d7a949216b8fd40041c23be5d16be1537298b876dc1854a8b7dc1214ba7aeb74b18716892636 SHA512 40d8621fd05e81dc23adbf7fd0a69209d796ade3ad291aa350030872a3bbffad2ec9ac0d31734ccf73f8215f7dd52834a35baaa3fe198a3fc4c5bda71a760b05
 DIST visualization_tutorials-0.10.3.tar.gz 428877 BLAKE2B 4bcd482ae61f29908ca23dda653d1c6d0e6a0a9df56df8343d1dfb5124f8d60c9a12ef8b1565c4655617dcd62d80a2aa51f2fd9b2c5329e33c3cc22e3e63c22d SHA512 2e484791851291d2316c7a20e92d988d71b6c41c98bad98c78bed465069dcfe5fc1ddd5c15c6981e951db2c114e965747c07e27f4851c2705af3dd036b992781
+DIST visualization_tutorials-0.11.0.tar.gz 429489 BLAKE2B d4558a15b696ba05ed156a64ab2c0ad7229314f73d2823c0a46f53132801619d28fc5c68f5d8e0f3e2cadb7bb5078b3518da87ea18940432760b20bddeda578d SHA512 78ebe536a3a209fb0c61fb7dbc0aa115b5f4e6297303b1fc03740402decea719077037a90f4c45a0f6ece95e3578d6dad1095a0b1f0a90c136b738d0350aac9b
 EBUILD librviz_tutorial-0.10.1.ebuild 458 BLAKE2B 1e6cba7a4fece4d4c82e809a51b93ad1f10aa073d006c1f7df851d2d1343d9b47de412d96f18b65ef25cfaca5985fa50c5f12d21dc253d74e0625cc8b8a7c420 SHA512 c93eedc30fade27d4d85dda547b49566227517b729ede7503b5334b549ba549cccfc700249cd2da6636ad1413765a5a491f0348e39c5649985e152162adc48a8
 EBUILD librviz_tutorial-0.10.2.ebuild 458 BLAKE2B 3ee42f59d025c0fb9a8adaf3b1355f78aa8c7ba82f5f779691a4c15f2362791e15d88f3271d902bad059eb3ee59619e496a1f7dc12745cf1f3926840f33436a1 SHA512 b86dbc8b4d38f91faad5771afd1f769af6123e83258c56a5c6502f1a6259194ad9c3c61d219499fa4df4ac79c61fddd5d4155a4ce941d0548b86e15f075168c8
 EBUILD librviz_tutorial-0.10.3.ebuild 458 BLAKE2B 3ee42f59d025c0fb9a8adaf3b1355f78aa8c7ba82f5f779691a4c15f2362791e15d88f3271d902bad059eb3ee59619e496a1f7dc12745cf1f3926840f33436a1 SHA512 b86dbc8b4d38f91faad5771afd1f769af6123e83258c56a5c6502f1a6259194ad9c3c61d219499fa4df4ac79c61fddd5d4155a4ce941d0548b86e15f075168c8
+EBUILD librviz_tutorial-0.11.0.ebuild 455 BLAKE2B 0a8624b7b7f0b31d40c2de264f5cb703108ca1ed87d619664ee0da880f95a1edf41d9e50a83178eb633d15256655d647169026b3d6344cacb6eae0bb2a8a85c0 SHA512 5579cc9ae941d0845ab42153c95b0376c065a1e2be5fc62b4c93b48389b6dbf94f5fd3c6320bccddd6c4428b11cacfc028d8db74287e8ef283c2e58da3c085fe
 EBUILD librviz_tutorial-9999.ebuild 458 BLAKE2B 1e6cba7a4fece4d4c82e809a51b93ad1f10aa073d006c1f7df851d2d1343d9b47de412d96f18b65ef25cfaca5985fa50c5f12d21dc253d74e0625cc8b8a7c420 SHA512 c93eedc30fade27d4d85dda547b49566227517b729ede7503b5334b549ba549cccfc700249cd2da6636ad1413765a5a491f0348e39c5649985e152162adc48a8
 MISC metadata.xml 355 BLAKE2B fb6b9ee20af31ea0d99819722e6df9dc086b3b4de71d9a3aba80bee73490a62738ce308e9b1e77ee22c079e21ff7623b13fd7d46fd8d670232ea45a3cffd47ae SHA512 5e233967a9e4b9c0f790ddfa82d4c2febbb2948b3ed3abe4ec91d1ec0e80202738daed074eb911a63ccd6209837f5e52ab985ff4e792f3e90a38120963e8db34
diff --git a/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-0.10.1.ebuild b/dev-ros/librviz_tutorial/librviz_tutorial-0.11.0.ebuild
index 8bdc9dd6488f..b8d5a83d3174 100644
--- a/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-0.10.1.ebuild
+++ b/dev-ros/librviz_tutorial/librviz_tutorial-0.11.0.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
 EAPI=5
@@ -8,13 +8,14 @@ ROS_SUBDIR=${PN}
 
 inherit ros-catkin
 
-DESCRIPTION="Visualization marker tutorials"
+DESCRIPTION="Tutorial showing how to compile your own C++ program with RViz displays and features"
 LICENSE="BSD"
 SLOT="0"
 IUSE=""
 
 RDEPEND="
 	dev-ros/roscpp
-	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/rviz
+	dev-libs/boost:=
 "
 DEPEND="${RDEPEND}"
diff --git a/dev-ros/map_server/Manifest b/dev-ros/map_server/Manifest
index 20420b08213d..408e8818e751 100644
--- a/dev-ros/map_server/Manifest
+++ b/dev-ros/map_server/Manifest
@@ -3,10 +3,12 @@ DIST navigation-1.16.0.tar.gz 336708 BLAKE2B 74fdc7c3afb00bfbded011678c90b22cc95
 DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
 DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD map_server-1.15.2-r1.ebuild 570 BLAKE2B 105eb30a5c157083a2811379144364e93cacf7a8de44c132e0712a708edb646a4779464c76bc4f59f7844ea0875e5851950eba733c2b032c8635369b1e8c6575 SHA512 a846dba6800fa08ee1ddaed6543a0632404b02bb3d105a21c9f7a4bc159520e85b6d5578aa7c8945ed3e84cce125474045c2d415e9fc25afc77b3d6a3e63377b
 EBUILD map_server-1.16.0.ebuild 588 BLAKE2B 353a2b597b7b64dc29263cf751c4cb8d3e22fb84da7bd0119222b5799dc1e2d2746b6a9d3696e3c1cd2a9df3f0c762c399934cb2e845316daea754c9fe9cca28 SHA512 74ca672c4709755eb4e0e5245fd05192a3ce0f5f4386998976ef046cdb95016106a0686f0744a155ba3362e03d682a229b6a0601dec978599f0604afb70c0251
 EBUILD map_server-1.16.1.ebuild 588 BLAKE2B 353a2b597b7b64dc29263cf751c4cb8d3e22fb84da7bd0119222b5799dc1e2d2746b6a9d3696e3c1cd2a9df3f0c762c399934cb2e845316daea754c9fe9cca28 SHA512 74ca672c4709755eb4e0e5245fd05192a3ce0f5f4386998976ef046cdb95016106a0686f0744a155ba3362e03d682a229b6a0601dec978599f0604afb70c0251
 EBUILD map_server-1.16.2.ebuild 588 BLAKE2B 353a2b597b7b64dc29263cf751c4cb8d3e22fb84da7bd0119222b5799dc1e2d2746b6a9d3696e3c1cd2a9df3f0c762c399934cb2e845316daea754c9fe9cca28 SHA512 74ca672c4709755eb4e0e5245fd05192a3ce0f5f4386998976ef046cdb95016106a0686f0744a155ba3362e03d682a229b6a0601dec978599f0604afb70c0251
 EBUILD map_server-1.16.3.ebuild 585 BLAKE2B 6bf9a6201ef8cb77f08af1b246f4b2253eb13bab620cfa70255ce9f744faf45762cb377d714ca095d1f6a6ae4a7c94b64951a3081df01c56ef2f443233cae5c6 SHA512 3789e3cb40b87379bddd3c52f3c8771a5b43f1a110a9411637567756cee53b068bec7f1ddeea5c8844cc1f57064e15ea74aac7f7006737ce520ed8bb683f2b71
+EBUILD map_server-1.16.6.ebuild 585 BLAKE2B 04b2cff89ef41c0fbf6747f225fd9ec35bbe2c180eba6fd1d346d2c5d7cae5c6381bde2745f3a996281a2739884b79d66ea2056491efd4955bf333dccb958251 SHA512 eeb926390fd9b2f7ad865571ce8a215108b76f63bf9f956cebc8cdae97685f1c44ed1fc782acc4a644ee466eb7b4c6df8006b787c10fb4cc9cb78283936f17df
 EBUILD map_server-9999.ebuild 588 BLAKE2B 353a2b597b7b64dc29263cf751c4cb8d3e22fb84da7bd0119222b5799dc1e2d2746b6a9d3696e3c1cd2a9df3f0c762c399934cb2e845316daea754c9fe9cca28 SHA512 74ca672c4709755eb4e0e5245fd05192a3ce0f5f4386998976ef046cdb95016106a0686f0744a155ba3362e03d682a229b6a0601dec978599f0604afb70c0251
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/map_server/map_server-1.16.6.ebuild b/dev-ros/map_server/map_server-1.16.6.ebuild
new file mode 100644
index 000000000000..f48934a6d4ff
--- /dev/null
+++ b/dev-ros/map_server/map_server-1.16.6.ebuild
@@ -0,0 +1,28 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+
+inherit ros-catkin
+
+DESCRIPTION="Offers map data as a ROS service"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	sci-physics/bullet:=
+	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/roscpp
+	media-libs/sdl-image
+	dev-ros/tf2
+	>=dev-cpp/yaml-cpp-0.5:=
+
+	dev-libs/boost:=
+"
+DEPEND="${RDEPEND}
+	test? ( dev-ros/rostest dev-ros/rospy dev-ros/rosunit )
+	virtual/pkgconfig"
diff --git a/dev-ros/move_base/Manifest b/dev-ros/move_base/Manifest
index 19c106094fb1..0230cd03a945 100644
--- a/dev-ros/move_base/Manifest
+++ b/dev-ros/move_base/Manifest
@@ -4,11 +4,13 @@ DIST navigation-1.16.0.tar.gz 336708 BLAKE2B 74fdc7c3afb00bfbded011678c90b22cc95
 DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
 DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD move_base-1.15.1-r2.ebuild 882 BLAKE2B c68f44cfe1582a8a66fee799f3a844daf4e507555510b565773c9741e489637bd5ed07b20538647b2599c4e842ffb2c28460e44baa2440c83549d80fefa16bc6 SHA512 80bd499cba6b095210a0d424ced28d65e5ebcece7d61b857db8eb0a78644f39099b22f2e82b9d14694963f58d51cca74509898c3038f8092f8fe958caed84b0b
 EBUILD move_base-1.15.2.ebuild 882 BLAKE2B c68f44cfe1582a8a66fee799f3a844daf4e507555510b565773c9741e489637bd5ed07b20538647b2599c4e842ffb2c28460e44baa2440c83549d80fefa16bc6 SHA512 80bd499cba6b095210a0d424ced28d65e5ebcece7d61b857db8eb0a78644f39099b22f2e82b9d14694963f58d51cca74509898c3038f8092f8fe958caed84b0b
 EBUILD move_base-1.16.0.ebuild 1094 BLAKE2B 8bd5d4eb6d707ad06280de0c5ea5a9c087465f2b00e807d570f3e995c62dedea0b519cfb829853520b2beff289e247cf3df0a24ebf1cf57584382999987a62dd SHA512 7ac41e7141f76fd634f3d39aaa5b3ea4eee2040b2de85bc5877bd0258495483da106482b43d7a7050985ee5906ec5925d1419f94d20beaba0f6f77de6025f4f9
 EBUILD move_base-1.16.1.ebuild 1094 BLAKE2B 8bd5d4eb6d707ad06280de0c5ea5a9c087465f2b00e807d570f3e995c62dedea0b519cfb829853520b2beff289e247cf3df0a24ebf1cf57584382999987a62dd SHA512 7ac41e7141f76fd634f3d39aaa5b3ea4eee2040b2de85bc5877bd0258495483da106482b43d7a7050985ee5906ec5925d1419f94d20beaba0f6f77de6025f4f9
 EBUILD move_base-1.16.2.ebuild 1094 BLAKE2B 8bd5d4eb6d707ad06280de0c5ea5a9c087465f2b00e807d570f3e995c62dedea0b519cfb829853520b2beff289e247cf3df0a24ebf1cf57584382999987a62dd SHA512 7ac41e7141f76fd634f3d39aaa5b3ea4eee2040b2de85bc5877bd0258495483da106482b43d7a7050985ee5906ec5925d1419f94d20beaba0f6f77de6025f4f9
 EBUILD move_base-1.16.3.ebuild 1091 BLAKE2B ca50db0e50f888dcdfe8b4bcf238a3f9f6d98102c048177369e1f8851ac6970e1c05777cf68a0086e9601bd6bcb3c5b817fe87c216c4f1d60e63911640f03f95 SHA512 4d1bb8f0dbcd9b1605815b13a0a6e8a352640f4f464d6a811725578da1be1d2f1d4c87f2cec5492ceecb42ddbd9820cde1f50e80b34e9d1193cecb97a1528f9f
+EBUILD move_base-1.16.6.ebuild 1091 BLAKE2B 072c89d0ae5020d84a3676c9a1a684964ef5583c734240ceed0cd9ff504f5a28e7b244142ebb4b5e40f6c4d0dc88778459a28300b57d022608a198ae890ce9d1 SHA512 f7bb5b7ea10b50bb93519ad099663b09b3daeace47c71fd5e665cd91d3278a66ff53047d4db10c0c9d834e53ae6c8f03706186a7684ddf5cf223644586650bc2
 EBUILD move_base-9999.ebuild 1094 BLAKE2B 8bd5d4eb6d707ad06280de0c5ea5a9c087465f2b00e807d570f3e995c62dedea0b519cfb829853520b2beff289e247cf3df0a24ebf1cf57584382999987a62dd SHA512 7ac41e7141f76fd634f3d39aaa5b3ea4eee2040b2de85bc5877bd0258495483da106482b43d7a7050985ee5906ec5925d1419f94d20beaba0f6f77de6025f4f9
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/move_base/move_base-1.16.6.ebuild b/dev-ros/move_base/move_base-1.16.6.ebuild
new file mode 100644
index 000000000000..2002b63e31ff
--- /dev/null
+++ b/dev-ros/move_base/move_base-1.16.6.ebuild
@@ -0,0 +1,44 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+PYTHON_COMPAT=( python2_7 )
+
+inherit ros-catkin
+
+DESCRIPTION="Given a goal in the world, will attempt to reach it with a mobile base"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/actionlib
+	>=dev-ros/costmap_2d-1.15.1
+	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/move_base_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/nav_core
+	dev-ros/pluginlib
+		dev-libs/tinyxml2:=
+	dev-ros/roscpp
+	dev-ros/rospy[${PYTHON_USEDEP}]
+	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2_ros
+	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+
+	dev-ros/base_local_planner
+	dev-ros/clear_costmap_recovery
+	dev-ros/navfn
+	dev-ros/rotate_recovery
+
+	dev-cpp/eigen:3
+	dev-libs/boost:=
+	dev-libs/console_bridge:=
+
+	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
+DEPEND="${RDEPEND}
+	dev-ros/cmake_modules"
diff --git a/dev-ros/move_slow_and_clear/Manifest b/dev-ros/move_slow_and_clear/Manifest
index a14b60028fb0..0126368f29b4 100644
--- a/dev-ros/move_slow_and_clear/Manifest
+++ b/dev-ros/move_slow_and_clear/Manifest
@@ -1,8 +1,10 @@
 DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
 DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD move_slow_and_clear-1.16.1.ebuild 563 BLAKE2B 99b547fcd7fa8a3097df4f1dfd4fa17c685d426883d6333743802ce238579dbea95c78004682438b36a5e539a2ae89662c69a3f1ff6488198cff4b9f8ef86fc9 SHA512 9608e344774f9a2d598999f779884b91af623be4bc66ab2d88b925860c5a774356b2e77019f9fefeb4494201d777ae70cf2a5d8c92a638fe5f6c595ff6d88825
 EBUILD move_slow_and_clear-1.16.2.ebuild 563 BLAKE2B 99b547fcd7fa8a3097df4f1dfd4fa17c685d426883d6333743802ce238579dbea95c78004682438b36a5e539a2ae89662c69a3f1ff6488198cff4b9f8ef86fc9 SHA512 9608e344774f9a2d598999f779884b91af623be4bc66ab2d88b925860c5a774356b2e77019f9fefeb4494201d777ae70cf2a5d8c92a638fe5f6c595ff6d88825
 EBUILD move_slow_and_clear-1.16.3.ebuild 560 BLAKE2B 9de7599994db223b27a7595a132394bf9f4b0ce759eabd2bc3dfcfd4bfd0a6d64c94d9b7a7115f2b6f6bd358a55f9cf6e207be2d8b42dca5ec7443fc298deebd SHA512 75057b1ebe9dbb65cc516dd0d1c1525afff0be65c9a9782896f6207c01f8287ab27a5c54c1ae2645368518b64d654149d2d9f66d65e1cb52dd40c4ddbbfd9fde
+EBUILD move_slow_and_clear-1.16.6.ebuild 560 BLAKE2B 0cd52fefc97c0900c8297f58804f588a9ca6c74523255791f306e79f672241b628bbb796aeb0c5b196dcd5526d1a224fe00d25d0dcd90d95ec966bd508fb90a5 SHA512 1f9760e26bee97fb6acec02fd2b74e81a1b953025bcaa7417a1c1054535751c31eb988562711fbc0b038ed4dca86f6ca44458e4009f1faeef5654f2eda98186e
 EBUILD move_slow_and_clear-9999.ebuild 563 BLAKE2B 99b547fcd7fa8a3097df4f1dfd4fa17c685d426883d6333743802ce238579dbea95c78004682438b36a5e539a2ae89662c69a3f1ff6488198cff4b9f8ef86fc9 SHA512 9608e344774f9a2d598999f779884b91af623be4bc66ab2d88b925860c5a774356b2e77019f9fefeb4494201d777ae70cf2a5d8c92a638fe5f6c595ff6d88825
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/move_slow_and_clear/move_slow_and_clear-1.16.6.ebuild b/dev-ros/move_slow_and_clear/move_slow_and_clear-1.16.6.ebuild
new file mode 100644
index 000000000000..3990eca3eee6
--- /dev/null
+++ b/dev-ros/move_slow_and_clear/move_slow_and_clear-1.16.6.ebuild
@@ -0,0 +1,30 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+
+inherit ros-catkin
+
+DESCRIPTION="Move slow and clear"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	>=dev-ros/costmap_2d-1.16
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/nav_core
+	dev-ros/pluginlib
+	dev-ros/roscpp
+
+	dev-libs/boost:=[threads]
+	dev-cpp/eigen:3
+	dev-libs/console_bridge:=
+"
+DEPEND="${RDEPEND}
+	dev-ros/cmake_modules
+
+"
diff --git a/dev-ros/nav_core/Manifest b/dev-ros/nav_core/Manifest
index e1f2b21b580d..9723838b29f5 100644
--- a/dev-ros/nav_core/Manifest
+++ b/dev-ros/nav_core/Manifest
@@ -3,10 +3,12 @@ DIST navigation-1.16.0.tar.gz 336708 BLAKE2B 74fdc7c3afb00bfbded011678c90b22cc95
 DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
 DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD nav_core-1.15.2.ebuild 503 BLAKE2B 0d65bb8980f5b01daf85b3b64fe327110859c46da94def8f94b348919b4c23aae46e2705690c8a51548f9f10333271839929595eb2883cf0da1f878dad3813b6 SHA512 e408c2e3a83ab1f1551e387056e4203a14c810c29203528363fdad39a5e9bf30af06351d15075a15b1ce7683f086c31bc82e2bf5f27786f521047768a64736c7
 EBUILD nav_core-1.16.0.ebuild 508 BLAKE2B f7086a542e73a3ff3fad80751d9903f95382b10ddc07c80c8527bbc92deed182e097777f579bcfc5ab753b369fe66548a33eea971c0efbbf32802f58b4ccb98a SHA512 fa04713751839cd08b147de04b9607bcfd17843afd758770ebdd3da0b11c82f3b1acbbf2fe60cd3f50895d013ca9c2203be8f7c6e014375e4a532b427aa67860
 EBUILD nav_core-1.16.1.ebuild 508 BLAKE2B f7086a542e73a3ff3fad80751d9903f95382b10ddc07c80c8527bbc92deed182e097777f579bcfc5ab753b369fe66548a33eea971c0efbbf32802f58b4ccb98a SHA512 fa04713751839cd08b147de04b9607bcfd17843afd758770ebdd3da0b11c82f3b1acbbf2fe60cd3f50895d013ca9c2203be8f7c6e014375e4a532b427aa67860
 EBUILD nav_core-1.16.2.ebuild 508 BLAKE2B f7086a542e73a3ff3fad80751d9903f95382b10ddc07c80c8527bbc92deed182e097777f579bcfc5ab753b369fe66548a33eea971c0efbbf32802f58b4ccb98a SHA512 fa04713751839cd08b147de04b9607bcfd17843afd758770ebdd3da0b11c82f3b1acbbf2fe60cd3f50895d013ca9c2203be8f7c6e014375e4a532b427aa67860
 EBUILD nav_core-1.16.3.ebuild 505 BLAKE2B 5417becf0044ffd379b794a85a2baeb2740a4355708ed73469b93da24309bc21657eccc3e29a9e1e090a123b50f8aef6a0913a854ac2afb2fe293a760f24cc52 SHA512 485966ee93b85a7626bfd3572b668261a9de9f2f322c06334127ec7d17825519baf55c2499f9e44b22015a90f3fbe1fc94eeb11e5a11e6fc514220154da190e2
+EBUILD nav_core-1.16.6.ebuild 505 BLAKE2B 045d34d1f3a5c4e19307aac454ceef377ab33c44475eaab3da17f3b0488942bea41db19ead2cbe716d2593af5f01233b615f71a12d5cb5152c2f551015ffe359 SHA512 a61da6ccddf65b736aa0c3a12ea1b2789483aeb32dc4993e04d029c29cc724d7dafdbdfb9decb3f7b0b91d0d1089651a2aa9d6c2a71907b5a36e9ee50ab796d1
 EBUILD nav_core-9999.ebuild 508 BLAKE2B f7086a542e73a3ff3fad80751d9903f95382b10ddc07c80c8527bbc92deed182e097777f579bcfc5ab753b369fe66548a33eea971c0efbbf32802f58b4ccb98a SHA512 fa04713751839cd08b147de04b9607bcfd17843afd758770ebdd3da0b11c82f3b1acbbf2fe60cd3f50895d013ca9c2203be8f7c6e014375e4a532b427aa67860
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/nav_core/nav_core-1.16.6.ebuild b/dev-ros/nav_core/nav_core-1.16.6.ebuild
new file mode 100644
index 000000000000..691a5af7834c
--- /dev/null
+++ b/dev-ros/nav_core/nav_core-1.16.6.ebuild
@@ -0,0 +1,22 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+
+inherit ros-catkin
+
+DESCRIPTION="Common interfaces for navigation specific robot actions"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/costmap_2d
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2_ros
+"
+DEPEND="${RDEPEND}"
diff --git a/dev-ros/navfn/Manifest b/dev-ros/navfn/Manifest
index 6b7a46b0bc14..180f7aac943e 100644
--- a/dev-ros/navfn/Manifest
+++ b/dev-ros/navfn/Manifest
@@ -1,6 +1,8 @@
 AUX pgm_h_location.patch 900 BLAKE2B 2816bc6803bce70d14f5fcf10161316961ffd265d94a36e90f7d98bd381a4966bd924e352cda2f859e07ea25547e62e0d6381afa1fa3b488364634b20730830c SHA512 4c3286e18d922d292858e8fc574cc440c344ae182133539efca93cb25e16dc78149efe521499024751a46f2b4d1b63516276f1e0510028114357520d4a560d81
 AUX tests.patch 460 BLAKE2B 06814e0e141d4b7b75ef36bcea6dff20aadc324c700e0aa219110efac9b27316829f7faa0b83a99795998428e825568325e87e6ca52fa3696772e6e95b655aa2 SHA512 c02fa62a1446b403a535d028a1b36c1deac8a4cf09f0596ada560e696288412566c5b8e2719fd368e098f9ccfe23dec02c9d6e066cb837ea2cdf5b15523c21a2
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD navfn-1.16.3.ebuild 1130 BLAKE2B a748a50eb55edda7e08aff9f500732246780baf7333df7e8e80e56fe44d6ce5c130095cd069583c9f922c5f43d99834f0f98a85aea46982eddfc847b512e96ec SHA512 f667fac0acb101b32877466ad83b8f84113a2bd3f24e60d298575ecac91ae27fbed39ce1e2a2601c1361c60797fd4347bc43f4721d6f4695f6f420f7e7bbbb3c
+EBUILD navfn-1.16.6.ebuild 1130 BLAKE2B c0d73d91b26ead41ce6cee847c57cecf1304cbb7fbd61fd08eaf80127be1724d9efc5a20bccf45cd459c267a403a6130be481340a736e56fe3589fbaa5f82c88 SHA512 27772bc8af31119d80feaa316ad5f0ab1349ececc3f9e3695ec8b7cd6c897b9ef4ca59f5596167fe6b7d87317dd4ccc97b2173bf0f2132b5943b5a3e9317770a
 EBUILD navfn-9999.ebuild 1130 BLAKE2B a748a50eb55edda7e08aff9f500732246780baf7333df7e8e80e56fe44d6ce5c130095cd069583c9f922c5f43d99834f0f98a85aea46982eddfc847b512e96ec SHA512 f667fac0acb101b32877466ad83b8f84113a2bd3f24e60d298575ecac91ae27fbed39ce1e2a2601c1361c60797fd4347bc43f4721d6f4695f6f420f7e7bbbb3c
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/navfn/navfn-1.16.6.ebuild b/dev-ros/navfn/navfn-1.16.6.ebuild
new file mode 100644
index 000000000000..fc41aa548c33
--- /dev/null
+++ b/dev-ros/navfn/navfn-1.16.6.ebuild
@@ -0,0 +1,44 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs dev-ros/nav_msgs"
+CATKIN_HAS_MESSAGES=yes
+PYTHON_COMPAT=( python2_7 )
+
+inherit ros-catkin
+
+DESCRIPTION="Fast interpolated navigation function that can be used to create plans for a mobile base"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	>=dev-ros/costmap_2d-1.16
+	dev-ros/nav_core
+	dev-ros/pluginlib
+	dev-ros/rosconsole
+	dev-ros/roscpp
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2_ros
+	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+
+	dev-cpp/eigen:3
+	x11-libs/fltk
+	media-libs/netpbm
+	dev-libs/boost:=[threads]
+	dev-libs/console_bridge:=
+"
+DEPEND="${RDEPEND}
+	test? ( dev-cpp/gtest )
+	dev-ros/cmake_modules"
+
+PATCHES=( "${FILESDIR}/pgm_h_location.patch" "${FILESDIR}/tests.patch" )
+
+src_prepare() {
+	ros-catkin_src_prepare
+	sed -e "s#@PGM_PATH@#\"${S}/test/willow_costmap.pgm\"#" -i test/path_calc_test.cpp || die
+}
diff --git a/dev-ros/pcl_conversions/Manifest b/dev-ros/pcl_conversions/Manifest
index 7e733b68697a..a6c5d55fa250 100644
--- a/dev-ros/pcl_conversions/Manifest
+++ b/dev-ros/pcl_conversions/Manifest
@@ -1,10 +1,4 @@
-DIST pcl_conversions-0.2.1.tar.gz 8450 BLAKE2B a77cf70f751c7d80bcdee1214554aecaf1cd3518266fed75f730c865f3ccff9ba2cb502861084c9792df4850fe411e6606c94afb2bdc490cad396be0b319763e SHA512 a9d8a2b45463d67d858ee9b62f0e895f808c79b3bac3d2833c6ba02bd36bdeec0d4697897446c9e2968559667e1d9c5f93df6b583f13fd3b26220d3cd0a71632
-DIST perception_pcl-1.6.1.tar.gz 82552 BLAKE2B a442c9df193e38b6aca9e45ec3a469d6603bc2c909fc8c33ad612b2b6448956863555608cb0a0102593e2e71aa7f54ae88b677c2bfbde7df23b114ff4ca83c8f SHA512 c0b63833dd12f3eee5f5ec1e5d8f8bd9c001f1f1787572717a0845fa9a18862bb49a134638f9f0bde5587ac26ab8fd9e6534fcd5ed6b69842780a6fd3762fb5c
-DIST perception_pcl-1.6.2.tar.gz 82896 BLAKE2B dc5d4e25b1841ffde720f7f0231570fcca687d32158da0bb9510f37b7cefbd71dd774bae31a0aa8fdfe7330c98721a7d0df7236bbc9452f9f82c09cd42236695 SHA512 c7c0524a8095fd42b8e12bf2f4453a07d758822ba5a345353df8790e4c22faf250e400fa88a90aea828e80ef4a9992ead04635a5898a45b47245235fec7700ed
-DIST perception_pcl-1.7.0.tar.gz 84987 BLAKE2B de309d013b24f3fb3ad2c1a5531cdee9860c4173cd885d7f294a30153ed1cb1613cd26035ec161879cb3804d75670a6d58096251f867cffaf9fd6eb74741ef40 SHA512 01eee6b2fec2b0be0737adaf8a1347922631edee8466c28815e1b183e9365c632f66544c8f85231a5c81262bcab3e24a3d6bff986262b1cb64dc2e3b27adef67
-EBUILD pcl_conversions-0.2.1-r1.ebuild 589 BLAKE2B 06ad0c702cadce3d0bcffcfd896fee9ca843ec12eea2cfd9337e54e7dfdae021de3f19fec58ecf05d3c9b9a1240454f2998c457507be6509998e44e165930c8f SHA512 4a0a6a9e6a4d6fdfe2770476ef76ca9909a664db35d7cac1d3aa7bbddb27d1a2e03c33ae92ad1fe47ba23844469bef88e755048ce1913fcbc67f2dcfbab5da99
-EBUILD pcl_conversions-1.6.1.ebuild 605 BLAKE2B 874aa3d03575a1d1496cf8d2ae4b66e23c9ce5c419cac0fe73e1514e39adc460bf81d331331f290d5b3a9caaae31fd505b080b5be4d94814b4057fc5797c129c SHA512 57f71a5744712cbeecb98dc3b55cec7731d5f516c9db9596b48757948d28c37bd43db769921e7217f48453c61df5ebd60c0479e7f49bf1fc2fb714daff9ecd70
-EBUILD pcl_conversions-1.6.2.ebuild 605 BLAKE2B 874aa3d03575a1d1496cf8d2ae4b66e23c9ce5c419cac0fe73e1514e39adc460bf81d331331f290d5b3a9caaae31fd505b080b5be4d94814b4057fc5797c129c SHA512 57f71a5744712cbeecb98dc3b55cec7731d5f516c9db9596b48757948d28c37bd43db769921e7217f48453c61df5ebd60c0479e7f49bf1fc2fb714daff9ecd70
-EBUILD pcl_conversions-1.7.0.ebuild 602 BLAKE2B 9fdc1fa55d080c030d528ebfb16a2e8e30e0a52b4e22290fd635d891bb8c3f1257a261eeff46e1b9a5daa2dbf05c45043c580d7777d3eb21a3934f0cc7f75c2c SHA512 fd0783cfb8b94f5eab8c5f28894e4c5f9c7b8f1383751e46fa1c3b4d66e4df1f0c1c3a16e9659f7f78c990487793765bf0ec55d346e3e889840aaeafdcf8977f
+DIST perception_pcl-1.7.1.tar.gz 80899 BLAKE2B 2898d88efa1b27a27eea06fb949254127cf92eb2c788ae914a40f0000fa8204202c4823c69ab5fa9bd83c2426289a4897a56fab9ec3df61e3ab0a184fc068c41 SHA512 97e9240c660adde84976860ed9c94cf8c127615526641dbcdb729ffbda4cda4dfb9f351cc2d471988732ad61e6508bfa5906c8b4503c31172e7f4e4dfc31260e
+EBUILD pcl_conversions-1.7.1.ebuild 602 BLAKE2B d8b3c17adfd1c5d19e1ea556dddeb049cbb4dcd58626d2bbad06a6d69002f665564b4839435334c418e6a0e71df2e45efbedb83acb0c91ca964939de01260cd6 SHA512 e5196ab80aa43164808e6dae8dffc2fd9ad88440a237e34daa1affc383ca2655e8c164b4f82034abbf2c256590d4e2091af52e327fe0f1a1de7e202b01bd8bf6
 EBUILD pcl_conversions-9999.ebuild 605 BLAKE2B 874aa3d03575a1d1496cf8d2ae4b66e23c9ce5c419cac0fe73e1514e39adc460bf81d331331f290d5b3a9caaae31fd505b080b5be4d94814b4057fc5797c129c SHA512 57f71a5744712cbeecb98dc3b55cec7731d5f516c9db9596b48757948d28c37bd43db769921e7217f48453c61df5ebd60c0479e7f49bf1fc2fb714daff9ecd70
 MISC metadata.xml 343 BLAKE2B c3702e4ed6c355b81fed82f2cf5bcc1ad37082d134130f55ff5a7b4ce3eba79e758ac6dae129b0e76dc9f0171caa52d04a4b428a286458a4a8052a054c6b5d0d SHA512 43909c26691d29a183729bab2d2e9a9639d779a5b23816705064083d11275e687097e8da8c33d952312a1eaeed42a24d4a0bfd74a9ccae08a199acec0ca4a585
diff --git a/dev-ros/pcl_conversions/pcl_conversions-0.2.1-r1.ebuild b/dev-ros/pcl_conversions/pcl_conversions-0.2.1-r1.ebuild
deleted file mode 100644
index 5a66b310e0f5..000000000000
--- a/dev-ros/pcl_conversions/pcl_conversions-0.2.1-r1.ebuild
+++ /dev/null
@@ -1,24 +0,0 @@
-# Copyright 1999-2016 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-perception/pcl_conversions"
-KEYWORDS="~amd64 ~arm"
-
-inherit ros-catkin
-
-DESCRIPTION="Provides conversions from PCL data types and ROS message types"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	sci-libs/pcl:=
-	dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-cpp/eigen:3
-"
-DEPEND="${RDEPEND}
-	test? ( dev-cpp/gtest )"
diff --git a/dev-ros/pcl_conversions/pcl_conversions-1.6.1.ebuild b/dev-ros/pcl_conversions/pcl_conversions-1.6.1.ebuild
deleted file mode 100644
index 79f1ab5d1922..000000000000
--- a/dev-ros/pcl_conversions/pcl_conversions-1.6.1.ebuild
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-perception/perception_pcl"
-ROS_SUBDIR=${PN}
-KEYWORDS="~amd64 ~arm"
-
-inherit ros-catkin
-
-DESCRIPTION="Provides conversions from PCL data types and ROS message types"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	sci-libs/pcl:=
-	dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-cpp/eigen:3
-"
-DEPEND="${RDEPEND}
-	test? ( dev-cpp/gtest )"
diff --git a/dev-ros/pcl_conversions/pcl_conversions-1.6.2.ebuild b/dev-ros/pcl_conversions/pcl_conversions-1.6.2.ebuild
deleted file mode 100644
index 79f1ab5d1922..000000000000
--- a/dev-ros/pcl_conversions/pcl_conversions-1.6.2.ebuild
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-perception/perception_pcl"
-ROS_SUBDIR=${PN}
-KEYWORDS="~amd64 ~arm"
-
-inherit ros-catkin
-
-DESCRIPTION="Provides conversions from PCL data types and ROS message types"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	sci-libs/pcl:=
-	dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-cpp/eigen:3
-"
-DEPEND="${RDEPEND}
-	test? ( dev-cpp/gtest )"
diff --git a/dev-ros/pcl_conversions/pcl_conversions-1.7.0.ebuild b/dev-ros/pcl_conversions/pcl_conversions-1.7.1.ebuild
index 84ff87429a51..2d924e7a3445 100644
--- a/dev-ros/pcl_conversions/pcl_conversions-1.7.0.ebuild
+++ b/dev-ros/pcl_conversions/pcl_conversions-1.7.1.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
 EAPI=5
diff --git a/dev-ros/pcl_ros/Manifest b/dev-ros/pcl_ros/Manifest
index 0f70ea378fe3..99bc2088146a 100644
--- a/dev-ros/pcl_ros/Manifest
+++ b/dev-ros/pcl_ros/Manifest
@@ -1,10 +1,5 @@
-DIST perception_pcl-1.5.4.tar.gz 73829 BLAKE2B cfc6e964691da42717d134e0b639ef4af4491074de171a84d081bf66c061a51b7c2da750ff539dd784a7a4c34cfdfe18d7d2e38c4e6d0370fbc441f9b3a6196d SHA512 e9da9b2f9b602b67bceec9b0adf515b500d77c9e5c2dbdc1f63bf5a91419bbf7f9f41d602646b8197dffcf7a077b63eb402a507dbc6bb96405a8f4d64576e36e
-DIST perception_pcl-1.6.1.tar.gz 82552 BLAKE2B a442c9df193e38b6aca9e45ec3a469d6603bc2c909fc8c33ad612b2b6448956863555608cb0a0102593e2e71aa7f54ae88b677c2bfbde7df23b114ff4ca83c8f SHA512 c0b63833dd12f3eee5f5ec1e5d8f8bd9c001f1f1787572717a0845fa9a18862bb49a134638f9f0bde5587ac26ab8fd9e6534fcd5ed6b69842780a6fd3762fb5c
-DIST perception_pcl-1.6.2.tar.gz 82896 BLAKE2B dc5d4e25b1841ffde720f7f0231570fcca687d32158da0bb9510f37b7cefbd71dd774bae31a0aa8fdfe7330c98721a7d0df7236bbc9452f9f82c09cd42236695 SHA512 c7c0524a8095fd42b8e12bf2f4453a07d758822ba5a345353df8790e4c22faf250e400fa88a90aea828e80ef4a9992ead04635a5898a45b47245235fec7700ed
-DIST perception_pcl-1.7.0.tar.gz 84987 BLAKE2B de309d013b24f3fb3ad2c1a5531cdee9860c4173cd885d7f294a30153ed1cb1613cd26035ec161879cb3804d75670a6d58096251f867cffaf9fd6eb74741ef40 SHA512 01eee6b2fec2b0be0737adaf8a1347922631edee8466c28815e1b183e9365c632f66544c8f85231a5c81262bcab3e24a3d6bff986262b1cb64dc2e3b27adef67
-EBUILD pcl_ros-1.5.4.ebuild 921 BLAKE2B 7dcd0c3e58fe62dfecac6163907a1034a8a1e3e61660012be8b68ce12ab2177d198f8f737cd73a6b28caf8f6d7c6e0818b8b70d0e0c407e64165358b5027efcf SHA512 ba2210fc75a197d53ac011edae3a5e76e103111bfa1e096498112361797e5d0f3d493fefa9c41fc56c2c317eba3b2896f095212c72d7fa92e5b76f27869b3fe1
-EBUILD pcl_ros-1.6.1.ebuild 946 BLAKE2B eda6616fbb42b4ec8684500b87d22ec2476a44d4ef515739a2e42cc9eb14495e6ff445d29fbab51e37dde7538a465fca37c99fa3ecbb7bc7aa240bae8a94c230 SHA512 94f287f1ffa36e7c44801eb48469501649b864eef1960a8d0548d0a8e219e488ced3077a3a13ab730488601c35a926702c77433a1d6c3b52ed9e0f8fe036d3a6
-EBUILD pcl_ros-1.6.2.ebuild 946 BLAKE2B eda6616fbb42b4ec8684500b87d22ec2476a44d4ef515739a2e42cc9eb14495e6ff445d29fbab51e37dde7538a465fca37c99fa3ecbb7bc7aa240bae8a94c230 SHA512 94f287f1ffa36e7c44801eb48469501649b864eef1960a8d0548d0a8e219e488ced3077a3a13ab730488601c35a926702c77433a1d6c3b52ed9e0f8fe036d3a6
-EBUILD pcl_ros-1.7.0.ebuild 943 BLAKE2B a111ef4d5cb2f237cced0c6d9c245c2b6e6a65d5c221e15006d163735b8a35bcd8e7ee8840a40a0b76b05e69e080d3915002273bca18a18095fff4293c40d221 SHA512 a78e9444b831417f454feb9e064c2f63d21b92b099943f852a8781f74216fc9b8b42c092b5d39ae727b9ea11ae8cd7d847f532219cb791be14a1314da7374d25
-EBUILD pcl_ros-9999.ebuild 946 BLAKE2B eda6616fbb42b4ec8684500b87d22ec2476a44d4ef515739a2e42cc9eb14495e6ff445d29fbab51e37dde7538a465fca37c99fa3ecbb7bc7aa240bae8a94c230 SHA512 94f287f1ffa36e7c44801eb48469501649b864eef1960a8d0548d0a8e219e488ced3077a3a13ab730488601c35a926702c77433a1d6c3b52ed9e0f8fe036d3a6
+AUX pcl111.patch 39097 BLAKE2B c9612c7a10f9bf92d4aa3b1d053035f13c682ecdd3cabfdb23cc0152a31fa7b1da0f9d0e18a22242a76ab7e8601b0fb3c52d300baf3839e84c6b127c58daf39b SHA512 fe8330ca9c1991a274310918a0f575cbb5b83e48969cb8cb285032f7a5e8d571c9dae131837aeaf1edbec18baaedf27ece82e428d4d960d73f5b0aa86e5861f3
+DIST perception_pcl-1.7.1.tar.gz 80899 BLAKE2B 2898d88efa1b27a27eea06fb949254127cf92eb2c788ae914a40f0000fa8204202c4823c69ab5fa9bd83c2426289a4897a56fab9ec3df61e3ab0a184fc068c41 SHA512 97e9240c660adde84976860ed9c94cf8c127615526641dbcdb729ffbda4cda4dfb9f351cc2d471988732ad61e6508bfa5906c8b4503c31172e7f4e4dfc31260e
+EBUILD pcl_ros-1.7.1.ebuild 954 BLAKE2B baa8161e13c24fb884917b21f9d6d5cc80f69d345bdb6903a1775f7bc4f0eb49d1675381ff86eb9d5595005496d829f273f09f1422839958e6ad4c5963277c86 SHA512 ff793a450e3b1e9891a433291b9ca2957a18e17f63bc7a9d9b0ec818a8af039cc902148d6cb172d1f7450673ebbd72dabd03533e7be134b2abb4cd22cee6eccc
+EBUILD pcl_ros-9999.ebuild 915 BLAKE2B e15107eeae1fa3524c5f217a4bb58d07e90ff54a04557081d3792dfdd98d8f508175b43b11ef17da4f59946c64c627b103cdebaad1b79b4bb8f32be2867015c7 SHA512 8e3fa2c8ddb14638e2995b2bc857fb4dc8ffa0342f45be94ce59fc1887fed001fc1ce89792d4094a07a1553a43d73d38cb99e65c27d27cdb9fa4e91b2fd0700c
 MISC metadata.xml 343 BLAKE2B c3702e4ed6c355b81fed82f2cf5bcc1ad37082d134130f55ff5a7b4ce3eba79e758ac6dae129b0e76dc9f0171caa52d04a4b428a286458a4a8052a054c6b5d0d SHA512 43909c26691d29a183729bab2d2e9a9639d779a5b23816705064083d11275e687097e8da8c33d952312a1eaeed42a24d4a0bfd74a9ccae08a199acec0ca4a585
diff --git a/dev-ros/pcl_ros/files/pcl111.patch b/dev-ros/pcl_ros/files/pcl111.patch
new file mode 100644
index 000000000000..8f3433ffccaa
--- /dev/null
+++ b/dev-ros/pcl_ros/files/pcl111.patch
@@ -0,0 +1,963 @@
+From e812d3cf1b67cc73841b41e690d53c74e5077a05 Mon Sep 17 00:00:00 2001
+From: Kunal Tyagi <tyagi.kunal@live.com>
+Date: Wed, 6 May 2020 08:41:07 +0900
+Subject: [PATCH] Changes in preparation for PCL 1.11 (#273)
+
+* Deriving typedef from pcl type
+
+* Explicit boost shared_ptr for function parameters
+
+* Use boost::shared_ptr instead of PCL::Ptr
+
+* Implementing boost-std compatibility
+
+* Using the compatibility layer
+---
+ pcl_ros/include/pcl_ros/features/feature.h    |  14 +-
+ pcl_ros/include/pcl_ros/filters/filter.h      |   4 +-
+ pcl_ros/include/pcl_ros/pcl_nodelet.h         |   9 +-
+ pcl_ros/include/pcl_ros/point_cloud.h         | 121 ++++++++++++++++++
+ .../extract_polygonal_prism_data.h            |   4 +-
+ .../pcl_ros/segmentation/sac_segmentation.h   |  12 +-
+ .../segmentation/segment_differences.h        |   4 +-
+ pcl_ros/include/pcl_ros/surface/convex_hull.h |   4 +-
+ .../pcl_ros/surface/moving_least_squares.h    |   4 +-
+ pcl_ros/src/pcl_ros/features/boundary.cpp     |  10 +-
+ pcl_ros/src/pcl_ros/features/fpfh.cpp         |  10 +-
+ pcl_ros/src/pcl_ros/features/fpfh_omp.cpp     |  10 +-
+ .../pcl_ros/features/moment_invariants.cpp    |   8 +-
+ pcl_ros/src/pcl_ros/features/normal_3d.cpp    |   8 +-
+ .../src/pcl_ros/features/normal_3d_omp.cpp    |   8 +-
+ .../src/pcl_ros/features/normal_3d_tbb.cpp    |   4 +-
+ pcl_ros/src/pcl_ros/features/pfh.cpp          |  10 +-
+ .../pcl_ros/features/principal_curvatures.cpp |  10 +-
+ pcl_ros/src/pcl_ros/features/shot.cpp         |  10 +-
+ pcl_ros/src/pcl_ros/features/shot_omp.cpp     |  10 +-
+ pcl_ros/src/pcl_ros/features/vfh.cpp          |  10 +-
+ .../pcl_ros/segmentation/extract_clusters.cpp |   4 +-
+ .../extract_polygonal_prism_data.cpp          |   6 +-
+ .../pcl_ros/segmentation/sac_segmentation.cpp |   6 +-
+ .../segmentation/segment_differences.cpp      |   8 +-
+ pcl_ros/src/pcl_ros/surface/convex_hull.cpp   |   8 +-
+ .../pcl_ros/surface/moving_least_squares.cpp  |  10 +-
+ pcl_ros/tools/pointcloud_to_pcd.cpp           |   2 +-
+ 28 files changed, 225 insertions(+), 103 deletions(-)
+
+diff --git a/pcl_ros/include/pcl_ros/features/feature.h b/pcl_ros/include/pcl_ros/features/feature.h
+index 26bcfe6b..098c20bc 100644
+--- a/pcl_ros/include/pcl_ros/features/feature.h
++++ b/pcl_ros/include/pcl_ros/features/feature.h
+@@ -69,11 +69,11 @@ namespace pcl_ros
+       typedef pcl::KdTree<pcl::PointXYZ>::Ptr KdTreePtr;
+ 
+       typedef pcl::PointCloud<pcl::PointXYZ> PointCloudIn;
+-      typedef PointCloudIn::Ptr PointCloudInPtr;
+-      typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
++      typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr;
++      typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr;
+ 
+-      typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
+-      typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
++      typedef pcl::IndicesPtr IndicesPtr;
++      typedef pcl::IndicesConstPtr IndicesConstPtr;
+ 
+       /** \brief Empty constructor. */
+       Feature () : /*input_(), indices_(), surface_(), */tree_(), k_(0), search_radius_(0),
+@@ -152,7 +152,7 @@ namespace pcl_ros
+         indices.header.stamp = pcl_conversions::fromPCL(input->header).stamp;
+         PointCloudIn cloud;
+         cloud.header.stamp = input->header.stamp;
+-        nf_pc_.add (cloud.makeShared ());
++        nf_pc_.add (ros_ptr(cloud.makeShared ()));
+         nf_pi_.add (boost::make_shared<PointIndices> (indices));
+       }
+ 
+@@ -190,8 +190,8 @@ namespace pcl_ros
+       typedef sensor_msgs::PointCloud2 PointCloud2;
+ 
+       typedef pcl::PointCloud<pcl::Normal> PointCloudN;
+-      typedef PointCloudN::Ptr PointCloudNPtr;
+-      typedef PointCloudN::ConstPtr PointCloudNConstPtr;
++      typedef boost::shared_ptr<PointCloudN> PointCloudNPtr;
++      typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;
+ 
+       FeatureFromNormals () : normals_() {};
+ 
+diff --git a/pcl_ros/include/pcl_ros/filters/filter.h b/pcl_ros/include/pcl_ros/filters/filter.h
+index 94c1e883..b4e79538 100644
+--- a/pcl_ros/include/pcl_ros/filters/filter.h
++++ b/pcl_ros/include/pcl_ros/filters/filter.h
+@@ -58,8 +58,8 @@ namespace pcl_ros
+     public:
+       typedef sensor_msgs::PointCloud2 PointCloud2;
+ 
+-      typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
+-      typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
++      typedef pcl::IndicesPtr IndicesPtr;
++      typedef pcl::IndicesConstPtr IndicesConstPtr;
+ 
+       Filter () {}
+ 
+diff --git a/pcl_ros/include/pcl_ros/pcl_nodelet.h b/pcl_ros/include/pcl_ros/pcl_nodelet.h
+index f12e62d7..279d6730 100644
+--- a/pcl_ros/include/pcl_ros/pcl_nodelet.h
++++ b/pcl_ros/include/pcl_ros/pcl_nodelet.h
+@@ -48,6 +48,7 @@
+ // PCL includes
+ #include <pcl_msgs/PointIndices.h>
+ #include <pcl_msgs/ModelCoefficients.h>
++#include <pcl/pcl_base.h>
+ #include <pcl/point_types.h>
+ #include <pcl_conversions/pcl_conversions.h>
+ #include "pcl_ros/point_cloud.h"
+@@ -75,8 +76,8 @@ namespace pcl_ros
+       typedef sensor_msgs::PointCloud2 PointCloud2;
+ 
+       typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
+-      typedef PointCloud::Ptr PointCloudPtr;
+-      typedef PointCloud::ConstPtr PointCloudConstPtr;
++      typedef boost::shared_ptr<PointCloud> PointCloudPtr;
++      typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
+ 
+       typedef pcl_msgs::PointIndices PointIndices;
+       typedef PointIndices::Ptr PointIndicesPtr;
+@@ -86,8 +87,8 @@ namespace pcl_ros
+       typedef ModelCoefficients::Ptr ModelCoefficientsPtr;
+       typedef ModelCoefficients::ConstPtr ModelCoefficientsConstPtr;
+ 
+-      typedef boost::shared_ptr <std::vector<int> > IndicesPtr;
+-      typedef boost::shared_ptr <const std::vector<int> > IndicesConstPtr;
++      typedef pcl::IndicesPtr IndicesPtr;
++      typedef pcl::IndicesConstPtr IndicesConstPtr;
+ 
+       /** \brief Empty constructor. */
+       PCLNodelet () : use_indices_ (false), latched_indices_ (false),
+diff --git a/pcl_ros/include/pcl_ros/point_cloud.h b/pcl_ros/include/pcl_ros/point_cloud.h
+index bbf30ad1..93df7365 100644
+--- a/pcl_ros/include/pcl_ros/point_cloud.h
++++ b/pcl_ros/include/pcl_ros/point_cloud.h
+@@ -270,4 +270,125 @@ namespace ros
+ 
+ } // namespace ros
+ 
++// test if testing machinery can be implemented
++#if defined(__cpp_rvalue_references) && defined(__cpp_constexpr)
++#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 1
++#else
++#define ROS_POINTER_COMPATIBILITY_IMPLEMENTED 0
++#endif
++
++#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
++#include <type_traits>  // for std::is_same
++#include <memory>       // for std::shared_ptr
++
++#include <pcl/pcl_config.h>
++#if PCL_VERSION_COMPARE(>=, 1, 11, 0)
++#include <pcl/memory.h>
++#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
++#include <pcl/make_shared.h>
++#endif
++#endif
++
++namespace pcl
++{
++  namespace detail
++  {
++#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
++#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
++    template <class T>
++    constexpr static bool pcl_uses_boost = std::is_same<boost::shared_ptr<T>,
++                                                        pcl::shared_ptr<T>>::value;
++#else
++    template <class T>
++    constexpr static bool pcl_uses_boost = true;
++#endif
++
++    template<class SharedPointer> struct Holder
++    {
++      SharedPointer p;
++
++      Holder(const SharedPointer &p) : p(p) {}
++      Holder(const Holder &other) : p(other.p) {}
++      Holder(Holder &&other) : p(std::move(other.p)) {}
++
++      void operator () (...) { p.reset(); }
++    };
++
++    template<class T>
++    inline std::shared_ptr<T> to_std_ptr(const boost::shared_ptr<T> &p)
++    {
++        typedef Holder<std::shared_ptr<T>> H;
++        if(H *h = boost::get_deleter<H>(p))
++        {
++            return h->p;
++        }
++        else
++        {
++            return std::shared_ptr<T>(p.get(), Holder<boost::shared_ptr<T>>(p));
++        }
++    }
++
++    template<class T>
++    inline boost::shared_ptr<T> to_boost_ptr(const std::shared_ptr<T> &p)
++    {
++        typedef Holder<boost::shared_ptr<T>> H;
++        if(H * h = std::get_deleter<H>(p))
++        {
++            return h->p;
++        }
++        else
++        {
++            return boost::shared_ptr<T>(p.get(), Holder<std::shared_ptr<T>>(p));
++        }
++    }
++#endif
++  } // namespace pcl::detail
++
++// add functions to convert to smart pointer used by ROS
++  template <class T>
++  inline boost::shared_ptr<T> ros_ptr(const boost::shared_ptr<T> &p)
++  {
++      return p;
++  }
++
++#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
++  template <class T>
++  inline boost::shared_ptr<T> ros_ptr(const std::shared_ptr<T> &p)
++  {
++      return detail::to_boost_ptr(p);
++  }
++
++// add functions to convert to smart pointer used by PCL, based on PCL's own pointer
++  template <class T, class = typename std::enable_if<!detail::pcl_uses_boost<T>>::type>
++  inline std::shared_ptr<T> pcl_ptr(const std::shared_ptr<T> &p)
++  {
++      return p;
++  }
++
++  template <class T, class = typename std::enable_if<!detail::pcl_uses_boost<T>>::type>
++  inline std::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p)
++  {
++      return detail::to_std_ptr(p);
++  }
++
++  template <class T, class = typename std::enable_if<detail::pcl_uses_boost<T>>::type>
++  inline boost::shared_ptr<T> pcl_ptr(const std::shared_ptr<T> &p)
++  {
++      return detail::to_boost_ptr(p);
++  }
++
++  template <class T, class = typename std::enable_if<detail::pcl_uses_boost<T>>::type>
++  inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p)
++  {
++      return p;
++  }
++#else
++  template <class T>
++  inline boost::shared_ptr<T> pcl_ptr(const boost::shared_ptr<T> &p)
++  {
++      return p;
++  }
++#endif
++} // namespace pcl
++
+ #endif
+diff --git a/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h b/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h
+index 7134f905..13b85316 100644
+--- a/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h
++++ b/pcl_ros/include/pcl_ros/segmentation/extract_polygonal_prism_data.h
+@@ -64,8 +64,8 @@ namespace pcl_ros
+   class ExtractPolygonalPrismData : public PCLNodelet
+   {
+     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
+-    typedef PointCloud::Ptr PointCloudPtr;
+-    typedef PointCloud::ConstPtr PointCloudConstPtr;
++    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
++    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
+ 
+     protected:
+        /** \brief The output PointIndices publisher. */
+diff --git a/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h b/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h
+index af2c9126..9243e363 100644
+--- a/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h
++++ b/pcl_ros/include/pcl_ros/segmentation/sac_segmentation.h
+@@ -61,8 +61,8 @@ namespace pcl_ros
+   class SACSegmentation : public PCLNodelet
+   {
+     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
+-    typedef PointCloud::Ptr PointCloudPtr;
+-    typedef PointCloud::ConstPtr PointCloudConstPtr;
++    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
++    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
+ 
+     public:
+       /** \brief Constructor. */
+@@ -181,12 +181,12 @@ namespace pcl_ros
+   class SACSegmentationFromNormals: public SACSegmentation
+   {
+     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
+-    typedef PointCloud::Ptr PointCloudPtr;
+-    typedef PointCloud::ConstPtr PointCloudConstPtr;
++    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
++    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
+ 
+     typedef pcl::PointCloud<pcl::Normal> PointCloudN;
+-    typedef PointCloudN::Ptr PointCloudNPtr;
+-    typedef PointCloudN::ConstPtr PointCloudNConstPtr;
++    typedef boost::shared_ptr<PointCloudN> PointCloudNPtr;
++    typedef boost::shared_ptr<const PointCloudN> PointCloudNConstPtr;
+ 
+     public:
+       /** \brief Set the input TF frame the data should be transformed into before processing, if input.header.frame_id is different.
+diff --git a/pcl_ros/include/pcl_ros/segmentation/segment_differences.h b/pcl_ros/include/pcl_ros/segmentation/segment_differences.h
+index 4914bc86..da767ab3 100644
+--- a/pcl_ros/include/pcl_ros/segmentation/segment_differences.h
++++ b/pcl_ros/include/pcl_ros/segmentation/segment_differences.h
+@@ -60,8 +60,8 @@ namespace pcl_ros
+   class SegmentDifferences : public PCLNodelet
+   {
+     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
+-    typedef PointCloud::Ptr PointCloudPtr;
+-    typedef PointCloud::ConstPtr PointCloudConstPtr;
++    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
++    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
+ 
+     public:
+       /** \brief Empty constructor. */
+diff --git a/pcl_ros/include/pcl_ros/surface/convex_hull.h b/pcl_ros/include/pcl_ros/surface/convex_hull.h
+index e419c0f8..54a1f367 100644
+--- a/pcl_ros/include/pcl_ros/surface/convex_hull.h
++++ b/pcl_ros/include/pcl_ros/surface/convex_hull.h
+@@ -53,8 +53,8 @@ namespace pcl_ros
+   class ConvexHull2D : public PCLNodelet
+   {
+     typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
+-    typedef PointCloud::Ptr PointCloudPtr;
+-    typedef PointCloud::ConstPtr PointCloudConstPtr;
++    typedef boost::shared_ptr<PointCloud> PointCloudPtr;
++    typedef boost::shared_ptr<const PointCloud> PointCloudConstPtr;
+ 
+     private:
+       /** \brief Nodelet initialization routine. */
+diff --git a/pcl_ros/include/pcl_ros/surface/moving_least_squares.h b/pcl_ros/include/pcl_ros/surface/moving_least_squares.h
+index b909edf8..e90f562a 100644
+--- a/pcl_ros/include/pcl_ros/surface/moving_least_squares.h
++++ b/pcl_ros/include/pcl_ros/surface/moving_least_squares.h
+@@ -62,8 +62,8 @@ namespace pcl_ros
+     typedef pcl::PointNormal NormalOut;
+ 
+     typedef pcl::PointCloud<PointIn> PointCloudIn;
+-    typedef PointCloudIn::Ptr PointCloudInPtr;
+-    typedef PointCloudIn::ConstPtr PointCloudInConstPtr;
++    typedef boost::shared_ptr<PointCloudIn> PointCloudInPtr;
++    typedef boost::shared_ptr<const PointCloudIn> PointCloudInConstPtr;
+     typedef pcl::PointCloud<NormalOut> NormalCloudOut;
+ 
+     typedef pcl::KdTree<PointIn> KdTree;
+diff --git a/pcl_ros/src/pcl_ros/features/boundary.cpp b/pcl_ros/src/pcl_ros/features/boundary.cpp
+index 9334641a..26ee07c1 100644
+--- a/pcl_ros/src/pcl_ros/features/boundary.cpp
++++ b/pcl_ros/src/pcl_ros/features/boundary.cpp
+@@ -43,7 +43,7 @@ pcl_ros::BoundaryEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void
+@@ -57,17 +57,17 @@ pcl_ros::BoundaryEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
+-  impl_.setInputNormals (normals);
++  impl_.setSearchSurface (pcl_ptr(surface));
++  impl_.setInputNormals (pcl_ptr(normals));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+ 
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::BoundaryEstimation BoundaryEstimation;
+diff --git a/pcl_ros/src/pcl_ros/features/fpfh.cpp b/pcl_ros/src/pcl_ros/features/fpfh.cpp
+index 3f698aad..53be549c 100644
+--- a/pcl_ros/src/pcl_ros/features/fpfh.cpp
++++ b/pcl_ros/src/pcl_ros/features/fpfh.cpp
+@@ -43,7 +43,7 @@ pcl_ros::FPFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -57,10 +57,10 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
+-  impl_.setInputNormals (normals);
++  impl_.setSearchSurface (pcl_ptr(surface));
++  impl_.setInputNormals (pcl_ptr(normals));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+@@ -68,7 +68,7 @@ pcl_ros::FPFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::FPFHEstimation FPFHEstimation;
+diff --git a/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp b/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp
+index 58dd911f..e4adcabb 100644
+--- a/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp
++++ b/pcl_ros/src/pcl_ros/features/fpfh_omp.cpp
+@@ -43,7 +43,7 @@ pcl_ros::FPFHEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -57,10 +57,10 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
+-  impl_.setInputNormals (normals);
++  impl_.setSearchSurface (pcl_ptr(surface));
++  impl_.setInputNormals (pcl_ptr(normals));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+@@ -68,7 +68,7 @@ pcl_ros::FPFHEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::FPFHEstimationOMP FPFHEstimationOMP;
+diff --git a/pcl_ros/src/pcl_ros/features/moment_invariants.cpp b/pcl_ros/src/pcl_ros/features/moment_invariants.cpp
+index d0ec3441..a6e2249a 100644
+--- a/pcl_ros/src/pcl_ros/features/moment_invariants.cpp
++++ b/pcl_ros/src/pcl_ros/features/moment_invariants.cpp
+@@ -43,7 +43,7 @@ pcl_ros::MomentInvariantsEstimation::emptyPublish (const PointCloudInConstPtr &c
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -56,9 +56,9 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
++  impl_.setSearchSurface (pcl_ptr(surface));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+@@ -66,7 +66,7 @@ pcl_ros::MomentInvariantsEstimation::computePublish (const PointCloudInConstPtr
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::MomentInvariantsEstimation MomentInvariantsEstimation;
+diff --git a/pcl_ros/src/pcl_ros/features/normal_3d.cpp b/pcl_ros/src/pcl_ros/features/normal_3d.cpp
+index 9e700f78..042186a9 100644
+--- a/pcl_ros/src/pcl_ros/features/normal_3d.cpp
++++ b/pcl_ros/src/pcl_ros/features/normal_3d.cpp
+@@ -43,7 +43,7 @@ pcl_ros::NormalEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -56,9 +56,9 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
++  impl_.setSearchSurface (pcl_ptr(surface));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+@@ -66,7 +66,7 @@ pcl_ros::NormalEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::NormalEstimation NormalEstimation;
+diff --git a/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp b/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp
+index a741c052..3e92d2f2 100644
+--- a/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp
++++ b/pcl_ros/src/pcl_ros/features/normal_3d_omp.cpp
+@@ -43,7 +43,7 @@ pcl_ros::NormalEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -56,9 +56,9 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
++  impl_.setSearchSurface (pcl_ptr(surface));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+@@ -66,7 +66,7 @@ pcl_ros::NormalEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::NormalEstimationOMP NormalEstimationOMP;
+diff --git a/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp b/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp
+index a4a8581e..680a4a02 100644
+--- a/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp
++++ b/pcl_ros/src/pcl_ros/features/normal_3d_tbb.cpp
+@@ -45,7 +45,7 @@ pcl_ros::NormalEstimationTBB::emptyPublish (const PointCloudInConstPtr &cloud)
+ {
+   PointCloud output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -71,7 +71,7 @@ pcl_ros::NormalEstimationTBB::computePublish (const PointCloudInConstPtr &cloud,
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::NormalEstimationTBB NormalEstimationTBB;
+diff --git a/pcl_ros/src/pcl_ros/features/pfh.cpp b/pcl_ros/src/pcl_ros/features/pfh.cpp
+index 38b4d19c..dd8409e2 100644
+--- a/pcl_ros/src/pcl_ros/features/pfh.cpp
++++ b/pcl_ros/src/pcl_ros/features/pfh.cpp
+@@ -43,7 +43,7 @@ pcl_ros::PFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -57,10 +57,10 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
+-  impl_.setInputNormals (normals);
++  impl_.setSearchSurface (pcl_ptr(surface));
++  impl_.setInputNormals (pcl_ptr(normals));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+@@ -68,7 +68,7 @@ pcl_ros::PFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::PFHEstimation PFHEstimation;
+diff --git a/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp b/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp
+index 113124dc..501d686e 100644
+--- a/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp
++++ b/pcl_ros/src/pcl_ros/features/principal_curvatures.cpp
+@@ -43,7 +43,7 @@ pcl_ros::PrincipalCurvaturesEstimation::emptyPublish (const PointCloudInConstPtr
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -57,10 +57,10 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
+-  impl_.setInputNormals (normals);
++  impl_.setSearchSurface (pcl_ptr(surface));
++  impl_.setInputNormals (pcl_ptr(normals));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+@@ -68,7 +68,7 @@ pcl_ros::PrincipalCurvaturesEstimation::computePublish (const PointCloudInConstP
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::PrincipalCurvaturesEstimation PrincipalCurvaturesEstimation;
+diff --git a/pcl_ros/src/pcl_ros/features/shot.cpp b/pcl_ros/src/pcl_ros/features/shot.cpp
+index d051ab0f..ed6ba44b 100644
+--- a/pcl_ros/src/pcl_ros/features/shot.cpp
++++ b/pcl_ros/src/pcl_ros/features/shot.cpp
+@@ -42,7 +42,7 @@ pcl_ros::SHOTEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -56,10 +56,10 @@ pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
+-  impl_.setInputNormals (normals);
++  impl_.setSearchSurface (pcl_ptr(surface));
++  impl_.setInputNormals (pcl_ptr(normals));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+@@ -67,7 +67,7 @@ pcl_ros::SHOTEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::SHOTEstimation SHOTEstimation;
+diff --git a/pcl_ros/src/pcl_ros/features/shot_omp.cpp b/pcl_ros/src/pcl_ros/features/shot_omp.cpp
+index 1ac1b065..4563f123 100644
+--- a/pcl_ros/src/pcl_ros/features/shot_omp.cpp
++++ b/pcl_ros/src/pcl_ros/features/shot_omp.cpp
+@@ -42,7 +42,7 @@ pcl_ros::SHOTEstimationOMP::emptyPublish (const PointCloudInConstPtr &cloud)
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -56,10 +56,10 @@ pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
+-  impl_.setInputNormals (normals);
++  impl_.setSearchSurface (pcl_ptr(surface));
++  impl_.setInputNormals (pcl_ptr(normals));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+@@ -67,7 +67,7 @@ pcl_ros::SHOTEstimationOMP::computePublish (const PointCloudInConstPtr &cloud,
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::SHOTEstimationOMP SHOTEstimationOMP;
+diff --git a/pcl_ros/src/pcl_ros/features/vfh.cpp b/pcl_ros/src/pcl_ros/features/vfh.cpp
+index 9d0fe361..ece448fd 100644
+--- a/pcl_ros/src/pcl_ros/features/vfh.cpp
++++ b/pcl_ros/src/pcl_ros/features/vfh.cpp
+@@ -43,7 +43,7 @@ pcl_ros::VFHEstimation::emptyPublish (const PointCloudInConstPtr &cloud)
+ {
+   PointCloudOut output;
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ void 
+@@ -57,10 +57,10 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   impl_.setRadiusSearch (search_radius_);
+ 
+   // Set the inputs
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices);
+-  impl_.setSearchSurface (surface);
+-  impl_.setInputNormals (normals);
++  impl_.setSearchSurface (pcl_ptr(surface));
++  impl_.setInputNormals (pcl_ptr(normals));
+   // Estimate the feature
+   PointCloudOut output;
+   impl_.compute (output);
+@@ -68,7 +68,7 @@ pcl_ros::VFHEstimation::computePublish (const PointCloudInConstPtr &cloud,
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::VFHEstimation VFHEstimation;
+diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
+index 17adec46..5599b408 100644
+--- a/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
++++ b/pcl_ros/src/pcl_ros/segmentation/extract_clusters.cpp
+@@ -202,7 +202,7 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback (
+   if (indices)
+     indices_ptr.reset (new std::vector<int> (indices->indices));
+ 
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices_ptr);
+ 
+   std::vector<pcl::PointIndices> clusters;
+@@ -239,7 +239,7 @@ pcl_ros::EuclideanClusterExtraction::input_indices_callback (
+       header.stamp += ros::Duration (i * 0.001);
+       toPCL(header, output.header);
+       // Publish a Boost shared ptr const data
+-      pub_output_.publish (output.makeShared ());
++      pub_output_.publish (ros_ptr(output.makeShared ()));
+       NODELET_DEBUG ("[segmentAndPublish] Published cluster %zu (with %zu values and stamp %f) on topic %s",
+                      i, clusters[i].indices.size (), header.stamp.toSec (), pnh_->resolveName ("output").c_str ());
+     }
+diff --git a/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp b/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
+index 0185bfbe..ff823b19 100644
+--- a/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
++++ b/pcl_ros/src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
+@@ -189,16 +189,16 @@ pcl_ros::ExtractPolygonalPrismData::input_hull_indices_callback (
+       pub_output_.publish (inliers);
+       return;
+     }
+-    impl_.setInputPlanarHull (planar_hull.makeShared ());
++    impl_.setInputPlanarHull (pcl_ptr(planar_hull.makeShared ()));
+   }
+   else
+-    impl_.setInputPlanarHull (hull);
++    impl_.setInputPlanarHull (pcl_ptr(hull));
+ 
+   IndicesPtr indices_ptr;
+   if (indices && !indices->header.frame_id.empty ())
+     indices_ptr.reset (new std::vector<int> (indices->indices));
+ 
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices_ptr);
+ 
+   // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
+diff --git a/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp b/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp
+index b73dd3fd..bc7b97e7 100644
+--- a/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp
++++ b/pcl_ros/src/pcl_ros/segmentation/sac_segmentation.cpp
+@@ -324,7 +324,7 @@ pcl_ros::SACSegmentation::input_indices_callback (const PointCloudConstPtr &clou
+   if (indices && !indices->header.frame_id.empty ())
+     indices_ptr.reset (new std::vector<int> (indices->indices));
+ 
+-  impl_.setInputCloud (cloud_tf);
++  impl_.setInputCloud (pcl_ptr(cloud_tf));
+   impl_.setIndices (indices_ptr);
+ 
+   // Final check if the data is empty (remember that indices are set to the size of the data -- if indices* = NULL)
+@@ -651,8 +651,8 @@ pcl_ros::SACSegmentationFromNormals::input_normals_indices_callback (
+     return;
+   }
+ 
+-  impl_.setInputCloud (cloud);
+-  impl_.setInputNormals (cloud_normals);
++  impl_.setInputCloud (pcl_ptr(cloud));
++  impl_.setInputNormals (pcl_ptr(cloud_normals));
+ 
+   IndicesPtr indices_ptr;
+   if (indices && !indices->header.frame_id.empty ())
+diff --git a/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp b/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp
+index 4c934152..e3979549 100644
+--- a/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp
++++ b/pcl_ros/src/pcl_ros/segmentation/segment_differences.cpp
+@@ -115,7 +115,7 @@ pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cl
+     NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
+     PointCloud output;
+     output.header = cloud->header;
+-    pub_output_.publish (output.makeShared ());
++    pub_output_.publish (ros_ptr(output.makeShared ()));
+     return;
+   }
+ 
+@@ -126,13 +126,13 @@ pcl_ros::SegmentDifferences::input_target_callback (const PointCloudConstPtr &cl
+                  cloud->width * cloud->height, pcl::getFieldsList (*cloud).c_str (), fromPCL(cloud->header).stamp.toSec (), cloud->header.frame_id.c_str (), pnh_->resolveName ("input").c_str (),
+                  cloud_target->width * cloud_target->height, pcl::getFieldsList (*cloud_target).c_str (), fromPCL(cloud_target->header).stamp.toSec (), cloud_target->header.frame_id.c_str (), pnh_->resolveName ("target").c_str ());
+ 
+-  impl_.setInputCloud (cloud);
+-  impl_.setTargetCloud (cloud_target);
++  impl_.setInputCloud (pcl_ptr(cloud));
++  impl_.setTargetCloud (pcl_ptr(cloud_target));
+ 
+   PointCloud output;
+   impl_.segment (output);
+ 
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+   NODELET_DEBUG ("[%s::segmentAndPublish] Published PointCloud2 with %zu points and stamp %f on topic %s", getName ().c_str (),
+                      output.points.size (), fromPCL(output.header).stamp.toSec (), pnh_->resolveName ("output").c_str ());
+ }
+diff --git a/pcl_ros/src/pcl_ros/surface/convex_hull.cpp b/pcl_ros/src/pcl_ros/surface/convex_hull.cpp
+index 4b7eeaf5..75903889 100644
+--- a/pcl_ros/src/pcl_ros/surface/convex_hull.cpp
++++ b/pcl_ros/src/pcl_ros/surface/convex_hull.cpp
+@@ -121,7 +121,7 @@ void
+     NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
+     // Publish an empty message
+     output.header = cloud->header;
+-    pub_output_.publish (output.makeShared ());
++    pub_output_.publish (ros_ptr(output.makeShared ()));
+     return;
+   }
+   // If indices are given, check if they are valid
+@@ -130,7 +130,7 @@ void
+     NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
+     // Publish an empty message
+     output.header = cloud->header;
+-    pub_output_.publish (output.makeShared ());
++    pub_output_.publish (ros_ptr(output.makeShared ()));
+     return;
+   }
+ 
+@@ -150,7 +150,7 @@ void
+   if (indices)
+     indices_ptr.reset (new std::vector<int> (indices->indices));
+ 
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+   impl_.setIndices (indices_ptr);
+ 
+   // Estimate the feature
+@@ -194,7 +194,7 @@ void
+   }
+   // Publish a Boost shared ptr const data
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+ }
+ 
+ typedef pcl_ros::ConvexHull2D ConvexHull2D;
+diff --git a/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp b/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
+index b9a01e64..99e5d481 100644
+--- a/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
++++ b/pcl_ros/src/pcl_ros/surface/moving_least_squares.cpp
+@@ -141,7 +141,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
+   {
+     NODELET_ERROR ("[%s::input_indices_callback] Invalid input!", getName ().c_str ());
+     output.header = cloud->header;
+-    pub_output_.publish (output.makeShared ());
++    pub_output_.publish (ros_ptr(output.makeShared ()));
+     return;
+   }
+   // If indices are given, check if they are valid
+@@ -149,7 +149,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
+   {
+     NODELET_ERROR ("[%s::input_indices_callback] Invalid indices!", getName ().c_str ());
+     output.header = cloud->header;
+-    pub_output_.publish (output.makeShared ());
++    pub_output_.publish (ros_ptr(output.makeShared ()));
+     return;
+   }
+ 
+@@ -166,7 +166,7 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
+   ///
+ 
+   // Reset the indices and surface pointers
+-  impl_.setInputCloud (cloud);
++  impl_.setInputCloud (pcl_ptr(cloud));
+ 
+   IndicesPtr indices_ptr;
+   if (indices)
+@@ -182,9 +182,9 @@ pcl_ros::MovingLeastSquares::input_indices_callback (const PointCloudInConstPtr
+   // Publish a Boost shared ptr const data
+   // Enforce that the TF frame and the timestamp are copied
+   output.header = cloud->header;
+-  pub_output_.publish (output.makeShared ());
++  pub_output_.publish (ros_ptr(output.makeShared ()));
+   normals->header = cloud->header;
+-  pub_normals_.publish (normals);
++  pub_normals_.publish (ros_ptr(normals));
+ }
+ 
+ //////////////////////////////////////////////////////////////////////////////////////////////
+diff --git a/pcl_ros/tools/pointcloud_to_pcd.cpp b/pcl_ros/tools/pointcloud_to_pcd.cpp
+index 484113da..fb149b46 100644
+--- a/pcl_ros/tools/pointcloud_to_pcd.cpp
++++ b/pcl_ros/tools/pointcloud_to_pcd.cpp
+@@ -78,7 +78,7 @@ class PointCloudToPCD
+     ////////////////////////////////////////////////////////////////////////////////
+     // Callback
+     void
+-      cloud_cb (const pcl::PCLPointCloud2::ConstPtr& cloud)
++      cloud_cb (const boost::shared_ptr<const pcl::PCLPointCloud2>& cloud)
+     {
+       if ((cloud->width * cloud->height) == 0)
+         return;
diff --git a/dev-ros/pcl_ros/pcl_ros-1.5.4.ebuild b/dev-ros/pcl_ros/pcl_ros-1.5.4.ebuild
deleted file mode 100644
index 3cc2a20fbcf2..000000000000
--- a/dev-ros/pcl_ros/pcl_ros-1.5.4.ebuild
+++ /dev/null
@@ -1,39 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-perception/perception_pcl"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="PCL (Point Cloud Library) ROS interface stack"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/rosbag
-	dev-ros/rosconsole
-	dev-ros/roslib
-	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
-	>=dev-cpp/eigen-3.2.5:3
-	dev-ros/pluginlib
-	dev-libs/console_bridge:=
-	dev-ros/tf
-	dev-ros/tf2
-	dev-ros/tf2_ros
-	dev-ros/tf2_eigen
-	dev-ros/nodelet
-	dev-ros/nodelet_topic_tools
-	sci-libs/pcl:=[qhull]
-	>=dev-ros/pcl_conversions-0.2.1-r1
-	dev-libs/boost:=[threads]
-	dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/pcl_ros/pcl_ros-1.6.2.ebuild b/dev-ros/pcl_ros/pcl_ros-1.6.2.ebuild
deleted file mode 100644
index 8a6af2083788..000000000000
--- a/dev-ros/pcl_ros/pcl_ros-1.6.2.ebuild
+++ /dev/null
@@ -1,40 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-perception/perception_pcl"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="PCL (Point Cloud Library) ROS interface stack"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/rosbag
-	dev-ros/rosconsole
-	dev-ros/roslib
-	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
-	dev-ros/message_filters
-	>=dev-cpp/eigen-3.2.5:3
-	dev-ros/pluginlib
-	dev-libs/console_bridge:=
-	dev-ros/tf
-	dev-ros/tf2
-	dev-ros/tf2_ros
-	dev-ros/tf2_eigen
-	dev-ros/nodelet
-	dev-ros/nodelet_topic_tools
-	sci-libs/pcl:=[qhull]
-	>=dev-ros/pcl_conversions-0.2.1-r1
-	dev-libs/boost:=[threads]
-	dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/pcl_ros/pcl_ros-1.7.0.ebuild b/dev-ros/pcl_ros/pcl_ros-1.7.0.ebuild
deleted file mode 100644
index 14ce04f55152..000000000000
--- a/dev-ros/pcl_ros/pcl_ros-1.7.0.ebuild
+++ /dev/null
@@ -1,40 +0,0 @@
-# Copyright 1999-2019 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-perception/perception_pcl"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="PCL (Point Cloud Library) ROS interface stack"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/rosbag
-	dev-ros/rosconsole
-	dev-ros/roslib
-	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
-	dev-ros/message_filters
-	>=dev-cpp/eigen-3.2.5:3
-	dev-ros/pluginlib
-	dev-libs/console_bridge:=
-	dev-ros/tf
-	dev-ros/tf2
-	dev-ros/tf2_ros
-	dev-ros/tf2_eigen
-	dev-ros/nodelet
-	dev-ros/nodelet_topic_tools
-	sci-libs/pcl:=[qhull]
-	>=dev-ros/pcl_conversions-0.2.1-r1
-	dev-libs/boost:=[threads]
-	dev-ros/pcl_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/pcl_ros/pcl_ros-1.6.1.ebuild b/dev-ros/pcl_ros/pcl_ros-1.7.1.ebuild
index 8a6af2083788..0ffd456d66af 100644
--- a/dev-ros/pcl_ros/pcl_ros-1.6.1.ebuild
+++ b/dev-ros/pcl_ros/pcl_ros-1.7.1.ebuild
@@ -1,10 +1,9 @@
-# Copyright 1999-2018 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
 EAPI=5
 ROS_REPO_URI="https://github.com/ros-perception/perception_pcl"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
 ROS_SUBDIR=${PN}
 
 inherit ros-catkin
@@ -38,3 +37,4 @@ RDEPEND="
 	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 "
 DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/pcl111.patch" )
diff --git a/dev-ros/pcl_ros/pcl_ros-9999.ebuild b/dev-ros/pcl_ros/pcl_ros-9999.ebuild
index 8a6af2083788..2101a7b6837e 100644
--- a/dev-ros/pcl_ros/pcl_ros-9999.ebuild
+++ b/dev-ros/pcl_ros/pcl_ros-9999.ebuild
@@ -1,10 +1,9 @@
-# Copyright 1999-2018 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
 EAPI=5
 ROS_REPO_URI="https://github.com/ros-perception/perception_pcl"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
 ROS_SUBDIR=${PN}
 
 inherit ros-catkin
diff --git a/dev-ros/roscpp_tutorials/Manifest b/dev-ros/roscpp_tutorials/Manifest
index eef6c5fba201..e531b79389e9 100644
--- a/dev-ros/roscpp_tutorials/Manifest
+++ b/dev-ros/roscpp_tutorials/Manifest
@@ -1,3 +1,4 @@
+DIST ros_tutorials-0.10.0.tar.gz 159486 BLAKE2B 71b6fabb1a85ac9740dfba9f40be318e211d519189f8be05e58bf146b5d22566ea6ddcdca6331366c05e95c314b656c4f5688c4da3d20b1cdce78639a76e14c5 SHA512 dba529965bad64957721c71f1c7b2b60ece085ed0186a107fbec03c231940b19004b3bf9dce5c1ac3dcfe1c339d49a2214811d5227f453b1c3f541076a653048
 DIST ros_tutorials-0.6.1.tar.gz 126792 BLAKE2B 5964c8fe5ddc736e9933b89f9c66eae436805ec5c564a2144c1e338537da18b2064e9aba209f25a82b7d88e5b2bd2e1401dbe931614f65544ae2f5170270ff1f SHA512 f09e5451030c0a76a9473020535e79ac06e748f4208109cf83e61526d13472c3390402814a3d145cb793c5418af703cd9959ca57143798d1706185c13d3418c5
 DIST ros_tutorials-0.7.0.tar.gz 140125 BLAKE2B 9f1006c933b4cb642f77c8e68ddda92213b9cfd132131b2768c4fe17ef6b1b8bf8da89da3fea2a0692d340d9f0b1e953fb150e2dae9e18de86b59fe50b72cb74 SHA512 b7c51bc007c0bddfb38361750a0225606d9e85a3404d6b21f3a32c8ccb1786844f225a49ad8f525c684c838eff9ec9f7e7c39a15adf5ea5dd187a59c90144711
 DIST ros_tutorials-0.7.1.tar.gz 140483 BLAKE2B 8f2d4aee6494476bf7efb2ea35962ea6154485143f108b8e7603a9a1e67cb76f6c87e7b2612cd07ba19c50b44cd7fbbcd89f13f902eafd17c2a0eb8738357050 SHA512 0970e6428af992addfa1af327b2e0a3f85a926c90cfceba89d415acc5404a364164e0dd497c9296f03ac06c575380ad21e83b0cdbf6709c49dc650087145ddaa
@@ -5,6 +6,7 @@ DIST ros_tutorials-0.8.0.tar.gz 153739 BLAKE2B 0dc7918a2b95a26518d07d753040e381b
 DIST ros_tutorials-0.8.1.tar.gz 153831 BLAKE2B c34aec17ffd247554e37abb252848183392864c801dce7e2cae8c66d9fd30fdb12d50163487eff8615593df1532dece6c86303aab0b91d4075c14a9fba652b5a SHA512 f537312a78c27375791e11820f4d3a70433ce200d724d80bc8b417edd3c6dcbbf72abac0e9a98a199da2e3a8dbdec34e81d9106be4f6a5243a6f84d02d9ca668
 DIST ros_tutorials-0.9.0.tar.gz 154992 BLAKE2B d7a45d0adaa1507ae9494ea9590b9c69d3bbececa01f209a93825432b4b362499cde8c966e6734dbd854478e98970c340403ac56cb99a00b07cf9cff8b28fa36 SHA512 7beba72d3f72943ea5402416dc03809576d47d4e76e81d9ed85eba69c1f9a4e5737a91bdac76747f47e9d6459e5dd8e062cc8ec5f2fb9450cdb013b416534e56
 DIST ros_tutorials-0.9.1.tar.gz 155151 BLAKE2B 7371063ef77981892fee54b6b3d29907421f29deece22c6d53ace576717357a9700a2e14a03bd9f24c2285a16b55f5c9665a0da5081ae1599da8df5ec68ba425 SHA512 62a980e9515515496de39aa360df030f0dd8678bbf132d90386775c34e3b54f33a477aaefb65db803dcd704b8fbc61d445617399ac38cc2fa3f3363a6052682f
+EBUILD roscpp_tutorials-0.10.0.ebuild 613 BLAKE2B 166eb266d54bf9347c8d4f772c12cf4003b3facd229819f766c40a630e34293d24e7b9cfd63571882205682fe5245a3573695fc6445a9aa87b491b4bf22bd49c SHA512 beb1445bca385d8eb788ad7757b3dac18f474a49ca6c260d322510605dcebaa4f7ad2cd39390ccac2382d2015d46a9ca4dcaf5aec0dd9ba222dd069362c9f8ae
 EBUILD roscpp_tutorials-0.6.1.ebuild 616 BLAKE2B 523f0e07b31bbebb8bb71dd0c7810439ec54431a6fc64bd293938651b17e1c751bc90b0007905e35b740db4a7c3c05628c73336ddd8f5e79efaa07a8722b3d83 SHA512 c2389098568c49cb24d43280017872b29155fc5441534aae03aca3be506058e9cdb0385a763a22c99b1d0e73a7c0505fee7b0db0dc5e433c380c68f6ba3d92e8
 EBUILD roscpp_tutorials-0.7.0.ebuild 616 BLAKE2B 523f0e07b31bbebb8bb71dd0c7810439ec54431a6fc64bd293938651b17e1c751bc90b0007905e35b740db4a7c3c05628c73336ddd8f5e79efaa07a8722b3d83 SHA512 c2389098568c49cb24d43280017872b29155fc5441534aae03aca3be506058e9cdb0385a763a22c99b1d0e73a7c0505fee7b0db0dc5e433c380c68f6ba3d92e8
 EBUILD roscpp_tutorials-0.7.1.ebuild 616 BLAKE2B b4ed00d497e609ef6d5888556fdfabb84912cb4f2f55f42990f18f9864edd3bca19743bbfdfb37f42dc1db183e4c11e8d0af2fc974122fe7dff136b9efcc281f SHA512 8eeebc4781f2d72898298228e28808f0fcfbce52f1a81b4fe532d037570e1a42de256f569fa8e21453e34941bfff6365592b5dfc4e6a0f3795b7c1b7ef7e8935
diff --git a/dev-ros/turtlesim/turtlesim-0.8.1.ebuild b/dev-ros/roscpp_tutorials/roscpp_tutorials-0.10.0.ebuild
index 697eb7b6d84a..393ca54867e1 100644
--- a/dev-ros/turtlesim/turtlesim-0.8.1.ebuild
+++ b/dev-ros/roscpp_tutorials/roscpp_tutorials-0.10.0.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2017 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
 EAPI=5
@@ -7,26 +7,20 @@ KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
 CATKIN_HAS_MESSAGES=yes
 PYTHON_COMPAT=( python2_7 )
-CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/std_srvs dev-ros/geometry_msgs"
+CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs"
 
 inherit ros-catkin
 
-DESCRIPTION="Tool made for teaching ROS and ROS packages"
+DESCRIPTION="Attempts to show the features of ROS step-by-step, including using messages, servers, parameters"
 LICENSE="BSD"
 SLOT="0"
 IUSE=""
 
 RDEPEND="
-	dev-qt/qtcore:5
-	dev-qt/qtgui:5
-	dev-qt/qtwidgets:5
 	dev-libs/boost:=[threads]
-	dev-ros/rosconsole
+	dev-ros/rostime
 	dev-ros/roscpp
+	dev-ros/rosconsole
 	dev-ros/roscpp_serialization
-	dev-ros/roslib
-	dev-ros/rostime
-	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 "
 DEPEND="${RDEPEND}"
diff --git a/dev-ros/rospy_tutorials/Manifest b/dev-ros/rospy_tutorials/Manifest
index 3f0ce4501668..9764a026dc96 100644
--- a/dev-ros/rospy_tutorials/Manifest
+++ b/dev-ros/rospy_tutorials/Manifest
@@ -1,3 +1,4 @@
+DIST ros_tutorials-0.10.0.tar.gz 159486 BLAKE2B 71b6fabb1a85ac9740dfba9f40be318e211d519189f8be05e58bf146b5d22566ea6ddcdca6331366c05e95c314b656c4f5688c4da3d20b1cdce78639a76e14c5 SHA512 dba529965bad64957721c71f1c7b2b60ece085ed0186a107fbec03c231940b19004b3bf9dce5c1ac3dcfe1c339d49a2214811d5227f453b1c3f541076a653048
 DIST ros_tutorials-0.6.1.tar.gz 126792 BLAKE2B 5964c8fe5ddc736e9933b89f9c66eae436805ec5c564a2144c1e338537da18b2064e9aba209f25a82b7d88e5b2bd2e1401dbe931614f65544ae2f5170270ff1f SHA512 f09e5451030c0a76a9473020535e79ac06e748f4208109cf83e61526d13472c3390402814a3d145cb793c5418af703cd9959ca57143798d1706185c13d3418c5
 DIST ros_tutorials-0.7.0.tar.gz 140125 BLAKE2B 9f1006c933b4cb642f77c8e68ddda92213b9cfd132131b2768c4fe17ef6b1b8bf8da89da3fea2a0692d340d9f0b1e953fb150e2dae9e18de86b59fe50b72cb74 SHA512 b7c51bc007c0bddfb38361750a0225606d9e85a3404d6b21f3a32c8ccb1786844f225a49ad8f525c684c838eff9ec9f7e7c39a15adf5ea5dd187a59c90144711
 DIST ros_tutorials-0.7.1.tar.gz 140483 BLAKE2B 8f2d4aee6494476bf7efb2ea35962ea6154485143f108b8e7603a9a1e67cb76f6c87e7b2612cd07ba19c50b44cd7fbbcd89f13f902eafd17c2a0eb8738357050 SHA512 0970e6428af992addfa1af327b2e0a3f85a926c90cfceba89d415acc5404a364164e0dd497c9296f03ac06c575380ad21e83b0cdbf6709c49dc650087145ddaa
@@ -5,6 +6,7 @@ DIST ros_tutorials-0.8.0.tar.gz 153739 BLAKE2B 0dc7918a2b95a26518d07d753040e381b
 DIST ros_tutorials-0.8.1.tar.gz 153831 BLAKE2B c34aec17ffd247554e37abb252848183392864c801dce7e2cae8c66d9fd30fdb12d50163487eff8615593df1532dece6c86303aab0b91d4075c14a9fba652b5a SHA512 f537312a78c27375791e11820f4d3a70433ce200d724d80bc8b417edd3c6dcbbf72abac0e9a98a199da2e3a8dbdec34e81d9106be4f6a5243a6f84d02d9ca668
 DIST ros_tutorials-0.9.0.tar.gz 154992 BLAKE2B d7a45d0adaa1507ae9494ea9590b9c69d3bbececa01f209a93825432b4b362499cde8c966e6734dbd854478e98970c340403ac56cb99a00b07cf9cff8b28fa36 SHA512 7beba72d3f72943ea5402416dc03809576d47d4e76e81d9ed85eba69c1f9a4e5737a91bdac76747f47e9d6459e5dd8e062cc8ec5f2fb9450cdb013b416534e56
 DIST ros_tutorials-0.9.1.tar.gz 155151 BLAKE2B 7371063ef77981892fee54b6b3d29907421f29deece22c6d53ace576717357a9700a2e14a03bd9f24c2285a16b55f5c9665a0da5081ae1599da8df5ec68ba425 SHA512 62a980e9515515496de39aa360df030f0dd8678bbf132d90386775c34e3b54f33a477aaefb65db803dcd704b8fbc61d445617399ac38cc2fa3f3363a6052682f
+EBUILD rospy_tutorials-0.10.0.ebuild 581 BLAKE2B 24b34242778a10db129f8ab7e0febe8bb70187f3101bc3a360923f291aca86cc6414b438eb9def85c3c3dea7009a446ba9d2a8cfcd85a68a9771ee883a53adcb SHA512 801bccc7493e6a688392c5346faefb52dcc1077238ec6b5cfab6520923e749eb2f9cb0f7c83266849fb2692a5c7cf858d3a015d02f15e744e1645e087317adec
 EBUILD rospy_tutorials-0.6.1.ebuild 584 BLAKE2B 04767b0c93b0b6b0654e7ceea0baf700e8158157cab692ca68ee64d0a8de0623b822af0b628364b6290a6b3fc24b3da92299080308313bfd53c377a5158c8453 SHA512 923911a96d30ac4af0902b15329669798939c2325a38f44bdec8b046a4891a5d3d0e977d7f70e93a48b44cf7989cc39911004f4c0a692b00be58189a357a1f77
 EBUILD rospy_tutorials-0.7.0.ebuild 584 BLAKE2B 04767b0c93b0b6b0654e7ceea0baf700e8158157cab692ca68ee64d0a8de0623b822af0b628364b6290a6b3fc24b3da92299080308313bfd53c377a5158c8453 SHA512 923911a96d30ac4af0902b15329669798939c2325a38f44bdec8b046a4891a5d3d0e977d7f70e93a48b44cf7989cc39911004f4c0a692b00be58189a357a1f77
 EBUILD rospy_tutorials-0.7.1.ebuild 584 BLAKE2B ed4d39bd594234392e65e19dcaa019c7620196cc3807203984c77e779c9ad1b28f5940882bf2e131a21bce294c222a2c2131660c7a7bbf87a2ad0c8cdc990240 SHA512 3ac348fb1a4436859b9f74e9fe78db3d239f78fd12757f2d5481c5b2562c56fb36aeae28e23419cd278e7d34f7ff8404af81dce5e0322f9131ed69ac2d71f748
diff --git a/dev-ros/rospy_tutorials/rospy_tutorials-0.10.0.ebuild b/dev-ros/rospy_tutorials/rospy_tutorials-0.10.0.ebuild
new file mode 100644
index 000000000000..31948ff70209
--- /dev/null
+++ b/dev-ros/rospy_tutorials/rospy_tutorials-0.10.0.ebuild
@@ -0,0 +1,23 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros/ros_tutorials"
+KEYWORDS="~amd64 ~arm"
+ROS_SUBDIR=${PN}
+CATKIN_HAS_MESSAGES=yes
+PYTHON_COMPAT=( python2_7 )
+CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs"
+
+inherit ros-catkin
+
+DESCRIPTION="Attempts to show the features of ROS step-by-step, including using messages, servers, parameters"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/rospy[${PYTHON_USEDEP}]
+"
+DEPEND="${RDEPEND}
+	test? ( dev-ros/rostest[${PYTHON_USEDEP}] )"
diff --git a/dev-ros/rotate_recovery/Manifest b/dev-ros/rotate_recovery/Manifest
index 262a544c7e5f..2f7d1fefab44 100644
--- a/dev-ros/rotate_recovery/Manifest
+++ b/dev-ros/rotate_recovery/Manifest
@@ -1,8 +1,10 @@
 DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
 DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
 DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
 EBUILD rotate_recovery-1.16.1.ebuild 619 BLAKE2B 5723dbe95ee96665120dbcb68cd68c695ac184ba7385f1c807d275c0a942c5dff6f4718c41273e9a443d393b799065dea6908e204b595954cddc43e0704a1595 SHA512 90d51fe0c9b43cbfa3c346d409ec5b7e1fd86e405fb0696c9be1d577a799d60264cb4db8ff9bed3f92b3ac8e9d299143cd56c651f4ae23452583f665c444a20c
 EBUILD rotate_recovery-1.16.2.ebuild 760 BLAKE2B 2e5378e83e91a8c6cc30e86a00eb8e1990da41cc6bed2afa1504e881c4a610e585d0de77c79ded7272870676e63c646531ebac94579e52b1d7199792312807d7 SHA512 d3fea07c581de06f3c5febd5ed6f37ce3d266cb0bc277311f371d65f42082354ae053813fd0c73993466b693e70420c8bccf01550a40b46c5663a0de45ae0092
 EBUILD rotate_recovery-1.16.3.ebuild 757 BLAKE2B 5e676f5defb57ac17ca8b9ad741cc39100b9a83ced4dbec8246ee3c01f33c10cdfba4af61b8d273daa4e7242963de6b1570cd249baf308b653f152b7cfb55a54 SHA512 e753f0085a148e0ef59f522b3b1ea8f56c2472756c95aaa1520cfccc47c2e2dc721adacf3327e73a351e307abe16c2dbe9c756bbd4b4cb3c5f8cda060fd86145
+EBUILD rotate_recovery-1.16.6.ebuild 757 BLAKE2B 2a92a8bd6bf98c1f28f21c17082045c80f15d1483791ee33dcd5a916da2a0abd48594907dc97722a91867f331fbcb6828d60e84209faea409da465116677dcaf SHA512 9e24cac6b028ff938fc9813da7ca2ef8daecc129dbf8443b959c48d12d5ce722f719629054a3c0c538c09d773d770b00120edcd60b5f1df4b3a9a52835a16d7a
 EBUILD rotate_recovery-9999.ebuild 760 BLAKE2B 2e5378e83e91a8c6cc30e86a00eb8e1990da41cc6bed2afa1504e881c4a610e585d0de77c79ded7272870676e63c646531ebac94579e52b1d7199792312807d7 SHA512 d3fea07c581de06f3c5febd5ed6f37ce3d266cb0bc277311f371d65f42082354ae053813fd0c73993466b693e70420c8bccf01550a40b46c5663a0de45ae0092
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/rotate_recovery/rotate_recovery-1.16.6.ebuild b/dev-ros/rotate_recovery/rotate_recovery-1.16.6.ebuild
new file mode 100644
index 000000000000..ea3d43a4f5d7
--- /dev/null
+++ b/dev-ros/rotate_recovery/rotate_recovery-1.16.6.ebuild
@@ -0,0 +1,33 @@
+# Copyright 1999-2020 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=5
+ROS_REPO_URI="https://github.com/ros-planning/navigation"
+ROS_SUBDIR=${PN}
+KEYWORDS="~amd64 ~arm"
+
+inherit ros-catkin
+
+DESCRIPTION="Recovery behavior that attempts to clear space by performing a 360 degree rotation of the robot"
+LICENSE="BSD"
+SLOT="0"
+IUSE=""
+
+RDEPEND="
+	dev-ros/angles
+	dev-ros/base_local_planner
+	dev-ros/costmap_2d
+	dev-cpp/eigen:3
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	>=dev-ros/nav_core-1.16
+	dev-ros/pluginlib
+	dev-ros/roscpp
+	dev-ros/tf2
+	dev-ros/tf2_geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/tf2_ros
+
+	dev-libs/boost:=
+	dev-libs/console_bridge:=
+"
+DEPEND="${RDEPEND}
+	dev-ros/cmake_modules"
diff --git a/dev-ros/rqt_image_view/Manifest b/dev-ros/rqt_image_view/Manifest
index 13c2c9fbfb3b..240b338890cf 100644
--- a/dev-ros/rqt_image_view/Manifest
+++ b/dev-ros/rqt_image_view/Manifest
@@ -1,6 +1,4 @@
-DIST rqt_image_view-0.4.11.tar.gz 12610 BLAKE2B 5501c54339cf94d709eb25b943dee3e4bb80e5462ee40b185196d7e18dd01a74829c57d505a7cf905caf117e4db547b6d1bbfa0bda02466b6f77c7c4a00eaaae SHA512 5f6bf27e277d2c3486a9cae5a007cb71d57e846d958a27cc0bf447728e6c72ca368ab56b5d4b092f1c48d0017bb74e54cf64468b8f7c4fbaebc05c642afaad21
-DIST rqt_image_view-0.4.13.tar.gz 13428 BLAKE2B 5a26e8361f7483bef0104dc704623a5a992234b5d939137815cf9bd48d6167b650cee44ab42648a5c672d7f4f85231948b06d711a05ca80806f110f3aa8d70de SHA512 fc9006059dd1f8829074244ea0b8b47b596ddc449a9445593cd96d56d5e9429b5f144cee2b52a4422eff183aa0577395eab647530742d87b14068bc401b9d8c8
-EBUILD rqt_image_view-0.4.11-r1.ebuild 648 BLAKE2B 2d1b82bb033cfef1c02bf53541cdf25a37b94eb8491ee55ffbba4a0216d8076b267c72f3a6114b16b7de50d4b6f3e26a6c9639c7da60bb34cdb2d131d8c33b2d SHA512 a624c8dacf682c4a41e43a9b2ade2adec5454253d8a2f67a05551fded10202e0a77566aaca7be5bd3cd2f3636f8b5c3aa6945a9ba98b5349b533571b89604d92
-EBUILD rqt_image_view-0.4.13.ebuild 648 BLAKE2B 0d48cac2741e59849dbf3328bb286ee0bc5428cb2c73b91dbf12af5a202e2919ac3ce1dfaaf5609e1823db4b730314f0fbbbac7fad102d506e4bbd7eed71d9f3 SHA512 abc9d7a1b0b7a6d5298524f9c9890e4d1101b07ed3941761ccded52c5a8f27b1f214eb4b00439e1a62fbbeb3bf58b888bcb1c23ed64972f9c3b164304d975649
-EBUILD rqt_image_view-9999.ebuild 648 BLAKE2B 2d1b82bb033cfef1c02bf53541cdf25a37b94eb8491ee55ffbba4a0216d8076b267c72f3a6114b16b7de50d4b6f3e26a6c9639c7da60bb34cdb2d131d8c33b2d SHA512 a624c8dacf682c4a41e43a9b2ade2adec5454253d8a2f67a05551fded10202e0a77566aaca7be5bd3cd2f3636f8b5c3aa6945a9ba98b5349b533571b89604d92
+DIST rqt_image_view-0.4.15.tar.gz 14817 BLAKE2B 00c196bac88eb18f039e88e34d9a943a8e5b052f038682297ecf4c1a31bbb3f25b28a252a6034b774186518a33684f82d94fe89ec2cf6a9449aa961dd2b60435 SHA512 347abc44f930ca2a2d72ed9b8a3c825caf23e0643c80a394c8f74b4452d9549bab8ecc91cf5231d8d51b4be345f3c44783a266cd22c0b1197d3376698b849989
+EBUILD rqt_image_view-0.4.15.ebuild 617 BLAKE2B d1a32388fa92eb33d94839ef5b11d4990e58b260ddf148e50f229608c36cade2b30fec986d19134ce7ba4760698c0c7c5bfbf3da6f05a5e6ace72bf81dcbb190 SHA512 11d7f513a4f13d7152b621e509ebe8b540856385cac84c437dff125aa37a124250fb8e40a241f4501c1c272d88f3316d0ac9ae59986865a1dd443780bb1e0efb
+EBUILD rqt_image_view-9999.ebuild 617 BLAKE2B d1a32388fa92eb33d94839ef5b11d4990e58b260ddf148e50f229608c36cade2b30fec986d19134ce7ba4760698c0c7c5bfbf3da6f05a5e6ace72bf81dcbb190 SHA512 11d7f513a4f13d7152b621e509ebe8b540856385cac84c437dff125aa37a124250fb8e40a241f4501c1c272d88f3316d0ac9ae59986865a1dd443780bb1e0efb
 MISC metadata.xml 346 BLAKE2B a79e94b137d03773101db1b1312e511a6b3d489b49cbf26b3b5e890dc3970ea8425985cb04ad705ed7e0f9bc8c18bf07f5f5aa328b359d37c4ceac3e36516f3a SHA512 dd45aa50e58a93d0f1fb637248f842b21d39547ac94d4e183ad110515fc2f9ac6f325d8f894c6103a5366d791cd8765291f2b9c6ac74761fdc5f83220297013e
diff --git a/dev-ros/rqt_image_view/rqt_image_view-0.4.13.ebuild b/dev-ros/rqt_image_view/rqt_image_view-0.4.13.ebuild
deleted file mode 100644
index 28e2c16cb324..000000000000
--- a/dev-ros/rqt_image_view/rqt_image_view-0.4.13.ebuild
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-KEYWORDS="~amd64"
-ROS_REPO_URI="https://github.com/ros-visualization/rqt_image_view"
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="GUI plugin for displaying images using image_transport"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/cv_bridge[${PYTHON_USEDEP}]
-	media-libs/opencv:=
-	dev-ros/image_transport
-	dev-ros/rqt_gui[${PYTHON_USEDEP}]
-	>=dev-ros/rqt_gui_cpp-0.3
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-qt/qtwidgets:5
-	dev-libs/boost:=
-	dev-libs/console_bridge:=
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/rqt_image_view/rqt_image_view-0.4.11-r1.ebuild b/dev-ros/rqt_image_view/rqt_image_view-0.4.15.ebuild
index 3020bb4e701d..b6226cbe972d 100644
--- a/dev-ros/rqt_image_view/rqt_image_view-0.4.11-r1.ebuild
+++ b/dev-ros/rqt_image_view/rqt_image_view-0.4.15.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2017 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 KEYWORDS="~amd64"
 ROS_REPO_URI="https://github.com/ros-visualization/rqt_image_view"
-PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/rqt_image_view/rqt_image_view-9999.ebuild b/dev-ros/rqt_image_view/rqt_image_view-9999.ebuild
index 3020bb4e701d..b6226cbe972d 100644
--- a/dev-ros/rqt_image_view/rqt_image_view-9999.ebuild
+++ b/dev-ros/rqt_image_view/rqt_image_view-9999.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2017 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 KEYWORDS="~amd64"
 ROS_REPO_URI="https://github.com/ros-visualization/rqt_image_view"
-PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/rviz/Manifest b/dev-ros/rviz/Manifest
index d35f38c15ff0..c499ce877a6e 100644
--- a/dev-ros/rviz/Manifest
+++ b/dev-ros/rviz/Manifest
@@ -1,11 +1,6 @@
-DIST rviz-1.13.1.tar.gz 5094089 BLAKE2B 7f4c106bf51b2465177107f5eb19602323045423b3ee5149f70b177170af9eea1cea0d4069f859c3c9bf3a2bdbe7feb91b802c758a66f6b990bd890b124d2a52 SHA512 cace4d41341647a8e4d5ab3be64ca71a4b41134a15a4df8556f35824c550c5fb7024f7338d0ffac1ea9c7f574c10757b773a8df37625d6e616eafdcd7f0aab09
-DIST rviz-1.13.3.tar.gz 5085813 BLAKE2B da1f12c1ab9e7306bcd5762311948f0e4af355c80b1f0ffac521c64e62250c11c48f52659c187137c27209616a7564086bc84a3cc81f88ded2c6d3c65847774b SHA512 90d319342e16735629a3aa8229b0f8b55b6b8f863fba719aeed0a6b06cee5fd269dc852b4bfa861422b44840d57e8030c98da09b046a378a36fdac58f5782f96
 DIST rviz-1.13.6.tar.gz 5096543 BLAKE2B f51750803ca2e133dd225de5b28bf3730b89fd6df9650b662fdbf9ab28551eaadbbd8bab50fd17e8a980702fc9d162ea41b1a3319c14309fdcb15714b8103e3c SHA512 d9f462cf25cc1386a6bfad4dee27e6963ba15e3714f7556df6f79db7eeaa1b43f60461630e6e8d354fd0c56755b7a2b8b38d98fcee4343dd30559a771b0cd157
-EBUILD rviz-1.13.1-r1.ebuild 1681 BLAKE2B ce51638542b6abbebb13d647552646d5e8cd797845a386a347733acc02ab585d451e0fcfff19a7d798e99f79e37238751167d2331b83bc89ec03e76e56ca9a39 SHA512 19569262319e122cc37f572429315302b31da5b5f7de520cd9b60c8841fbdc617aaae0ff25d1e0b6dd9b007e0d49e735cd5ddded586efb4750d6a87c3e211f34
-EBUILD rviz-1.13.1-r2.ebuild 1671 BLAKE2B c37ed24d7870deb6777d75c7bcebccac18a061f9948fe71e602bccb220ef0c48284c16992509c880a4300cbfd7969979e36c09afc3c982c6347a9d2bac7ea8ad SHA512 8c614dfb84c38a117dea81927bbfe3e3bcd64cd8078408fc1fb521de9321d5b5e51c626ccc72761a7f9f1cdd83dc310859877db380b7236a35ee1bf1f1c98b8f
-EBUILD rviz-1.13.3-r1.ebuild 1671 BLAKE2B c37ed24d7870deb6777d75c7bcebccac18a061f9948fe71e602bccb220ef0c48284c16992509c880a4300cbfd7969979e36c09afc3c982c6347a9d2bac7ea8ad SHA512 8c614dfb84c38a117dea81927bbfe3e3bcd64cd8078408fc1fb521de9321d5b5e51c626ccc72761a7f9f1cdd83dc310859877db380b7236a35ee1bf1f1c98b8f
-EBUILD rviz-1.13.3.ebuild 1678 BLAKE2B 0fa86998b709d83a21be63fdde597107e54be94487d98a6b58be8768be50fa17804c4ee2a3d44e0b8a546d0e7519da9951138e6dee7ff1ee2ab7bf012d917563 SHA512 e9bcd8aa8a72010f34b439b273fd367a53af0c743b7e80f817be2bbbff551310411793badc7b194ca18630694b04000f430abe5f0d9726df8685215dfccf28c4
+DIST rviz-1.14.0.tar.gz 5118043 BLAKE2B 2f5236c3b8bcb0421ebbbc76648ad421b38ad0cb4c6b2c107ef0532c2a84a1c2430b4c648ff6facc634c3247dd8dcb62dd4fe787bbe5c4c5db5a904380b11dc3 SHA512 7ab3d8b751268b6e76fb39184ba0f245cc19b45ef1bb59fa74ada594b12ec2c9c7024a91005a946c0b2c0d977442a8e64570837ab80a10b762729d3f5840411b
 EBUILD rviz-1.13.6-r1.ebuild 1723 BLAKE2B bc99acf8f0f6c783486467d9e7f7305c96150e8137f62a2e0719eaf1a7d99391f4589e693943d51a487e63778cc904fa99afc08a7d28a9a12c43958934606301 SHA512 4a4e0858aded3a6300e281ebcba7caf4ba5e8c0ee215d1e9e02524e758b2c003934277d5e4f10dd59d911838a78fbdcaacc1da98e6acd8a50b712ce7b483ea58
-EBUILD rviz-1.13.6.ebuild 1730 BLAKE2B 0c376a9574f637050337c23c476785ec06768876a505c076afa2351b3e2526d62b113e1f31079a2f41df01fb3a8a958c79f139f03f1c77ebc89641382bc7de43 SHA512 d1aacd39332373f9cdde1ae3e0ec045e7359f5d792eab7ed78cffd4c98851e8e2840b9157684510a0e37f2640c89663386dc6e368da0970cd64cd89cf7862fea
+EBUILD rviz-1.14.0.ebuild 1715 BLAKE2B 13f47a63badc18199c2c88ff83d22a23188bb8344ff6575f3be301f16a46b3b4c95122b4ccc155d797a6eb14bfe2e1b6591f3b0cabf47440c9b8c3f0d1901964 SHA512 a2f5c144f4011e349e79fcc073964b3ee2f9ea3281ec3eafebf91670812eedd2d1b03701420f063a710c57fe7d367dc9f387c4c43a6531b9ce60f41c51545563
 EBUILD rviz-9999.ebuild 1715 BLAKE2B 13f47a63badc18199c2c88ff83d22a23188bb8344ff6575f3be301f16a46b3b4c95122b4ccc155d797a6eb14bfe2e1b6591f3b0cabf47440c9b8c3f0d1901964 SHA512 a2f5c144f4011e349e79fcc073964b3ee2f9ea3281ec3eafebf91670812eedd2d1b03701420f063a710c57fe7d367dc9f387c4c43a6531b9ce60f41c51545563
 MISC metadata.xml 336 BLAKE2B 8cba61f66f05c578aa056805cff5c5f9b79f4cc9a36001a5c332b048958039e049e8003b4c6a6cbe44a10973b5094daf880f25f9a124a2967069687762a492d0 SHA512 5621623b90d64245ec73b1ff7cace103dd809ac9da8b4614cd8b5931854ed159e8b5de867f1a6e83949376b99e41c181def0569f90f128c4c85e97cd42659120
diff --git a/dev-ros/rviz/rviz-1.13.1-r1.ebuild b/dev-ros/rviz/rviz-1.13.1-r1.ebuild
deleted file mode 100644
index 46cc11490699..000000000000
--- a/dev-ros/rviz/rviz-1.13.1-r1.ebuild
+++ /dev/null
@@ -1,68 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/ros-visualization/rviz"
-KEYWORDS="~amd64"
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="3D visualization tool for ROS"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	media-libs/assimp
-	<dev-games/ogre-1.10:=
-	virtual/opengl
-	dev-qt/qtwidgets:5
-	dev-qt/qtcore:5
-	dev-qt/qtopengl:5
-	dev-cpp/eigen:3
-	dev-cpp/yaml-cpp:=
-	dev-libs/urdfdom:=
-	dev-libs/tinyxml2:=
-
-	dev-ros/angles
-	dev-ros/image_geometry
-	dev-ros/image_transport
-	dev-ros/interactive_markers
-	dev-ros/laser_geometry
-	dev-ros/message_filters
-	dev-ros/pluginlib
-	>=dev-ros/python_qt_binding-0.3.0[${PYTHON_USEDEP}]
-	dev-ros/resource_retriever
-	dev-ros/rosbag[${PYTHON_USEDEP}]
-	dev-ros/rosconsole
-	dev-libs/console_bridge:=
-	dev-ros/roscpp
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-ros/tf
-	dev-ros/urdf
-	dev-ros/media_export
-
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/map_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-"
-DEPEND="${RDEPEND}
-	dev-ros/cmake_modules
-	virtual/pkgconfig
-	test? (
-		dev-ros/rostest[${PYTHON_USEDEP}]
-		dev-cpp/gtest
-	)"
-
-src_configure() {
-	local mycatkincmakeargs=( "-DUseQt5=ON" )
-	ros-catkin_src_configure
-}
diff --git a/dev-ros/rviz/rviz-1.13.3-r1.ebuild b/dev-ros/rviz/rviz-1.13.3-r1.ebuild
deleted file mode 100644
index 787bbed37b65..000000000000
--- a/dev-ros/rviz/rviz-1.13.3-r1.ebuild
+++ /dev/null
@@ -1,67 +0,0 @@
-# Copyright 1999-2020 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI="7"
-
-ROS_REPO_URI="https://github.com/ros-visualization/rviz"
-KEYWORDS="~amd64"
-
-inherit ros-catkin
-
-DESCRIPTION="3D visualization tool for ROS"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	media-libs/assimp
-	<dev-games/ogre-1.10:=[-double-precision]
-	virtual/opengl
-	dev-qt/qtwidgets:5
-	dev-qt/qtcore:5
-	dev-qt/qtopengl:5
-	dev-cpp/eigen:3
-	dev-cpp/yaml-cpp:=
-	dev-libs/urdfdom:=
-	dev-libs/tinyxml2:=
-
-	dev-ros/angles
-	dev-ros/image_geometry
-	dev-ros/image_transport
-	dev-ros/interactive_markers
-	dev-ros/laser_geometry
-	dev-ros/message_filters
-	dev-ros/pluginlib
-	>=dev-ros/python_qt_binding-0.3.0[${PYTHON_USEDEP}]
-	dev-ros/resource_retriever
-	dev-ros/rosbag[${PYTHON_USEDEP}]
-	dev-ros/rosconsole
-	dev-libs/console_bridge:=
-	dev-ros/roscpp
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-ros/tf
-	dev-ros/urdf
-	dev-ros/media_export
-
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/map_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-"
-DEPEND="${RDEPEND}
-	dev-ros/cmake_modules
-	virtual/pkgconfig
-	test? (
-		dev-ros/rostest[${PYTHON_USEDEP}]
-		dev-cpp/gtest
-	)"
-
-src_configure() {
-	local mycatkincmakeargs=( "-DUseQt5=ON" )
-	ros-catkin_src_configure
-}
diff --git a/dev-ros/rviz/rviz-1.13.3.ebuild b/dev-ros/rviz/rviz-1.13.3.ebuild
deleted file mode 100644
index 1fb1d93cd930..000000000000
--- a/dev-ros/rviz/rviz-1.13.3.ebuild
+++ /dev/null
@@ -1,68 +0,0 @@
-# Copyright 1999-2019 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/ros-visualization/rviz"
-KEYWORDS="~amd64"
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="3D visualization tool for ROS"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	media-libs/assimp
-	<dev-games/ogre-1.10:=
-	virtual/opengl
-	dev-qt/qtwidgets:5
-	dev-qt/qtcore:5
-	dev-qt/qtopengl:5
-	dev-cpp/eigen:3
-	dev-cpp/yaml-cpp:=
-	dev-libs/urdfdom:=
-	dev-libs/tinyxml2:=
-
-	dev-ros/angles
-	dev-ros/image_geometry
-	dev-ros/image_transport
-	dev-ros/interactive_markers
-	dev-ros/laser_geometry
-	dev-ros/message_filters
-	dev-ros/pluginlib
-	>=dev-ros/python_qt_binding-0.3.0[${PYTHON_USEDEP}]
-	dev-ros/resource_retriever
-	dev-ros/rosbag[${PYTHON_USEDEP}]
-	dev-ros/rosconsole
-	dev-libs/console_bridge:=
-	dev-ros/roscpp
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-ros/tf
-	dev-ros/urdf
-	dev-ros/media_export
-
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/map_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-"
-DEPEND="${RDEPEND}
-	dev-ros/cmake_modules
-	virtual/pkgconfig
-	test? (
-		dev-ros/rostest[${PYTHON_USEDEP}]
-		dev-cpp/gtest
-	)"
-
-src_configure() {
-	local mycatkincmakeargs=( "-DUseQt5=ON" )
-	ros-catkin_src_configure
-}
diff --git a/dev-ros/rviz/rviz-1.13.6.ebuild b/dev-ros/rviz/rviz-1.13.6.ebuild
deleted file mode 100644
index 358973db8678..000000000000
--- a/dev-ros/rviz/rviz-1.13.6.ebuild
+++ /dev/null
@@ -1,72 +0,0 @@
-# Copyright 1999-2019 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/ros-visualization/rviz"
-KEYWORDS="~amd64"
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin virtualx
-
-DESCRIPTION="3D visualization tool for ROS"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	media-libs/assimp
-	<dev-games/ogre-1.10:=
-	virtual/opengl
-	dev-qt/qtwidgets:5
-	dev-qt/qtcore:5
-	dev-qt/qtopengl:5
-	dev-cpp/eigen:3
-	dev-cpp/yaml-cpp:=
-	dev-libs/urdfdom:=
-	dev-libs/tinyxml2:=
-
-	dev-ros/angles
-	dev-ros/image_geometry
-	dev-ros/image_transport
-	dev-ros/interactive_markers
-	dev-ros/laser_geometry
-	dev-ros/message_filters
-	dev-ros/pluginlib
-	>=dev-ros/python_qt_binding-0.3.0[${PYTHON_USEDEP}]
-	dev-ros/resource_retriever
-	dev-ros/rosbag[${PYTHON_USEDEP}]
-	dev-ros/rosconsole
-	dev-libs/console_bridge:=
-	dev-ros/roscpp
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-ros/tf
-	dev-ros/urdf
-	dev-ros/media_export
-
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/map_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-"
-DEPEND="${RDEPEND}
-	dev-ros/cmake_modules
-	virtual/pkgconfig
-	test? (
-		dev-ros/rostest[${PYTHON_USEDEP}]
-		dev-cpp/gtest
-	)"
-
-src_configure() {
-	local mycatkincmakeargs=( "-DUseQt5=ON" )
-	ros-catkin_src_configure
-}
-
-src_test() {
-	virtx ros-catkin_src_test
-}
diff --git a/dev-ros/rviz/rviz-1.13.1-r2.ebuild b/dev-ros/rviz/rviz-1.14.0.ebuild
index 787bbed37b65..4c97b1574bab 100644
--- a/dev-ros/rviz/rviz-1.13.1-r2.ebuild
+++ b/dev-ros/rviz/rviz-1.14.0.ebuild
@@ -1,12 +1,12 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI="7"
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros-visualization/rviz"
-KEYWORDS="~amd64"
+KEYWORDS=""
 
-inherit ros-catkin
+inherit ros-catkin virtualx
 
 DESCRIPTION="3D visualization tool for ROS"
 LICENSE="BSD"
@@ -65,3 +65,7 @@ src_configure() {
 	local mycatkincmakeargs=( "-DUseQt5=ON" )
 	ros-catkin_src_configure
 }
+
+src_test() {
+	virtx ros-catkin_src_test
+}
diff --git a/dev-ros/rviz_plugin_tutorials/Manifest b/dev-ros/rviz_plugin_tutorials/Manifest
index e8f9097f19e0..eb330b782809 100644
--- a/dev-ros/rviz_plugin_tutorials/Manifest
+++ b/dev-ros/rviz_plugin_tutorials/Manifest
@@ -1,8 +1,10 @@
 DIST visualization_tutorials-0.10.1.tar.gz 428608 BLAKE2B abee44fa91388e792a5e2ccadf07a32236f7575f5a0e0121ddfdc0135bf63b12c8d603d4bee3ef463f0c64debf9e9c6f8c7c89c2e8dce8375d3264039b6378b0 SHA512 38ad2c29456ff994914b1ca3b2ab6d90b0c9224481d360fd7f88b38c0e9615d35eb94b90abb699738b5f4fac091489bdf2373168bc3a0acc0e6ba3a61b646bbf
 DIST visualization_tutorials-0.10.2.tar.gz 428684 BLAKE2B 751d18089c69cdb8cd0cfac97235d213cce9d098264dc49fcaf7d7a949216b8fd40041c23be5d16be1537298b876dc1854a8b7dc1214ba7aeb74b18716892636 SHA512 40d8621fd05e81dc23adbf7fd0a69209d796ade3ad291aa350030872a3bbffad2ec9ac0d31734ccf73f8215f7dd52834a35baaa3fe198a3fc4c5bda71a760b05
 DIST visualization_tutorials-0.10.3.tar.gz 428877 BLAKE2B 4bcd482ae61f29908ca23dda653d1c6d0e6a0a9df56df8343d1dfb5124f8d60c9a12ef8b1565c4655617dcd62d80a2aa51f2fd9b2c5329e33c3cc22e3e63c22d SHA512 2e484791851291d2316c7a20e92d988d71b6c41c98bad98c78bed465069dcfe5fc1ddd5c15c6981e951db2c114e965747c07e27f4851c2705af3dd036b992781
+DIST visualization_tutorials-0.11.0.tar.gz 429489 BLAKE2B d4558a15b696ba05ed156a64ab2c0ad7229314f73d2823c0a46f53132801619d28fc5c68f5d8e0f3e2cadb7bb5078b3518da87ea18940432760b20bddeda578d SHA512 78ebe536a3a209fb0c61fb7dbc0aa115b5f4e6297303b1fc03740402decea719077037a90f4c45a0f6ece95e3578d6dad1095a0b1f0a90c136b738d0350aac9b
 EBUILD rviz_plugin_tutorials-0.10.1-r4.ebuild 485 BLAKE2B 66b0981eaa7c9c6c68080f2d95ab1716177cdef66cca4707136cbbb615dd5d182df90141af46ae600f85cbe2cde6ca4f111d230bc5918391043e449f564b2b13 SHA512 d31845c711675a6b21145b40abe1265f4e0993304baf68811ca60997d1764bc7cb0686893c79bfdc82170d93a15f0732cc624dd14208bdb0d02aaf0b784a4b90
 EBUILD rviz_plugin_tutorials-0.10.2.ebuild 485 BLAKE2B 006d43fcd28dcea0c19489210fa8f59b7636d17c331302f4071194bed98fcf3c3c38afba36d4c5547ac7ef0cf24e6983d1eb0092fb1f60166446ba1b4ac22c46 SHA512 733dd923bf39dd41c91f9a27c5d6c362362cefd631007c55fc09865c3a1ed70a3d48707e0394dbc84c39a45dc0e0e7f90e49e280caae67abec0a6128f7037dcb
 EBUILD rviz_plugin_tutorials-0.10.3.ebuild 485 BLAKE2B 006d43fcd28dcea0c19489210fa8f59b7636d17c331302f4071194bed98fcf3c3c38afba36d4c5547ac7ef0cf24e6983d1eb0092fb1f60166446ba1b4ac22c46 SHA512 733dd923bf39dd41c91f9a27c5d6c362362cefd631007c55fc09865c3a1ed70a3d48707e0394dbc84c39a45dc0e0e7f90e49e280caae67abec0a6128f7037dcb
+EBUILD rviz_plugin_tutorials-0.11.0.ebuild 482 BLAKE2B 6137da8d50fc8b59698db896c57052a6294254cb0f6781dafc2b4aa7cfd7bda5fbc478bce463bfab739644e1c03b293f20e197605c2abe080a04b3a5c4e627a8 SHA512 26845a42bf0c37f1b435c8b2abda5449bfbb34e6a3315b31f47dc3d6085c727c0b8c05c7a889ec22594b4cb29fc8ed7e47090c27ff5438366b276e1185074ba8
 EBUILD rviz_plugin_tutorials-9999.ebuild 485 BLAKE2B 66b0981eaa7c9c6c68080f2d95ab1716177cdef66cca4707136cbbb615dd5d182df90141af46ae600f85cbe2cde6ca4f111d230bc5918391043e449f564b2b13 SHA512 d31845c711675a6b21145b40abe1265f4e0993304baf68811ca60997d1764bc7cb0686893c79bfdc82170d93a15f0732cc624dd14208bdb0d02aaf0b784a4b90
 MISC metadata.xml 355 BLAKE2B fb6b9ee20af31ea0d99819722e6df9dc086b3b4de71d9a3aba80bee73490a62738ce308e9b1e77ee22c079e21ff7623b13fd7d46fd8d670232ea45a3cffd47ae SHA512 5e233967a9e4b9c0f790ddfa82d4c2febbb2948b3ed3abe4ec91d1ec0e80202738daed074eb911a63ccd6209837f5e52ab985ff4e792f3e90a38120963e8db34
diff --git a/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-0.9.2.ebuild b/dev-ros/rviz_plugin_tutorials/rviz_plugin_tutorials-0.11.0.ebuild
index 8bdc9dd6488f..e57aebdcdd14 100644
--- a/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-0.9.2.ebuild
+++ b/dev-ros/rviz_plugin_tutorials/rviz_plugin_tutorials-0.11.0.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
 EAPI=5
@@ -8,13 +8,17 @@ ROS_SUBDIR=${PN}
 
 inherit ros-catkin
 
-DESCRIPTION="Visualization marker tutorials"
+DESCRIPTION="Tutorials showing how to write plugins for RViz"
 LICENSE="BSD"
 SLOT="0"
 IUSE=""
 
 RDEPEND="
-	dev-ros/roscpp
-	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/rviz
+	dev-qt/qtcore:5
+	dev-qt/qtgui:5
+	dev-qt/qtwidgets:5
+	dev-libs/boost:=
+	dev-libs/console_bridge:=
 "
 DEPEND="${RDEPEND}"
diff --git a/dev-ros/rviz_python_tutorial/Manifest b/dev-ros/rviz_python_tutorial/Manifest
index 5cf10750a407..3fdf1ee549e7 100644
--- a/dev-ros/rviz_python_tutorial/Manifest
+++ b/dev-ros/rviz_python_tutorial/Manifest
@@ -1,10 +1,12 @@
 DIST visualization_tutorials-0.10.1.tar.gz 428608 BLAKE2B abee44fa91388e792a5e2ccadf07a32236f7575f5a0e0121ddfdc0135bf63b12c8d603d4bee3ef463f0c64debf9e9c6f8c7c89c2e8dce8375d3264039b6378b0 SHA512 38ad2c29456ff994914b1ca3b2ab6d90b0c9224481d360fd7f88b38c0e9615d35eb94b90abb699738b5f4fac091489bdf2373168bc3a0acc0e6ba3a61b646bbf
 DIST visualization_tutorials-0.10.2.tar.gz 428684 BLAKE2B 751d18089c69cdb8cd0cfac97235d213cce9d098264dc49fcaf7d7a949216b8fd40041c23be5d16be1537298b876dc1854a8b7dc1214ba7aeb74b18716892636 SHA512 40d8621fd05e81dc23adbf7fd0a69209d796ade3ad291aa350030872a3bbffad2ec9ac0d31734ccf73f8215f7dd52834a35baaa3fe198a3fc4c5bda71a760b05
 DIST visualization_tutorials-0.10.3.tar.gz 428877 BLAKE2B 4bcd482ae61f29908ca23dda653d1c6d0e6a0a9df56df8343d1dfb5124f8d60c9a12ef8b1565c4655617dcd62d80a2aa51f2fd9b2c5329e33c3cc22e3e63c22d SHA512 2e484791851291d2316c7a20e92d988d71b6c41c98bad98c78bed465069dcfe5fc1ddd5c15c6981e951db2c114e965747c07e27f4851c2705af3dd036b992781
+DIST visualization_tutorials-0.11.0.tar.gz 429489 BLAKE2B d4558a15b696ba05ed156a64ab2c0ad7229314f73d2823c0a46f53132801619d28fc5c68f5d8e0f3e2cadb7bb5078b3518da87ea18940432760b20bddeda578d SHA512 78ebe536a3a209fb0c61fb7dbc0aa115b5f4e6297303b1fc03740402decea719077037a90f4c45a0f6ece95e3578d6dad1095a0b1f0a90c136b738d0350aac9b
 DIST visualization_tutorials-0.9.2.tar.gz 428117 BLAKE2B f25320fa80b12a8a5499d505af369c33362e7f085de3846478b6376fc49e4e2502f07ded6c9e1025224d7b2418d78c87933b2d93b66ad2865eb45581384df24f SHA512 4a2b323e74725dbb77fbba6405d39246a89b170c66dec78288c4461d70c419efc3197eed5867f68305e490552d0480525153f98a64a3025efddc367db824ca53
 EBUILD rviz_python_tutorial-0.10.1.ebuild 452 BLAKE2B 1af501744428e5693ba71a326092d6d17ee9f8be078eabee5febc2a91b1ead2c6c491a2e1d4dcc66e17dd976bff21a878304c25ee35bcfc8c361e0b86bec4c2f SHA512 45d3339c26b33bb6af6d4fb859e670f1cb68e74fb8247da1106337aadce43b565320a053512d9f8ae1081aae9e840011e8050726f33659d3ef7c9386ceffcc95
 EBUILD rviz_python_tutorial-0.10.2.ebuild 452 BLAKE2B 7cb142425b38933b78c712a3de1f919647f00a7074cf234bb321c929cca089c7b35d10fbc5c85e88d6685a0bf562fec48c859fa4d1e40d61783a553b8b1803f2 SHA512 d0d18eb2f5b0602c9653261de0a2c3e1dc6014e29245b7a50f0518d444e711becf17af97029fdfcfa695760f9a735264b9a0d89eff1a17189aeac0bf2297b9c5
 EBUILD rviz_python_tutorial-0.10.3.ebuild 452 BLAKE2B 7cb142425b38933b78c712a3de1f919647f00a7074cf234bb321c929cca089c7b35d10fbc5c85e88d6685a0bf562fec48c859fa4d1e40d61783a553b8b1803f2 SHA512 d0d18eb2f5b0602c9653261de0a2c3e1dc6014e29245b7a50f0518d444e711becf17af97029fdfcfa695760f9a735264b9a0d89eff1a17189aeac0bf2297b9c5
+EBUILD rviz_python_tutorial-0.11.0.ebuild 449 BLAKE2B 8679cb260460b75e866d5efcc5e7b488e419718abaff9d1241bdd7f0a7820006e8598c9e0ad33d32c07fdd8a9803477ccc8eb34fe635d094aa85f120510a4259 SHA512 95da05a00f84eabc768d10a02c6a1b479c6c845b2021b2c05c1fd75f1684fad2265490c97814eb20582aebdc0bcb88ee578edc4a59a1cfcd97d592ef54a19b38
 EBUILD rviz_python_tutorial-0.9.2.ebuild 452 BLAKE2B 1af501744428e5693ba71a326092d6d17ee9f8be078eabee5febc2a91b1ead2c6c491a2e1d4dcc66e17dd976bff21a878304c25ee35bcfc8c361e0b86bec4c2f SHA512 45d3339c26b33bb6af6d4fb859e670f1cb68e74fb8247da1106337aadce43b565320a053512d9f8ae1081aae9e840011e8050726f33659d3ef7c9386ceffcc95
 EBUILD rviz_python_tutorial-9999.ebuild 452 BLAKE2B 1af501744428e5693ba71a326092d6d17ee9f8be078eabee5febc2a91b1ead2c6c491a2e1d4dcc66e17dd976bff21a878304c25ee35bcfc8c361e0b86bec4c2f SHA512 45d3339c26b33bb6af6d4fb859e670f1cb68e74fb8247da1106337aadce43b565320a053512d9f8ae1081aae9e840011e8050726f33659d3ef7c9386ceffcc95
 MISC metadata.xml 355 BLAKE2B fb6b9ee20af31ea0d99819722e6df9dc086b3b4de71d9a3aba80bee73490a62738ce308e9b1e77ee22c079e21ff7623b13fd7d46fd8d670232ea45a3cffd47ae SHA512 5e233967a9e4b9c0f790ddfa82d4c2febbb2948b3ed3abe4ec91d1ec0e80202738daed074eb911a63ccd6209837f5e52ab985ff4e792f3e90a38120963e8db34
diff --git a/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-0.10.2.ebuild b/dev-ros/rviz_python_tutorial/rviz_python_tutorial-0.11.0.ebuild
index 264e1b66adae..2e6384a388d7 100644
--- a/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-0.10.2.ebuild
+++ b/dev-ros/rviz_python_tutorial/rviz_python_tutorial-0.11.0.ebuild
@@ -1,20 +1,18 @@
-# Copyright 1999-2018 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
 EAPI=5
 ROS_REPO_URI="https://github.com/ros-visualization/visualization_tutorials"
 KEYWORDS="~amd64"
 ROS_SUBDIR=${PN}
+PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
-DESCRIPTION="Visualization marker tutorials"
+DESCRIPTION="Tutorials showing how to call into rviz internals from python scripts"
 LICENSE="BSD"
 SLOT="0"
 IUSE=""
 
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-"
+RDEPEND="dev-ros/rviz[${PYTHON_USEDEP}]"
 DEPEND="${RDEPEND}"
diff --git a/dev-ros/turtle_tf/Manifest b/dev-ros/turtle_tf/Manifest
index e139c196d00d..5efb6001ec96 100644
--- a/dev-ros/turtle_tf/Manifest
+++ b/dev-ros/turtle_tf/Manifest
@@ -1,4 +1,4 @@
-DIST geometry_tutorials-0.2.2.tar.gz 15148 BLAKE2B 459d2661ef9b21ebf465097c6fb4f01dee2b3d96b0dd6494fe91996513a60764747b2844f931f7351bcea59698e52fcf1d821ce5484ca0bb8b2e1501bdb5492f SHA512 5a6fe2e26d11d3fe8c1fc6979d1d76b13b01df23ef1f0d5e5df094aa0441e1ded33d2402b88be1143a88002ecde2a6bddc3b03efca713bd5521c68de2e054548
-EBUILD turtle_tf-0.2.2-r1.ebuild 654 BLAKE2B d556aefec8b67ea6295af072a78f9376a88d49d1a02e06a7e2708e35186c3e0ab0ea1236ad6ba66d7c806039e69190229b8cd17d67a53bc7958a5d3acaade21b SHA512 a90c2e1e1a4cd9763638b516c20d4e95a7e7a3458421200f0022b2ce6ff0c4573d4cc205205802864bd4e31cf1ccaa97ea9d0e9079f1da6d95984d4589867f51
-EBUILD turtle_tf-9999.ebuild 654 BLAKE2B d556aefec8b67ea6295af072a78f9376a88d49d1a02e06a7e2708e35186c3e0ab0ea1236ad6ba66d7c806039e69190229b8cd17d67a53bc7958a5d3acaade21b SHA512 a90c2e1e1a4cd9763638b516c20d4e95a7e7a3458421200f0022b2ce6ff0c4573d4cc205205802864bd4e31cf1ccaa97ea9d0e9079f1da6d95984d4589867f51
+DIST geometry_tutorials-0.2.3.tar.gz 16105 BLAKE2B 331e9d3f156610ef62242d4ade54c5b5e7b688ca6299e0b3d1bc8f9ceaed66e97df609e595d8c8d83b0a281e403f5f20434e990553f1391d39d85348df397fa8 SHA512 3dbc22f50abf790340711cd7f297c2fb9561bb0f1037cf8988b8304f3f862eb66cb07604b571cb7d2acaba04aba567b903a578998a5ff18673c125b337c9d635
+EBUILD turtle_tf-0.2.3.ebuild 626 BLAKE2B b47ed9d9af85f28677b781ef793a5e70c7519496d63ac575788c42b96b44316c65f2c627ee01504a27320460417eb230d110a2ff9e913ecd7b3ea315576eb46c SHA512 1e801e0e0fcfe70dc33feecec568b75e22ffdf1418381b59a16aeb1cb8d5c6bb6fd6c9a5624e01dd3ed868b3265568d7a31cba08f69fbee9191324f442cf77eb
+EBUILD turtle_tf-9999.ebuild 626 BLAKE2B b47ed9d9af85f28677b781ef793a5e70c7519496d63ac575788c42b96b44316c65f2c627ee01504a27320460417eb230d110a2ff9e913ecd7b3ea315576eb46c SHA512 1e801e0e0fcfe70dc33feecec568b75e22ffdf1418381b59a16aeb1cb8d5c6bb6fd6c9a5624e01dd3ed868b3265568d7a31cba08f69fbee9191324f442cf77eb
 MISC metadata.xml 336 BLAKE2B d96d84717f479ca09194af211cae6924a342d43f2007badbe36f8986ce87000b5ee576a796dccbe741707dbeec730100c3a6f0a217bbceaae13b8397627ddf57 SHA512 79de9c6a61f56c0a03ff7eb31ba09215ff77e79a35980d3a63cbfd38cd4d5f84b0a8d6074aeb0d281884bcba981aa8467695a9249fdd644579eabc8bfe787da0
diff --git a/dev-ros/turtle_tf/turtle_tf-0.2.2-r1.ebuild b/dev-ros/turtle_tf/turtle_tf-0.2.3.ebuild
index 382e9bc485cd..4e8d1ce0b0b2 100644
--- a/dev-ros/turtle_tf/turtle_tf-0.2.2-r1.ebuild
+++ b/dev-ros/turtle_tf/turtle_tf-0.2.3.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros/geometry_tutorials"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/turtle_tf/turtle_tf-9999.ebuild b/dev-ros/turtle_tf/turtle_tf-9999.ebuild
index 382e9bc485cd..4e8d1ce0b0b2 100644
--- a/dev-ros/turtle_tf/turtle_tf-9999.ebuild
+++ b/dev-ros/turtle_tf/turtle_tf-9999.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros/geometry_tutorials"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/turtle_tf2/Manifest b/dev-ros/turtle_tf2/Manifest
index 529737e45ac5..95d16457630b 100644
--- a/dev-ros/turtle_tf2/Manifest
+++ b/dev-ros/turtle_tf2/Manifest
@@ -1,4 +1,4 @@
-DIST geometry_tutorials-0.2.2.tar.gz 15148 BLAKE2B 459d2661ef9b21ebf465097c6fb4f01dee2b3d96b0dd6494fe91996513a60764747b2844f931f7351bcea59698e52fcf1d821ce5484ca0bb8b2e1501bdb5492f SHA512 5a6fe2e26d11d3fe8c1fc6979d1d76b13b01df23ef1f0d5e5df094aa0441e1ded33d2402b88be1143a88002ecde2a6bddc3b03efca713bd5521c68de2e054548
-EBUILD turtle_tf2-0.2.2-r1.ebuild 673 BLAKE2B d78c85601295d95e7c6e5184cd6534475ad46b461ef3cc463cd2e4f2172adc824d70a077c42f20250d072b2fd3e6d5504f85311bfd1a71d0881a23e0abc74b78 SHA512 09361b68326c63dedb0b4bc1b8fc50dbf2f9de47d8a6fc2f8b82fb8600e7d9474c3baa6c9e8cc57288a4616cba635204d4f56f4f012dd9c58ae4e8c608bfa351
-EBUILD turtle_tf2-9999.ebuild 673 BLAKE2B d78c85601295d95e7c6e5184cd6534475ad46b461ef3cc463cd2e4f2172adc824d70a077c42f20250d072b2fd3e6d5504f85311bfd1a71d0881a23e0abc74b78 SHA512 09361b68326c63dedb0b4bc1b8fc50dbf2f9de47d8a6fc2f8b82fb8600e7d9474c3baa6c9e8cc57288a4616cba635204d4f56f4f012dd9c58ae4e8c608bfa351
+DIST geometry_tutorials-0.2.3.tar.gz 16105 BLAKE2B 331e9d3f156610ef62242d4ade54c5b5e7b688ca6299e0b3d1bc8f9ceaed66e97df609e595d8c8d83b0a281e403f5f20434e990553f1391d39d85348df397fa8 SHA512 3dbc22f50abf790340711cd7f297c2fb9561bb0f1037cf8988b8304f3f862eb66cb07604b571cb7d2acaba04aba567b903a578998a5ff18673c125b337c9d635
+EBUILD turtle_tf2-0.2.3.ebuild 645 BLAKE2B 6b91f6f7401786bb7b9348064b56a0702afe632030a2e34e20dc0220c3b76d87e3e6b09cb0169e46952c414605c1bd257b3861fc5c5f95069296aa5777f81373 SHA512 db58d6fed8a37ece4d796e5914b6bf48b87ccee9f8d1f97caead33b49c93cb19eed3fd85b5c664d388b5357d3a7bfe74fc70555b4e0b5435c56f6bb668619cd8
+EBUILD turtle_tf2-9999.ebuild 645 BLAKE2B 6b91f6f7401786bb7b9348064b56a0702afe632030a2e34e20dc0220c3b76d87e3e6b09cb0169e46952c414605c1bd257b3861fc5c5f95069296aa5777f81373 SHA512 db58d6fed8a37ece4d796e5914b6bf48b87ccee9f8d1f97caead33b49c93cb19eed3fd85b5c664d388b5357d3a7bfe74fc70555b4e0b5435c56f6bb668619cd8
 MISC metadata.xml 336 BLAKE2B d96d84717f479ca09194af211cae6924a342d43f2007badbe36f8986ce87000b5ee576a796dccbe741707dbeec730100c3a6f0a217bbceaae13b8397627ddf57 SHA512 79de9c6a61f56c0a03ff7eb31ba09215ff77e79a35980d3a63cbfd38cd4d5f84b0a8d6074aeb0d281884bcba981aa8467695a9249fdd644579eabc8bfe787da0
diff --git a/dev-ros/turtle_tf2/turtle_tf2-0.2.2-r1.ebuild b/dev-ros/turtle_tf2/turtle_tf2-0.2.3.ebuild
index 317903b4fac6..f971ef911f09 100644
--- a/dev-ros/turtle_tf2/turtle_tf2-0.2.2-r1.ebuild
+++ b/dev-ros/turtle_tf2/turtle_tf2-0.2.3.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros/geometry_tutorials"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/turtle_tf2/turtle_tf2-9999.ebuild b/dev-ros/turtle_tf2/turtle_tf2-9999.ebuild
index 317903b4fac6..f971ef911f09 100644
--- a/dev-ros/turtle_tf2/turtle_tf2-9999.ebuild
+++ b/dev-ros/turtle_tf2/turtle_tf2-9999.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros/geometry_tutorials"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/turtlesim/Manifest b/dev-ros/turtlesim/Manifest
index b935da524a23..29208a05f8ce 100644
--- a/dev-ros/turtlesim/Manifest
+++ b/dev-ros/turtlesim/Manifest
@@ -1,8 +1,4 @@
-DIST ros_tutorials-0.8.1.tar.gz 153831 BLAKE2B c34aec17ffd247554e37abb252848183392864c801dce7e2cae8c66d9fd30fdb12d50163487eff8615593df1532dece6c86303aab0b91d4075c14a9fba652b5a SHA512 f537312a78c27375791e11820f4d3a70433ce200d724d80bc8b417edd3c6dcbbf72abac0e9a98a199da2e3a8dbdec34e81d9106be4f6a5243a6f84d02d9ca668
-DIST ros_tutorials-0.9.0.tar.gz 154992 BLAKE2B d7a45d0adaa1507ae9494ea9590b9c69d3bbececa01f209a93825432b4b362499cde8c966e6734dbd854478e98970c340403ac56cb99a00b07cf9cff8b28fa36 SHA512 7beba72d3f72943ea5402416dc03809576d47d4e76e81d9ed85eba69c1f9a4e5737a91bdac76747f47e9d6459e5dd8e062cc8ec5f2fb9450cdb013b416534e56
-DIST ros_tutorials-0.9.1.tar.gz 155151 BLAKE2B 7371063ef77981892fee54b6b3d29907421f29deece22c6d53ace576717357a9700a2e14a03bd9f24c2285a16b55f5c9665a0da5081ae1599da8df5ec68ba425 SHA512 62a980e9515515496de39aa360df030f0dd8678bbf132d90386775c34e3b54f33a477aaefb65db803dcd704b8fbc61d445617399ac38cc2fa3f3363a6052682f
-EBUILD turtlesim-0.8.1.ebuild 774 BLAKE2B 7186c188c1a1e1ca0eae4e71d52968879f4dc5307de29eba04c303f8ee823762dfe2f7e9392e7dbf0b747ed2c6039fe62fbf065f046b6050bd9ef91ed5928ae4 SHA512 8dc724d0a64be8fdf139dcd875965935201b2b6de5eae6265a18d05f76d0a3070ebf63b0f36c6f1225eec3553f60fb6162b0159da298465d78e4b9b54ce4bcbb
-EBUILD turtlesim-0.9.0.ebuild 774 BLAKE2B 6e7dc750b9d704cd11fa9729796b1529513aafa28c8385c969a99cf10bb443b339292cd33316f90d060994cb50593d86da57d373c2a079f37c07937b0c2c3789 SHA512 98ae52b0813983852061ab691d7c038afef66650b2345cb1fd16386ea4932576b92ba26e9e3f81e9f94158f4df2aa9328462d20dfc2ce7d366e9d3e13aed6652
-EBUILD turtlesim-0.9.1.ebuild 771 BLAKE2B 263880e5b2bf49e9d2c373d9f70f989b8b8c8875927edb8d6af51cb7c423d58353e3cc0f63ea692f9c535dda00a8b70e7823a2adda8af2d6d007ec9538172851 SHA512 fd5c13afeb7ca4e424993d8067aa7755fe126092ba098efeaf193d9371e47bb8e8bd784049e84c3866d25dd62960acf4f019068ac582e147746b6fea21238734
-EBUILD turtlesim-9999.ebuild 774 BLAKE2B 2bbfdd355907a2a63bf44b0781482d75a01a1c0f92bb0301538a5e791e2aa72ec0bfa8b63462d3395aabce3cc032f2cdc0fc073de54fa67d76097d7797c32337 SHA512 1d2e018a5ee100fb1e68844cf92c6567b5c53954d5d3221bc0f8f749e6c6cc7b80087b41e130b62ca174d575f1488329aca360fb80d179fc5a4505ed8c345d43
+DIST ros_tutorials-0.10.0.tar.gz 159486 BLAKE2B 71b6fabb1a85ac9740dfba9f40be318e211d519189f8be05e58bf146b5d22566ea6ddcdca6331366c05e95c314b656c4f5688c4da3d20b1cdce78639a76e14c5 SHA512 dba529965bad64957721c71f1c7b2b60ece085ed0186a107fbec03c231940b19004b3bf9dce5c1ac3dcfe1c339d49a2214811d5227f453b1c3f541076a653048
+EBUILD turtlesim-0.10.0.ebuild 744 BLAKE2B 1a6226dea325415ce67d6327e7c7acb49631c481e2ea58040b424cb067dd1324d9b234bc7c0966e4706196b134ab718d22ea48c75349fd4d7ff44cc25f60e875 SHA512 328816ae5026200066a307eab6f4be817f4d7f239d154a46cffb431a05b5389f0950e450cf591ddc0d4344bcb6b90f95c7c81f614b9e454863b5f7c321e38efa
+EBUILD turtlesim-9999.ebuild 744 BLAKE2B 1a6226dea325415ce67d6327e7c7acb49631c481e2ea58040b424cb067dd1324d9b234bc7c0966e4706196b134ab718d22ea48c75349fd4d7ff44cc25f60e875 SHA512 328816ae5026200066a307eab6f4be817f4d7f239d154a46cffb431a05b5389f0950e450cf591ddc0d4344bcb6b90f95c7c81f614b9e454863b5f7c321e38efa
 MISC metadata.xml 331 BLAKE2B 63203c43a194bcfe4efe5c478b8cbb8700ebc307b2312972f546ed86043374133ec6826aa6465c8c4f6c7fc94fdcc4f29c2c535d1c0bdcb1806c57ea67ebbc1e SHA512 110df3a9a1b63d8200d2c67c2671a9ca8dfdc307d54545c09f6c790e019c149e09db82a1bbbf40677ae528e0f6e12235987a21efff1d6c38e50871bbf98b477a
diff --git a/dev-ros/turtlesim/turtlesim-0.9.1.ebuild b/dev-ros/turtlesim/turtlesim-0.10.0.ebuild
index a6c833ed721c..1f53e6c46ac3 100644
--- a/dev-ros/turtlesim/turtlesim-0.9.1.ebuild
+++ b/dev-ros/turtlesim/turtlesim-0.10.0.ebuild
@@ -1,12 +1,11 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros/ros_tutorials"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
 CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/std_srvs dev-ros/geometry_msgs"
 
 inherit ros-catkin
@@ -26,7 +25,8 @@ RDEPEND="
 	dev-ros/roscpp_serialization
 	dev-ros/roslib
 	dev-ros/rostime
+"
+DEPEND="${RDEPEND}
 	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 "
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/turtlesim/turtlesim-0.9.0.ebuild b/dev-ros/turtlesim/turtlesim-0.9.0.ebuild
deleted file mode 100644
index fb6ecc08ff3f..000000000000
--- a/dev-ros/turtlesim/turtlesim-0.9.0.ebuild
+++ /dev/null
@@ -1,32 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/ros_tutorials"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
-CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/std_srvs dev-ros/geometry_msgs"
-
-inherit ros-catkin
-
-DESCRIPTION="Tool made for teaching ROS and ROS packages"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-qt/qtcore:5
-	dev-qt/qtgui:5
-	dev-qt/qtwidgets:5
-	dev-libs/boost:=[threads]
-	dev-ros/rosconsole
-	dev-ros/roscpp
-	dev-ros/roscpp_serialization
-	dev-ros/roslib
-	dev-ros/rostime
-	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/turtlesim/turtlesim-9999.ebuild b/dev-ros/turtlesim/turtlesim-9999.ebuild
index e2e296b12f34..1f53e6c46ac3 100644
--- a/dev-ros/turtlesim/turtlesim-9999.ebuild
+++ b/dev-ros/turtlesim/turtlesim-9999.ebuild
@@ -1,12 +1,11 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros/ros_tutorials"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
 CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/std_srvs dev-ros/geometry_msgs"
 
 inherit ros-catkin
@@ -26,7 +25,8 @@ RDEPEND="
 	dev-ros/roscpp_serialization
 	dev-ros/roslib
 	dev-ros/rostime
+"
+DEPEND="${RDEPEND}
 	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 "
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/unique_id/Manifest b/dev-ros/unique_id/Manifest
index 310b264b0975..3db24bef13fe 100644
--- a/dev-ros/unique_id/Manifest
+++ b/dev-ros/unique_id/Manifest
@@ -1,4 +1,4 @@
 DIST unique_identifier-1.0.6.tar.gz 12305 BLAKE2B 3aa8ba6a7386588f56546e42efd61cc52a6a7c44444462c55f26830e162eafbc49a7aaca2315d965d75f8f0151467147af7db8a0fbe96def66c33e81371e069c SHA512 d81409786a311fd1d23937fd24bf0365920f6b9cd7b4ba9803935844c0dab0a1765b2790f88673fe8fffea70ff13161ddadc7644bc8d39e3f0c255007b267156
-EBUILD unique_id-1.0.6.ebuild 640 BLAKE2B c7efd57dbe3bb00ab85951ebb844c1649993c2302c0076e88911241cb8df48b3abb938408e9d5b49db0e28f1196c22d09d974d6599b95e31d1760948f3eaea92 SHA512 fe9738d1bdca52e53e4318d58494a76e396c71c6d8ed04e3a771019aae9ee4b37ed9f9156803d071c33f0202fbb4d17968854dcc79e9d66ed4756858a527e105
-EBUILD unique_id-9999.ebuild 640 BLAKE2B 1299368f703b8b4ac92d04dfb48041876c6e9858b574de77cbf1b1ccf103da22ed197a8a31838835d45474a24aaa32de4202fcca616061f73f16bfd2935d466e SHA512 9c0f58bae2abd15cb8d54a15a772e4d4e707cadad24ac4aea56ded51860dbaeb2ea99c0213f8692e737225934ad9858daf278f3c99a890f24a2f937e0e3dfaa8
+EBUILD unique_id-1.0.6.ebuild 629 BLAKE2B d4e7c7b69db49694e441e0a1ec99c88a2afaa3250606bfa5925e9aea88db5ce106fa1d5e24741dc11f88481adc333e7cb018eb0706f51ad36fc0596a6dada8f9 SHA512 4552ecd62998f8cd074c0c91326d26112cb8a469d3a4f042586c807e0904055aa18b615bbf5f5936056ec8e7f7874ab8b01dba3dafae0a139ff125148146c2c7
+EBUILD unique_id-9999.ebuild 629 BLAKE2B d4e7c7b69db49694e441e0a1ec99c88a2afaa3250606bfa5925e9aea88db5ce106fa1d5e24741dc11f88481adc333e7cb018eb0706f51ad36fc0596a6dada8f9 SHA512 4552ecd62998f8cd074c0c91326d26112cb8a469d3a4f042586c807e0904055aa18b615bbf5f5936056ec8e7f7874ab8b01dba3dafae0a139ff125148146c2c7
 MISC metadata.xml 351 BLAKE2B 263bd97d8a235f46caee579594b8c44e0f638ba246459a9b7090da4fafdbafcc26a8fca2716c005a2cfb4dac98def55e691744d7ce869528032652b2f7fda96e SHA512 8636c13070578878bd780ee448a76c3a5040758e23f5c1e990bd433fdf91a3645294210d172917317715f806d87dac379a023979a555c68270e0c79319c4b659
diff --git a/dev-ros/unique_id/unique_id-1.0.6.ebuild b/dev-ros/unique_id/unique_id-1.0.6.ebuild
index 612f302dfc98..7ff69d0fac63 100644
--- a/dev-ros/unique_id/unique_id-1.0.6.ebuild
+++ b/dev-ros/unique_id/unique_id-1.0.6.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2017 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-geographic-info/unique_identifier"
 VER_PREFIX=unique_identifier-
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
 ROS_SUBDIR=${PN}
 
 inherit ros-catkin
@@ -16,9 +15,10 @@ SLOT="0"
 IUSE=""
 
 RDEPEND="
-	dev-ros/uuid_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
+	dev-ros/uuid_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
 	dev-ros/rospy[${PYTHON_USEDEP}]
 	dev-ros/roscpp
 "
 DEPEND="${RDEPEND}
+	dev-ros/uuid_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	test? ( dev-cpp/gtest dev-python/nose[${PYTHON_USEDEP}] )"
diff --git a/dev-ros/unique_id/unique_id-9999.ebuild b/dev-ros/unique_id/unique_id-9999.ebuild
index c67faa3ad095..7ff69d0fac63 100644
--- a/dev-ros/unique_id/unique_id-9999.ebuild
+++ b/dev-ros/unique_id/unique_id-9999.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-geographic-info/unique_identifier"
 VER_PREFIX=unique_identifier-
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
 ROS_SUBDIR=${PN}
 
 inherit ros-catkin
@@ -16,9 +15,10 @@ SLOT="0"
 IUSE=""
 
 RDEPEND="
-	dev-ros/uuid_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
+	dev-ros/uuid_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
 	dev-ros/rospy[${PYTHON_USEDEP}]
 	dev-ros/roscpp
 "
 DEPEND="${RDEPEND}
+	dev-ros/uuid_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	test? ( dev-cpp/gtest dev-python/nose[${PYTHON_USEDEP}] )"
diff --git a/dev-ros/urg_c/Manifest b/dev-ros/urg_c/Manifest
index bafb284f1559..14d66554a3c2 100644
--- a/dev-ros/urg_c/Manifest
+++ b/dev-ros/urg_c/Manifest
@@ -1,4 +1,4 @@
 DIST urg_c-1.0.405.tar.gz 106200 BLAKE2B 58092c8734db5ff0b63588b8a72bf9bc982ab96781b1a91b69038a50d47059169827bf9c48c6c440db3060f6de3633ce70a035f71c1b781fe5241d301075e55a SHA512 08e07c95c93c4793a14b9794d51ec351c64f17ecb1cdc75fd35e6c08d8c3b445e3c919c38ec915e461dbf06dad0976d80995a967e1884b9ab5854715f5f9f425
-EBUILD urg_c-1.0.405.ebuild 324 BLAKE2B 7274f0469451c9ed6104160a8c6d926ee5b3508a64d9f63e1e0ac6114d5723e5a942c4b632d3c95b9cd8089c2a085eedb99da0cb88a7af72e3968e05c9e32d0b SHA512 1e44f6216a3f739233480116c01d6748fc18a19095074d9a60daea6a547346e223c9579e303ac7f3bec445cbde5a8d14f92f70ba8c2e44c5e1624d68b987aaa8
-EBUILD urg_c-9999.ebuild 324 BLAKE2B 9dd2b2c70023607ac9d868da411a69d323689bae0d5e3ffccff0114c0f01b63edc9a56b891975993db5feba7bf97ff2a0fc45264fe1891ba44df424e919fc726 SHA512 a8283c1f97c8af20ecec23b149ced689957b39bb7afed70ab99f9b137434f698c615186248730d5dd298e02c4085020ff9b0b711d9e1fb0db6d27b50cf382c1a
+EBUILD urg_c-1.0.405.ebuild 321 BLAKE2B 8517e389029b79563976c9f6c73eed40c9d9912a42b114d8c9fc7d79ee9d4ff9a1152e2113a212a6f10b21b4ba980a0e8b4bdb15516832736063c20f6f209bb5 SHA512 e68eb8b4b4038b1ae1147787e481d575a1514d3f65a858ff7019d1dfc3194c82ea23bdd509e11c652391488f59e5e88c64035d11b5be3093c117e601e066d792
+EBUILD urg_c-9999.ebuild 321 BLAKE2B 8517e389029b79563976c9f6c73eed40c9d9912a42b114d8c9fc7d79ee9d4ff9a1152e2113a212a6f10b21b4ba980a0e8b4bdb15516832736063c20f6f209bb5 SHA512 e68eb8b4b4038b1ae1147787e481d575a1514d3f65a858ff7019d1dfc3194c82ea23bdd509e11c652391488f59e5e88c64035d11b5be3093c117e601e066d792
 MISC metadata.xml 331 BLAKE2B 038f54401ce16ddf913973db93d6d50baf062804fdc1f506ce81a2a4b3085bec68a3d405355312be8483efc77221d52c7e4994195938dbba737c274c6d609f93 SHA512 444712af9983fd877a4abf8b5ac065be05201d15feb8bd9aa84f3ef1052a25af03de5f040d828c8d28d94f21cbc456f96871fa9c73d9a26a1657c9a66ddb827e
diff --git a/dev-ros/urg_c/urg_c-1.0.405.ebuild b/dev-ros/urg_c/urg_c-1.0.405.ebuild
index 9f8b912289be..f17b499fdaab 100644
--- a/dev-ros/urg_c/urg_c-1.0.405.ebuild
+++ b/dev-ros/urg_c/urg_c-1.0.405.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2018 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-drivers/urg_c"
 KEYWORDS="~amd64 ~arm"
 
diff --git a/dev-ros/urg_c/urg_c-9999.ebuild b/dev-ros/urg_c/urg_c-9999.ebuild
index e0a05af458f3..f17b499fdaab 100644
--- a/dev-ros/urg_c/urg_c-9999.ebuild
+++ b/dev-ros/urg_c/urg_c-9999.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2015 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-drivers/urg_c"
 KEYWORDS="~amd64 ~arm"
 
diff --git a/dev-ros/urg_node/Manifest b/dev-ros/urg_node/Manifest
index 2587d64369ee..5bd6e3b64479 100644
--- a/dev-ros/urg_node/Manifest
+++ b/dev-ros/urg_node/Manifest
@@ -1,6 +1,4 @@
-DIST urg_node-0.1.10.tar.gz 13661 BLAKE2B 1c721427b42e62c104c1f0667586ffd810ed9573f0fc8522bf816aa79233d0b212d253a4360f660437ae7d5418864caaaa9a83ea3d960050567273bc7810dbe8 SHA512 578e7ae98de82b1563806319c0b47a22a878470479434a9c205f3bf3f087dc9108619f17aa86e591a9fb5b88029b6de8711d8388bcaf259601cf88bef5c1f889
-DIST urg_node-0.1.11.tar.gz 19367 BLAKE2B 053b7f6ddbf6b993b37643bcb27c7babae71fd2c0c6e4800be568890331b16f4ec343afe3d2caf1387a2656e73b6cf31055994966489bbaab5651e371dc15bc2 SHA512 41981323ea08e81abca70375793153bdcb52eb54df388978a2e54bdb798c89be3fd4b80c5bf7c28cce62ec3b937f950738bdf4d1e24c9b37e72ee2ca048c542d
-EBUILD urg_node-0.1.10.ebuild 606 BLAKE2B 804f0b9bcb466fea5e4ea4658b836dc12da45c8e8b89c1f1240c47edc191944873d838c5d4f9f01c632bc0c8caec72ebb77e8dfc5926bf220ae072db7a102521 SHA512 aa611958259dd227733aa30b46b6ce8924030f8f6cc405bec482bd9d931c70841b37f22a5f9d4dad7c74cb32d91940dc94cc0e3f3788d37b64d79787b21a65f6
-EBUILD urg_node-0.1.11.ebuild 679 BLAKE2B cc26098fb1153a2b377c42f90f03fa6661c624c4ada732d20b24d78b7e30c590ef36637f4b84f90e1d00056fb9e250a0b8e2bf6c6a2fbd382f320116fa038447 SHA512 e4d07813d3fbd906236999f4ae58afba63961f2a18093a20267c4bd74f5ef8687c14a109975a8979ed9093b29aff14caedb52d6660d76e49e84d791299a50615
-EBUILD urg_node-9999.ebuild 679 BLAKE2B cc26098fb1153a2b377c42f90f03fa6661c624c4ada732d20b24d78b7e30c590ef36637f4b84f90e1d00056fb9e250a0b8e2bf6c6a2fbd382f320116fa038447 SHA512 e4d07813d3fbd906236999f4ae58afba63961f2a18093a20267c4bd74f5ef8687c14a109975a8979ed9093b29aff14caedb52d6660d76e49e84d791299a50615
+DIST urg_node-0.1.13.tar.gz 20949 BLAKE2B e85653ec46dd85aa62e4e5f06c4d4c775a2d616f0b4daa80584bf81010ad06acbec7f73e0b4a238618c36ec83d07e4dd513fafa9b29e197ad21b56ec02fe4452 SHA512 be503538a293fa0cdf6e7902c0faa5c866a2298193f4ad6cce705dab90220955d4cb21087d84d10ff7d2daf29f362391f17a038496f3036934c57e12f3270a30
+EBUILD urg_node-0.1.13.ebuild 649 BLAKE2B 435828a77b61ffef8e6d447063dbd688dea55d56d88985690d2cc7b0812c5dde4ad623db4d0bfb83f810cae2d463739c41fae9f7f547e7b4e8658d3ffa1a4798 SHA512 3d1194e35fa42887ac01cd0c37893b3a7ab1652a0d540a148976a02a2948a9f29f862d7c836f354a5e3cb735cfa0be23adff3248a08bac33ebf91a2491010048
+EBUILD urg_node-9999.ebuild 649 BLAKE2B 435828a77b61ffef8e6d447063dbd688dea55d56d88985690d2cc7b0812c5dde4ad623db4d0bfb83f810cae2d463739c41fae9f7f547e7b4e8658d3ffa1a4798 SHA512 3d1194e35fa42887ac01cd0c37893b3a7ab1652a0d540a148976a02a2948a9f29f862d7c836f354a5e3cb735cfa0be23adff3248a08bac33ebf91a2491010048
 MISC metadata.xml 334 BLAKE2B 11f0825fc04fb1be3a7d357977ce3abc4c5d34e8e9924512a2a47cdc00be4153912e5e60f7d3b24e58a1e3942554bf4c2ce015818b32de50d0b25bb3e6db0dbf SHA512 eb832353afafdd96bb0d620bb87a19720451fdffa2150cbf0bf547c6f782c62f395d00e2f675d9da0345a377fd4f22d8e951bb9da7ade108f4e0a51b5af235b5
diff --git a/dev-ros/urg_node/urg_node-0.1.10.ebuild b/dev-ros/urg_node/urg_node-0.1.10.ebuild
deleted file mode 100644
index aebe031c4bc9..000000000000
--- a/dev-ros/urg_node/urg_node-0.1.10.ebuild
+++ /dev/null
@@ -1,28 +0,0 @@
-# Copyright 1999-2017 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-drivers/urg_node"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="ROS wrapper for the Hokuyo urg_c library"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/urg_c
-	dev-ros/tf
-	dev-ros/dynamic_reconfigure[${PYTHON_USEDEP}]
-	dev-ros/nodelet
-	dev-ros/rosconsole
-	dev-ros/roscpp
-	dev-ros/diagnostic_updater
-	dev-ros/laser_proc
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-libs/boost:=
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/urg_node/urg_node-0.1.11.ebuild b/dev-ros/urg_node/urg_node-0.1.13.ebuild
index c475a8ab1d44..b1e6973afc9f 100644
--- a/dev-ros/urg_node/urg_node-0.1.11.ebuild
+++ b/dev-ros/urg_node/urg_node-0.1.13.ebuild
@@ -1,10 +1,9 @@
-# Copyright 1999-2017 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-drivers/urg_node"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
 CATKIN_HAS_MESSAGES=yes
 
 inherit ros-catkin
@@ -23,8 +22,9 @@ RDEPEND="
 	dev-ros/roscpp
 	dev-ros/diagnostic_updater
 	dev-ros/laser_proc
+	dev-libs/boost:=
+"
+DEPEND="${RDEPEND}
 	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-libs/boost:=
 "
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/urg_node/urg_node-9999.ebuild b/dev-ros/urg_node/urg_node-9999.ebuild
index c475a8ab1d44..b1e6973afc9f 100644
--- a/dev-ros/urg_node/urg_node-9999.ebuild
+++ b/dev-ros/urg_node/urg_node-9999.ebuild
@@ -1,10 +1,9 @@
-# Copyright 1999-2017 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-drivers/urg_node"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python2_7 )
 CATKIN_HAS_MESSAGES=yes
 
 inherit ros-catkin
@@ -23,8 +22,9 @@ RDEPEND="
 	dev-ros/roscpp
 	dev-ros/diagnostic_updater
 	dev-ros/laser_proc
+	dev-libs/boost:=
+"
+DEPEND="${RDEPEND}
 	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/std_srvs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-libs/boost:=
 "
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/uuid_msgs/Manifest b/dev-ros/uuid_msgs/Manifest
index c70660ba8d4f..4217732fe220 100644
--- a/dev-ros/uuid_msgs/Manifest
+++ b/dev-ros/uuid_msgs/Manifest
@@ -1,4 +1,4 @@
 DIST unique_identifier-1.0.6.tar.gz 12305 BLAKE2B 3aa8ba6a7386588f56546e42efd61cc52a6a7c44444462c55f26830e162eafbc49a7aaca2315d965d75f8f0151467147af7db8a0fbe96def66c33e81371e069c SHA512 d81409786a311fd1d23937fd24bf0365920f6b9cd7b4ba9803935844c0dab0a1765b2790f88673fe8fffea70ff13161ddadc7644bc8d39e3f0c255007b267156
-EBUILD uuid_msgs-1.0.6.ebuild 515 BLAKE2B 7b866da98de9fb342c4107af8e1850b8c6b938db0241ae7c5860ecc587e402f3056532e11251dc427abf850640ef2f78ca90377ac973ac88bda041dbab3c448c SHA512 ce54617c2c8102d9ff74abf6618abf0e1c366150b0ee82ed337f6fb5665b12b22e52734c9e578bed230b1a7fe65f5ad20434847384af00f3123170d37f9a1fee
-EBUILD uuid_msgs-9999.ebuild 515 BLAKE2B 7b866da98de9fb342c4107af8e1850b8c6b938db0241ae7c5860ecc587e402f3056532e11251dc427abf850640ef2f78ca90377ac973ac88bda041dbab3c448c SHA512 ce54617c2c8102d9ff74abf6618abf0e1c366150b0ee82ed337f6fb5665b12b22e52734c9e578bed230b1a7fe65f5ad20434847384af00f3123170d37f9a1fee
+EBUILD uuid_msgs-1.0.6.ebuild 475 BLAKE2B 781c40fcb149f9b6f9e24ec0b6c1d66b81a595253ad57d3315c673a735f4df4f485486d407d0ff979282757e0f9577dd91b2cb7116d028a13092644a4a787a54 SHA512 a2c1195973cb5f8310dd54f49a08a0fa2807e22bdfd4bbc7656e45a624ee1a1c70b7a9c3d206811e70ac5c82ccd2cfcfc048854848a056e2fdef278dbf254646
+EBUILD uuid_msgs-9999.ebuild 475 BLAKE2B 781c40fcb149f9b6f9e24ec0b6c1d66b81a595253ad57d3315c673a735f4df4f485486d407d0ff979282757e0f9577dd91b2cb7116d028a13092644a4a787a54 SHA512 a2c1195973cb5f8310dd54f49a08a0fa2807e22bdfd4bbc7656e45a624ee1a1c70b7a9c3d206811e70ac5c82ccd2cfcfc048854848a056e2fdef278dbf254646
 MISC metadata.xml 351 BLAKE2B 263bd97d8a235f46caee579594b8c44e0f638ba246459a9b7090da4fafdbafcc26a8fca2716c005a2cfb4dac98def55e691744d7ce869528032652b2f7fda96e SHA512 8636c13070578878bd780ee448a76c3a5040758e23f5c1e990bd433fdf91a3645294210d172917317715f806d87dac379a023979a555c68270e0c79319c4b659
diff --git a/dev-ros/uuid_msgs/uuid_msgs-1.0.6.ebuild b/dev-ros/uuid_msgs/uuid_msgs-1.0.6.ebuild
index f6a7bf8c8f93..46de7ab7ce7a 100644
--- a/dev-ros/uuid_msgs/uuid_msgs-1.0.6.ebuild
+++ b/dev-ros/uuid_msgs/uuid_msgs-1.0.6.ebuild
@@ -1,12 +1,11 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 CATKIN_HAS_MESSAGES=yes
 ROS_REPO_URI="https://github.com/ros-geographic-info/unique_identifier"
 VER_PREFIX=unique_identifier-
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 ROS_SUBDIR=${PN}
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs"
 
diff --git a/dev-ros/uuid_msgs/uuid_msgs-9999.ebuild b/dev-ros/uuid_msgs/uuid_msgs-9999.ebuild
index f6a7bf8c8f93..46de7ab7ce7a 100644
--- a/dev-ros/uuid_msgs/uuid_msgs-9999.ebuild
+++ b/dev-ros/uuid_msgs/uuid_msgs-9999.ebuild
@@ -1,12 +1,11 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 CATKIN_HAS_MESSAGES=yes
 ROS_REPO_URI="https://github.com/ros-geographic-info/unique_identifier"
 VER_PREFIX=unique_identifier-
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 ROS_SUBDIR=${PN}
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs"
 
diff --git a/dev-ros/visp_auto_tracker/Manifest b/dev-ros/visp_auto_tracker/Manifest
index af811209270c..4d40a97062e4 100644
--- a/dev-ros/visp_auto_tracker/Manifest
+++ b/dev-ros/visp_auto_tracker/Manifest
@@ -1,8 +1,6 @@
 AUX boost170.patch 497 BLAKE2B 3ff7f23fe562d9597bd379123721a24a6b949d38ceddce49c4dd0a12d4e6597704511c31fc133ce4d3bb8897c725c6ab207d9330482287ecb44830fb16765e65 SHA512 489454810cb6fa313ac24668c655e59e9a520c32548f9df3b7d0529f0e6a7fc83691a0f2b48d9b1f3f74fc77738e79e06fb0f32fce427c3aff3fa76886b71be7
 AUX ocv4.patch 980 BLAKE2B 9e2ab8f0bb49c3f18191ecba66853ac23de278069c0493b74db0d1f368959d91499a57a36cd8ccac85fd7c86ed0a828da4f857785c9ea9951ac23b54e9739aab SHA512 f9f5b2060e0a780dc4ef09a79685c0698c097b248cfa0bd651572f7446f3e382913a9040ec3209991fc5b641cb1c482597ad8cd84ab7f4d88d42c14e78bf11c2
-DIST vision_visp-0.10.0.tar.gz 1015180 BLAKE2B bf0474d0633a6b704077e232d4676e6ebb9ec666b9b03792dbb929c6c6d1c52a941f7a4517f7bc6a7150882c16ba719eb3cf17c3fbdd13df109eab3a34afa259 SHA512 8e2652d6ca9c9535f1bebb628ec908f64c9fc89358bc92ed42ef12430b0b28c8ed3ed7935d2d3fe03c9761f9ac08e200eb59839ee2243df62d5934e8162cca9c
 DIST vision_visp-0.11.1.tar.gz 1014349 BLAKE2B 63148bef65a8361be7cb4a3d27bae4e6440feeeca3ab7183c6c345d4d1a2e0e4f7bc52b265455636ae8e07ddbed0e182c8d0b326b7686cdeda97500203fe3183 SHA512 cb1a09fea7ed2bb74c0c3f5a525d35ef7304dc2c569c6c808cd3751e500b7e32f226436ec4150f63a8280bc3f0c53dfd64757aa09da7344b1ec998130006253c
-EBUILD visp_auto_tracker-0.10.0.ebuild 823 BLAKE2B 057ac6a5573c0d918d421bc327d516fdce3102e8b45d9f7b82ab493b1155cde822a18a181d717939c54f556910cecc0fa62c11141a338b48b9431b5de4209a39 SHA512 e022bf96aa850a4c687ce12d66d695d8e4d26fe569cd79ec8ace67e9fad25b61ca080a8db156e98a082bff56aff6a338da04f6bfc1b0df1e9f9d4bac0ad26719
-EBUILD visp_auto_tracker-0.11.1-r1.ebuild 908 BLAKE2B 54925dbd07c0159740c7c6297ba140bc0a09f79df04b62e02591611415174afdef8c525932b22d5d4ac838384fa6478ffd334d7889e8237999e6567e4009eaf9 SHA512 610095acfeba612c23e531041cc0778aa39aac7d4b93829d4cf3e5172e85566f308aba2404c1d8d489b35d30da7e57d9b09162f50d3e1852701574cac631f360
-EBUILD visp_auto_tracker-9999.ebuild 908 BLAKE2B 54925dbd07c0159740c7c6297ba140bc0a09f79df04b62e02591611415174afdef8c525932b22d5d4ac838384fa6478ffd334d7889e8237999e6567e4009eaf9 SHA512 610095acfeba612c23e531041cc0778aa39aac7d4b93829d4cf3e5172e85566f308aba2404c1d8d489b35d30da7e57d9b09162f50d3e1852701574cac631f360
+EBUILD visp_auto_tracker-0.11.1-r1.ebuild 909 BLAKE2B 95da65882d1f15d4e3add33aa4271bf62bd6a3fbf1f2ea6de48c13688057c22224bf58807cb2841610f904407d41e81ba352ee503a20c82ee6e70af415c72eea SHA512 64cd4095955538adb7b60c30e0b35a829bcfe68350814926bb431d9d1c2efdeda000b46b6f40aea4e183f2da188ebf410514a8ed26ad0691998d33d72d3ac6c4
+EBUILD visp_auto_tracker-9999.ebuild 909 BLAKE2B 95da65882d1f15d4e3add33aa4271bf62bd6a3fbf1f2ea6de48c13688057c22224bf58807cb2841610f904407d41e81ba352ee503a20c82ee6e70af415c72eea SHA512 64cd4095955538adb7b60c30e0b35a829bcfe68350814926bb431d9d1c2efdeda000b46b6f40aea4e183f2da188ebf410514a8ed26ad0691998d33d72d3ac6c4
 MISC metadata.xml 333 BLAKE2B 107f301bea0dd9adee5e472d36be074cc6a57d8a49fa14cb28b5aca166e99c73f3aaf19ce77acd1040bddcd86c3961f1411e994cd1ce9c0a636cff7d11e4ea66 SHA512 ddf6afe9a48cd4b3a1387aa6e7f0a46260ee2aaeb99d93e96aecac0ba5c36d59b578cc40c0337d40c5ecb9e485a3506138932897c0d9b5a8972d6ad479fa64a3
diff --git a/dev-ros/visp_auto_tracker/visp_auto_tracker-0.10.0.ebuild b/dev-ros/visp_auto_tracker/visp_auto_tracker-0.10.0.ebuild
deleted file mode 100644
index 119d92d4d319..000000000000
--- a/dev-ros/visp_auto_tracker/visp_auto_tracker-0.10.0.ebuild
+++ /dev/null
@@ -1,32 +0,0 @@
-# Copyright 1999-2017 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/lagadic/vision_visp"
-KEYWORDS="~amd64 ~arm"
-VER_PREFIX="kinetic-"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="Online automated pattern-based object tracker relying on visual servoing"
-LICENSE="GPL-2"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/message_filters
-	dev-ros/resource_retriever
-	dev-ros/roscpp
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/visp_bridge
-	dev-ros/visp_tracker
-	sci-libs/ViSP:=[dmtx,zbar]
-	dev-libs/boost:=[threads]
-"
-DEPEND="${RDEPEND}"
-if [ "${PV#9999}" = "${PV}" ] ; then
-	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
-fi
diff --git a/dev-ros/visp_auto_tracker/visp_auto_tracker-0.11.1-r1.ebuild b/dev-ros/visp_auto_tracker/visp_auto_tracker-0.11.1-r1.ebuild
index 0b8d39209953..cab4af99febb 100644
--- a/dev-ros/visp_auto_tracker/visp_auto_tracker-0.11.1-r1.ebuild
+++ b/dev-ros/visp_auto_tracker/visp_auto_tracker-0.11.1-r1.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/lagadic/vision_visp"
 KEYWORDS="~amd64 ~arm"
 VER_PREFIX="kinetic-"
@@ -15,19 +15,20 @@ SLOT="0"
 IUSE=""
 
 RDEPEND="
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/message_filters
 	dev-ros/resource_retriever
 	dev-ros/roscpp
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/visp_bridge
 	dev-ros/visp_tracker
 	sci-libs/ViSP:=[dmtx,zbar]
 	dev-libs/boost:=[threads]
 	media-libs/opencv:=
 "
-DEPEND="${RDEPEND}"
+DEPEND="${RDEPEND}
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
 if [ "${PV#9999}" = "${PV}" ] ; then
 	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
 fi
diff --git a/dev-ros/visp_auto_tracker/visp_auto_tracker-9999.ebuild b/dev-ros/visp_auto_tracker/visp_auto_tracker-9999.ebuild
index 0b8d39209953..cab4af99febb 100644
--- a/dev-ros/visp_auto_tracker/visp_auto_tracker-9999.ebuild
+++ b/dev-ros/visp_auto_tracker/visp_auto_tracker-9999.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/lagadic/vision_visp"
 KEYWORDS="~amd64 ~arm"
 VER_PREFIX="kinetic-"
@@ -15,19 +15,20 @@ SLOT="0"
 IUSE=""
 
 RDEPEND="
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/message_filters
 	dev-ros/resource_retriever
 	dev-ros/roscpp
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/visp_bridge
 	dev-ros/visp_tracker
 	sci-libs/ViSP:=[dmtx,zbar]
 	dev-libs/boost:=[threads]
 	media-libs/opencv:=
 "
-DEPEND="${RDEPEND}"
+DEPEND="${RDEPEND}
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
 if [ "${PV#9999}" = "${PV}" ] ; then
 	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
 fi
diff --git a/dev-ros/visp_bridge/Manifest b/dev-ros/visp_bridge/Manifest
index 97dfb54b94c1..09410af7059b 100644
--- a/dev-ros/visp_bridge/Manifest
+++ b/dev-ros/visp_bridge/Manifest
@@ -1,7 +1,5 @@
 AUX gcc6.patch 362 BLAKE2B 07aa55e77c23987add38afbb9612a4ac17d4295a51deff3986c9fa4eacf2604815d2cb654169c03c2943c7e6e0d8041ab1a3f380656643f660f176abfa347e67 SHA512 b4fc5219f35ac7ce1a81cf7b82ce0aebaef61b6e20cf42e62a1811c996dd0a68fe92dc49642ff38454c5d1f5496dbe954ba4029c93791f8ddefe71118377a03f
-DIST vision_visp-0.10.0.tar.gz 1015180 BLAKE2B bf0474d0633a6b704077e232d4676e6ebb9ec666b9b03792dbb929c6c6d1c52a941f7a4517f7bc6a7150882c16ba719eb3cf17c3fbdd13df109eab3a34afa259 SHA512 8e2652d6ca9c9535f1bebb628ec908f64c9fc89358bc92ed42ef12430b0b28c8ed3ed7935d2d3fe03c9761f9ac08e200eb59839ee2243df62d5934e8162cca9c
 DIST vision_visp-0.11.1.tar.gz 1014349 BLAKE2B 63148bef65a8361be7cb4a3d27bae4e6440feeeca3ab7183c6c345d4d1a2e0e4f7bc52b265455636ae8e07ddbed0e182c8d0b326b7686cdeda97500203fe3183 SHA512 cb1a09fea7ed2bb74c0c3f5a525d35ef7304dc2c569c6c808cd3751e500b7e32f226436ec4150f63a8280bc3f0c53dfd64757aa09da7344b1ec998130006253c
-EBUILD visp_bridge-0.10.0.ebuild 764 BLAKE2B 2a80f9321f45777b263c2b38d4a151ff94b448d1bcb3805e84fc1550248970867a17dd43e33fb4843b4ce59d02abdfd7ddf53daf356e3e0c3225403843306c72 SHA512 13d806ca821ae4c682af8c627d30a6803d0e3afe061e395c4115477d4826995117a4fe49dfabdcfa69aa591d2c8bc749aca7201ce7001664ac51b1ef138551ab
-EBUILD visp_bridge-0.11.1.ebuild 761 BLAKE2B c63d9082f7f2bc459f3584c93694eba59a7851a2e509cbad53568b7ad0334aa8077ec516ac60ba544d7ca7919ba6a603952d5be8398d45698da38cbd2ec61638 SHA512 c1684e01f02bcce559c910a0a9a9f45b85b8f36fcaa686500129c911a80d92d8eb8ed813f408b826e90a6731843af1eb37ee5ccf2d2fd7844f3397002eca4e59
-EBUILD visp_bridge-9999.ebuild 764 BLAKE2B 2a80f9321f45777b263c2b38d4a151ff94b448d1bcb3805e84fc1550248970867a17dd43e33fb4843b4ce59d02abdfd7ddf53daf356e3e0c3225403843306c72 SHA512 13d806ca821ae4c682af8c627d30a6803d0e3afe061e395c4115477d4826995117a4fe49dfabdcfa69aa591d2c8bc749aca7201ce7001664ac51b1ef138551ab
+EBUILD visp_bridge-0.11.1.ebuild 762 BLAKE2B 5ef20780ecd532b788613af374bae30f4d80377b37b36d50a12ed4cbc95833319f86e98b6fcc0b8681bd7544a410576578bc709afe9615882d92a35640e7a5c8 SHA512 56078ac8cdae3b6bb5dabceb26576dba868f5c7f671135d0d778f145bb6112bd52b3391ed7fd79f7476996d59a4bf635474acd20f7e4bed9a5c26d06067579c4
+EBUILD visp_bridge-9999.ebuild 762 BLAKE2B 5ef20780ecd532b788613af374bae30f4d80377b37b36d50a12ed4cbc95833319f86e98b6fcc0b8681bd7544a410576578bc709afe9615882d92a35640e7a5c8 SHA512 56078ac8cdae3b6bb5dabceb26576dba868f5c7f671135d0d778f145bb6112bd52b3391ed7fd79f7476996d59a4bf635474acd20f7e4bed9a5c26d06067579c4
 MISC metadata.xml 333 BLAKE2B 107f301bea0dd9adee5e472d36be074cc6a57d8a49fa14cb28b5aca166e99c73f3aaf19ce77acd1040bddcd86c3961f1411e994cd1ce9c0a636cff7d11e4ea66 SHA512 ddf6afe9a48cd4b3a1387aa6e7f0a46260ee2aaeb99d93e96aecac0ba5c36d59b578cc40c0337d40c5ecb9e485a3506138932897c0d9b5a8972d6ad479fa64a3
diff --git a/dev-ros/visp_bridge/visp_bridge-0.10.0.ebuild b/dev-ros/visp_bridge/visp_bridge-0.10.0.ebuild
deleted file mode 100644
index 624171a2b1ba..000000000000
--- a/dev-ros/visp_bridge/visp_bridge-0.10.0.ebuild
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 1999-2017 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/lagadic/vision_visp"
-KEYWORDS="~amd64 ~arm"
-VER_PREFIX="kinetic-"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="Converts between ROS structures and ViSP structures"
-LICENSE="GPL-2"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	sci-libs/ViSP:=[xml]
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/roscpp
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/camera_calibration_parsers
-	dev-libs/boost:=
-"
-DEPEND="${RDEPEND}"
-if [ "${PV#9999}" = "${PV}" ] ; then
-	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
-fi
-PATCHES=( "${FILESDIR}/gcc6.patch" )
diff --git a/dev-ros/visp_bridge/visp_bridge-0.11.1.ebuild b/dev-ros/visp_bridge/visp_bridge-0.11.1.ebuild
index f6afcabe1f31..ad50242778c0 100644
--- a/dev-ros/visp_bridge/visp_bridge-0.11.1.ebuild
+++ b/dev-ros/visp_bridge/visp_bridge-0.11.1.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/lagadic/vision_visp"
 KEYWORDS="~amd64 ~arm"
 VER_PREFIX="kinetic-"
@@ -16,14 +16,15 @@ IUSE=""
 
 RDEPEND="
 	sci-libs/ViSP:=[xml]
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/roscpp
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/camera_calibration_parsers
 	dev-libs/boost:=
 "
-DEPEND="${RDEPEND}"
+DEPEND="${RDEPEND}
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
 if [ "${PV#9999}" = "${PV}" ] ; then
 	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
 fi
diff --git a/dev-ros/visp_bridge/visp_bridge-9999.ebuild b/dev-ros/visp_bridge/visp_bridge-9999.ebuild
index 624171a2b1ba..ad50242778c0 100644
--- a/dev-ros/visp_bridge/visp_bridge-9999.ebuild
+++ b/dev-ros/visp_bridge/visp_bridge-9999.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2017 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/lagadic/vision_visp"
 KEYWORDS="~amd64 ~arm"
 VER_PREFIX="kinetic-"
@@ -16,14 +16,15 @@ IUSE=""
 
 RDEPEND="
 	sci-libs/ViSP:=[xml]
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/roscpp
-	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/camera_calibration_parsers
 	dev-libs/boost:=
 "
-DEPEND="${RDEPEND}"
+DEPEND="${RDEPEND}
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+	dev-ros/std_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
 if [ "${PV#9999}" = "${PV}" ] ; then
 	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
 fi
diff --git a/dev-ros/visp_camera_calibration/Manifest b/dev-ros/visp_camera_calibration/Manifest
index 6c8cd5755468..34d719008b00 100644
--- a/dev-ros/visp_camera_calibration/Manifest
+++ b/dev-ros/visp_camera_calibration/Manifest
@@ -1,8 +1,5 @@
-AUX boost.patch 763 BLAKE2B 35752cfddd17e214035570181bab527d86c670be398be4f092b02dacd16ff041f30351258518f70548e5af8c34616b3b945af4bc2c6e6fb5578e2fc1963f1829 SHA512 32e9b218ea6d66658cf4d999607e798b232cc160bb8b305e20fee8f3204ea1344cfe8ef54eead8e61cd84870a5a37f7205d7ff1da82d6a19610967985122ed65
 AUX gcc6.patch 421 BLAKE2B cf5b648dbd6d5121db22cee0aaddd9a359a87e9305e3887b4ec15b148e2921baf2562c9c377abb6c848088ce9592952bf537469fbe68cc025ad6e32db8817c61 SHA512 a4ed8165e1a8099d79bfe48563558bbb6de20b90dcc7def4b9dbb46a6c1115cbacfe09ed0c3ddb2b654914fe3b49554f11453fc3d2c87c8841b6755a24f08c4e
-DIST vision_visp-0.10.0.tar.gz 1015180 BLAKE2B bf0474d0633a6b704077e232d4676e6ebb9ec666b9b03792dbb929c6c6d1c52a941f7a4517f7bc6a7150882c16ba719eb3cf17c3fbdd13df109eab3a34afa259 SHA512 8e2652d6ca9c9535f1bebb628ec908f64c9fc89358bc92ed42ef12430b0b28c8ed3ed7935d2d3fe03c9761f9ac08e200eb59839ee2243df62d5934e8162cca9c
 DIST vision_visp-0.11.1.tar.gz 1014349 BLAKE2B 63148bef65a8361be7cb4a3d27bae4e6440feeeca3ab7183c6c345d4d1a2e0e4f7bc52b265455636ae8e07ddbed0e182c8d0b326b7686cdeda97500203fe3183 SHA512 cb1a09fea7ed2bb74c0c3f5a525d35ef7304dc2c569c6c808cd3751e500b7e32f226436ec4150f63a8280bc3f0c53dfd64757aa09da7344b1ec998130006253c
-EBUILD visp_camera_calibration-0.10.0.ebuild 842 BLAKE2B aefef95f601b6629c31ce61fcf7d32316744aa8b6f033642164d475df5078f9f8d16474fc9f7bc0040ac8d67de986ddd02cf724eb561bc7d886a20bf97d73ba4 SHA512 eae7fe61a8dccd0242345e6e951d6044f6ea8cb62cbee926afd406fa8c1b82ca9eaefd46962a11abfa875fcab549d06876c591aaa2a830dad6709f40b6e40d65
-EBUILD visp_camera_calibration-0.11.1.ebuild 816 BLAKE2B 6f98a981568ef18e88ec29f8bab77728413f53c96e131e7918a5c841f402e9de8938b0cbfd85b1523d481c771c3ef38d957ca7e8eb4831483d9ffac190d679d1 SHA512 4b9d6d868251142c15d0edf3b6007c3d63664143343eb901080ca768cae1df2df69b76afa322dd06c352b36ab38d1409697ee0f5bc5ba333557311f4291f90f0
-EBUILD visp_camera_calibration-9999.ebuild 816 BLAKE2B 6f98a981568ef18e88ec29f8bab77728413f53c96e131e7918a5c841f402e9de8938b0cbfd85b1523d481c771c3ef38d957ca7e8eb4831483d9ffac190d679d1 SHA512 4b9d6d868251142c15d0edf3b6007c3d63664143343eb901080ca768cae1df2df69b76afa322dd06c352b36ab38d1409697ee0f5bc5ba333557311f4291f90f0
+EBUILD visp_camera_calibration-0.11.1.ebuild 789 BLAKE2B d62ab0001dedfa3710621da3795f2534f6d13666df4018b4b6d67601ae2e8bff8fcc8dc07d90466a74534988c8b088ccbef43af18a087e3b5db5ca98f4691480 SHA512 e71431f8a0dafb2d0f70063d7a24298024a0fa4357e85b18109e1e0fd74b06c06269a4ff0b5b84b377aa9ba1437efd401a5aaf382464dde3573d0bed7a1c4086
+EBUILD visp_camera_calibration-9999.ebuild 789 BLAKE2B d62ab0001dedfa3710621da3795f2534f6d13666df4018b4b6d67601ae2e8bff8fcc8dc07d90466a74534988c8b088ccbef43af18a087e3b5db5ca98f4691480 SHA512 e71431f8a0dafb2d0f70063d7a24298024a0fa4357e85b18109e1e0fd74b06c06269a4ff0b5b84b377aa9ba1437efd401a5aaf382464dde3573d0bed7a1c4086
 MISC metadata.xml 333 BLAKE2B 107f301bea0dd9adee5e472d36be074cc6a57d8a49fa14cb28b5aca166e99c73f3aaf19ce77acd1040bddcd86c3961f1411e994cd1ce9c0a636cff7d11e4ea66 SHA512 ddf6afe9a48cd4b3a1387aa6e7f0a46260ee2aaeb99d93e96aecac0ba5c36d59b578cc40c0337d40c5ecb9e485a3506138932897c0d9b5a8972d6ad479fa64a3
diff --git a/dev-ros/visp_camera_calibration/files/boost.patch b/dev-ros/visp_camera_calibration/files/boost.patch
deleted file mode 100644
index e91630caa89e..000000000000
--- a/dev-ros/visp_camera_calibration/files/boost.patch
+++ /dev/null
@@ -1,24 +0,0 @@
-Index: visp_camera_calibration/src/camera.cpp
-===================================================================
---- visp_camera_calibration.orig/src/camera.cpp
-+++ visp_camera_calibration/src/camera.cpp
-@@ -62,6 +62,7 @@
- 
- #include <visp/vpDisplayX.h>
- #include "visp/vpTrackingException.h"
-+#include <boost/format.hpp>
- 
- 
- namespace visp_camera_calibration
-Index: visp_camera_calibration/src/image_processing.cpp
-===================================================================
---- visp_camera_calibration.orig/src/image_processing.cpp
-+++ visp_camera_calibration/src/image_processing.cpp
-@@ -69,6 +69,7 @@
- #include "visp/vpDot2.h"
- #include "visp/vpCalibration.h"
- #include <iostream>
-+#include <boost/format.hpp>
- 
- 
- namespace visp_camera_calibration
diff --git a/dev-ros/visp_camera_calibration/visp_camera_calibration-0.10.0.ebuild b/dev-ros/visp_camera_calibration/visp_camera_calibration-0.10.0.ebuild
deleted file mode 100644
index c8d0dcc4f291..000000000000
--- a/dev-ros/visp_camera_calibration/visp_camera_calibration-0.10.0.ebuild
+++ /dev/null
@@ -1,32 +0,0 @@
-# Copyright 1999-2020 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/lagadic/vision_visp"
-KEYWORDS="~amd64 ~arm"
-VER_PREFIX="kinetic-"
-ROS_SUBDIR=${PN}
-CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
-CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/sensor_msgs dev-ros/std_msgs"
-
-inherit ros-catkin
-
-DESCRIPTION="Calibration of cameras using a customizable pattern and ViSP library"
-LICENSE="GPL-2"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/camera_calibration_parsers
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
-	dev-ros/roscpp
-	dev-ros/visp_bridge
-	sci-libs/ViSP:=
-	dev-libs/boost:=
-"
-DEPEND="${RDEPEND}"
-if [ "${PV#9999}" = "${PV}" ] ; then
-	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
-fi
-PATCHES=( "${FILESDIR}/gcc6.patch" "${FILESDIR}/boost.patch" )
diff --git a/dev-ros/visp_camera_calibration/visp_camera_calibration-0.11.1.ebuild b/dev-ros/visp_camera_calibration/visp_camera_calibration-0.11.1.ebuild
index 37777151105e..9ca3a9dedfc1 100644
--- a/dev-ros/visp_camera_calibration/visp_camera_calibration-0.11.1.ebuild
+++ b/dev-ros/visp_camera_calibration/visp_camera_calibration-0.11.1.ebuild
@@ -1,13 +1,12 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/lagadic/vision_visp"
 KEYWORDS="~amd64 ~arm"
 VER_PREFIX="kinetic-"
 ROS_SUBDIR=${PN}
 CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/sensor_msgs dev-ros/std_msgs"
 
 inherit ros-catkin
@@ -19,13 +18,14 @@ IUSE=""
 
 RDEPEND="
 	dev-ros/camera_calibration_parsers
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/roscpp
 	dev-ros/visp_bridge
 	sci-libs/ViSP:=
 	dev-libs/boost:=
 "
-DEPEND="${RDEPEND}"
+DEPEND="${RDEPEND}
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
 if [ "${PV#9999}" = "${PV}" ] ; then
 	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
 fi
diff --git a/dev-ros/visp_camera_calibration/visp_camera_calibration-9999.ebuild b/dev-ros/visp_camera_calibration/visp_camera_calibration-9999.ebuild
index 37777151105e..9ca3a9dedfc1 100644
--- a/dev-ros/visp_camera_calibration/visp_camera_calibration-9999.ebuild
+++ b/dev-ros/visp_camera_calibration/visp_camera_calibration-9999.ebuild
@@ -1,13 +1,12 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/lagadic/vision_visp"
 KEYWORDS="~amd64 ~arm"
 VER_PREFIX="kinetic-"
 ROS_SUBDIR=${PN}
 CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/sensor_msgs dev-ros/std_msgs"
 
 inherit ros-catkin
@@ -19,13 +18,14 @@ IUSE=""
 
 RDEPEND="
 	dev-ros/camera_calibration_parsers
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 	dev-ros/roscpp
 	dev-ros/visp_bridge
 	sci-libs/ViSP:=
 	dev-libs/boost:=
 "
-DEPEND="${RDEPEND}"
+DEPEND="${RDEPEND}
+	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
+"
 if [ "${PV#9999}" = "${PV}" ] ; then
 	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
 fi
diff --git a/dev-ros/visp_hand2eye_calibration/Manifest b/dev-ros/visp_hand2eye_calibration/Manifest
index 68bd47cbcba9..ae8b5626937a 100644
--- a/dev-ros/visp_hand2eye_calibration/Manifest
+++ b/dev-ros/visp_hand2eye_calibration/Manifest
@@ -1,6 +1,4 @@
-DIST vision_visp-0.10.0.tar.gz 1015180 BLAKE2B bf0474d0633a6b704077e232d4676e6ebb9ec666b9b03792dbb929c6c6d1c52a941f7a4517f7bc6a7150882c16ba719eb3cf17c3fbdd13df109eab3a34afa259 SHA512 8e2652d6ca9c9535f1bebb628ec908f64c9fc89358bc92ed42ef12430b0b28c8ed3ed7935d2d3fe03c9761f9ac08e200eb59839ee2243df62d5934e8162cca9c
 DIST vision_visp-0.11.1.tar.gz 1014349 BLAKE2B 63148bef65a8361be7cb4a3d27bae4e6440feeeca3ab7183c6c345d4d1a2e0e4f7bc52b265455636ae8e07ddbed0e182c8d0b326b7686cdeda97500203fe3183 SHA512 cb1a09fea7ed2bb74c0c3f5a525d35ef7304dc2c569c6c808cd3751e500b7e32f226436ec4150f63a8280bc3f0c53dfd64757aa09da7344b1ec998130006253c
-EBUILD visp_hand2eye_calibration-0.10.0.ebuild 749 BLAKE2B 13a0bc3d236e15baaacee58ca996b1a50fa2d5664c8818573483e0bba1839f67691c4d928fae1c69625798748bef7b1742dee38b3afe4a169968311b36ab7c9e SHA512 a462dc49a39dd694f7e58fb0371a010bb74dd636107bcdc13856019338aa0ce5f26c391f3b01f6800fbbeca77985e5746a233ddc5bd2933e94d79fdf77071d7e
-EBUILD visp_hand2eye_calibration-0.11.1.ebuild 749 BLAKE2B 13a0bc3d236e15baaacee58ca996b1a50fa2d5664c8818573483e0bba1839f67691c4d928fae1c69625798748bef7b1742dee38b3afe4a169968311b36ab7c9e SHA512 a462dc49a39dd694f7e58fb0371a010bb74dd636107bcdc13856019338aa0ce5f26c391f3b01f6800fbbeca77985e5746a233ddc5bd2933e94d79fdf77071d7e
-EBUILD visp_hand2eye_calibration-9999.ebuild 749 BLAKE2B 13a0bc3d236e15baaacee58ca996b1a50fa2d5664c8818573483e0bba1839f67691c4d928fae1c69625798748bef7b1742dee38b3afe4a169968311b36ab7c9e SHA512 a462dc49a39dd694f7e58fb0371a010bb74dd636107bcdc13856019338aa0ce5f26c391f3b01f6800fbbeca77985e5746a233ddc5bd2933e94d79fdf77071d7e
+EBUILD visp_hand2eye_calibration-0.11.1.ebuild 709 BLAKE2B 5a1c93863cc2608c6030d419b95786b221fc4805af01788631664fc65aa8f755bd638f93b39ec13417bc31e592513856a10d16c1b170aa0744e1e5ca65c04fa1 SHA512 e4731b6b68149f26e8e7f93614ffbd7f5eef997905c9d68131c1ee0981aa8130052915b649a613a086b2fad7b8a73185c5d2db5f51d7ba8dd1222145245cfece
+EBUILD visp_hand2eye_calibration-9999.ebuild 709 BLAKE2B 5a1c93863cc2608c6030d419b95786b221fc4805af01788631664fc65aa8f755bd638f93b39ec13417bc31e592513856a10d16c1b170aa0744e1e5ca65c04fa1 SHA512 e4731b6b68149f26e8e7f93614ffbd7f5eef997905c9d68131c1ee0981aa8130052915b649a613a086b2fad7b8a73185c5d2db5f51d7ba8dd1222145245cfece
 MISC metadata.xml 333 BLAKE2B 107f301bea0dd9adee5e472d36be074cc6a57d8a49fa14cb28b5aca166e99c73f3aaf19ce77acd1040bddcd86c3961f1411e994cd1ce9c0a636cff7d11e4ea66 SHA512 ddf6afe9a48cd4b3a1387aa6e7f0a46260ee2aaeb99d93e96aecac0ba5c36d59b578cc40c0337d40c5ecb9e485a3506138932897c0d9b5a8972d6ad479fa64a3
diff --git a/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-0.10.0.ebuild b/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-0.10.0.ebuild
deleted file mode 100644
index be16ac8082f9..000000000000
--- a/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-0.10.0.ebuild
+++ /dev/null
@@ -1,31 +0,0 @@
-# Copyright 1999-2020 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/lagadic/vision_visp"
-KEYWORDS="~amd64 ~arm"
-VER_PREFIX="kinetic-"
-ROS_SUBDIR=${PN}
-CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
-CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs"
-
-inherit ros-catkin
-
-DESCRIPTION="Estimates the camera position with respect to its effector using the ViSP library"
-LICENSE="GPL-2"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/image_proc
-	dev-ros/roscpp
-	dev-ros/sensor_msgs
-	dev-ros/visp_bridge
-	dev-ros/visp_tracker
-	sci-libs/ViSP:=
-"
-DEPEND="${RDEPEND}"
-if [ "${PV#9999}" = "${PV}" ] ; then
-	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
-fi
diff --git a/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-0.11.1.ebuild b/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-0.11.1.ebuild
index be16ac8082f9..4f14eac92f13 100644
--- a/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-0.11.1.ebuild
+++ b/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-0.11.1.ebuild
@@ -1,18 +1,17 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/lagadic/vision_visp"
 KEYWORDS="~amd64 ~arm"
 VER_PREFIX="kinetic-"
 ROS_SUBDIR=${PN}
 CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs"
 
 inherit ros-catkin
 
-DESCRIPTION="Estimates the camera position with respect to its effector using the ViSP library"
+DESCRIPTION="Estimates the camera position with respect to its effector using ViSP"
 LICENSE="GPL-2"
 SLOT="0"
 IUSE=""
diff --git a/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-9999.ebuild b/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-9999.ebuild
index be16ac8082f9..4f14eac92f13 100644
--- a/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-9999.ebuild
+++ b/dev-ros/visp_hand2eye_calibration/visp_hand2eye_calibration-9999.ebuild
@@ -1,18 +1,17 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/lagadic/vision_visp"
 KEYWORDS="~amd64 ~arm"
 VER_PREFIX="kinetic-"
 ROS_SUBDIR=${PN}
 CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs"
 
 inherit ros-catkin
 
-DESCRIPTION="Estimates the camera position with respect to its effector using the ViSP library"
+DESCRIPTION="Estimates the camera position with respect to its effector using ViSP"
 LICENSE="GPL-2"
 SLOT="0"
 IUSE=""
diff --git a/dev-ros/visp_tracker/Manifest b/dev-ros/visp_tracker/Manifest
index 9492da77860e..e38d242ebd48 100644
--- a/dev-ros/visp_tracker/Manifest
+++ b/dev-ros/visp_tracker/Manifest
@@ -1,7 +1,5 @@
 AUX gcc6.patch 350 BLAKE2B 5e0f54319cc37bf0a4cf46e3b96f37bdb059af0f0e4a2b7219363504c96a2ed43121f4028c4d264959f1cf78e10d329ac67ee85d6a2868212b0cbcf924e2f93d SHA512 b1647cca84792212a1fe20685e83ee28fc225fb7272ed892fdbc4faae809059ce955cf5df1d8b3543c1248a741ad9a0bcb263a547aa21be2cebd8608dfba457e
-DIST vision_visp-0.10.0.tar.gz 1015180 BLAKE2B bf0474d0633a6b704077e232d4676e6ebb9ec666b9b03792dbb929c6c6d1c52a941f7a4517f7bc6a7150882c16ba719eb3cf17c3fbdd13df109eab3a34afa259 SHA512 8e2652d6ca9c9535f1bebb628ec908f64c9fc89358bc92ed42ef12430b0b28c8ed3ed7935d2d3fe03c9761f9ac08e200eb59839ee2243df62d5934e8162cca9c
 DIST vision_visp-0.11.1.tar.gz 1014349 BLAKE2B 63148bef65a8361be7cb4a3d27bae4e6440feeeca3ab7183c6c345d4d1a2e0e4f7bc52b265455636ae8e07ddbed0e182c8d0b326b7686cdeda97500203fe3183 SHA512 cb1a09fea7ed2bb74c0c3f5a525d35ef7304dc2c569c6c808cd3751e500b7e32f226436ec4150f63a8280bc3f0c53dfd64757aa09da7344b1ec998130006253c
-EBUILD visp_tracker-0.10.0-r2.ebuild 1082 BLAKE2B 8a3c5df1b1082f6146b1e651b9a3b56135fa8f9f7ef225d1f9a18da8065d3afabf3b2ffa373bc0046e6364d7c90718ed4d4221cc955be9f102cc322bc09af8fd SHA512 867d3842ca354574e0434538fc02bb2163cd658c95c354ca318453a94acd42b98741efb04177510e56249aa4407bd63a08cb4d5a852d46edc203a134182cb491
-EBUILD visp_tracker-0.11.1.ebuild 1079 BLAKE2B 9336683df158dfd87f52b7e491274e3e7368dace92534e5eda9f4fe922cc5459f6b7299e9929b6fde0d51f413861a667d286a70549ec6ba492f47273a7255e28 SHA512 a1a439e2cabbfac28bb20c973508839845beb286f0e8d08617a72d3b3b15b8eb073c15d83bbc426ee489222b0d3f678a2f5ec535552365f271450600a4fd09fc
-EBUILD visp_tracker-9999.ebuild 1082 BLAKE2B 8a3c5df1b1082f6146b1e651b9a3b56135fa8f9f7ef225d1f9a18da8065d3afabf3b2ffa373bc0046e6364d7c90718ed4d4221cc955be9f102cc322bc09af8fd SHA512 867d3842ca354574e0434538fc02bb2163cd658c95c354ca318453a94acd42b98741efb04177510e56249aa4407bd63a08cb4d5a852d46edc203a134182cb491
+EBUILD visp_tracker-0.11.1.ebuild 1016 BLAKE2B 90adc1c09965a1008512b33a15f5bc60776f8a4cec692dea4a78b41537ddd2a1db91c4ace1ce93ea5b33508ffd41e05948fb67ca6da2c10975f9e565fe3071a2 SHA512 f959c7ce62a96ab58efe8b460b883973e3e9e4a7f26facafbd4d9f6d7557db23a33fe4252f7108929d1953f5b12d6773ffcc5c2d76f021374c400f063aaa932e
+EBUILD visp_tracker-9999.ebuild 1016 BLAKE2B 90adc1c09965a1008512b33a15f5bc60776f8a4cec692dea4a78b41537ddd2a1db91c4ace1ce93ea5b33508ffd41e05948fb67ca6da2c10975f9e565fe3071a2 SHA512 f959c7ce62a96ab58efe8b460b883973e3e9e4a7f26facafbd4d9f6d7557db23a33fe4252f7108929d1953f5b12d6773ffcc5c2d76f021374c400f063aaa932e
 MISC metadata.xml 333 BLAKE2B 107f301bea0dd9adee5e472d36be074cc6a57d8a49fa14cb28b5aca166e99c73f3aaf19ce77acd1040bddcd86c3961f1411e994cd1ce9c0a636cff7d11e4ea66 SHA512 ddf6afe9a48cd4b3a1387aa6e7f0a46260ee2aaeb99d93e96aecac0ba5c36d59b578cc40c0337d40c5ecb9e485a3506138932897c0d9b5a8972d6ad479fa64a3
diff --git a/dev-ros/visp_tracker/visp_tracker-0.10.0-r2.ebuild b/dev-ros/visp_tracker/visp_tracker-0.10.0-r2.ebuild
deleted file mode 100644
index d4999b7b5199..000000000000
--- a/dev-ros/visp_tracker/visp_tracker-0.10.0-r2.ebuild
+++ /dev/null
@@ -1,40 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/lagadic/vision_visp"
-KEYWORDS="~amd64 ~arm"
-VER_PREFIX="kinetic-"
-ROS_SUBDIR=${PN}
-CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
-CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs"
-
-inherit ros-catkin
-
-DESCRIPTION="Wraps the ViSP moving edge tracker provided by the ViSP visual servoing library into a ROS package"
-LICENSE="GPL-2"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	dev-ros/dynamic_reconfigure
-	dev-ros/geometry_msgs[${CATKIN_MESSAGES_PYTHON_USEDEP}]
-	dev-ros/image_proc
-	dev-ros/image_transport
-	dev-ros/nodelet
-	dev-ros/resource_retriever
-	dev-ros/roscpp
-	dev-ros/sensor_msgs
-	dev-ros/tf[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-python/numpy[${PYTHON_USEDEP}]
-	sci-libs/ViSP:=[opencv,X]
-	dev-libs/console_bridge:=
-"
-DEPEND="${RDEPEND}"
-if [ "${PV#9999}" = "${PV}" ] ; then
-	S="${WORKDIR}/vision_visp-kinetic-${PV}/${ROS_SUBDIR}"
-fi
-PATCHES=( "${FILESDIR}/gcc6.patch" )
diff --git a/dev-ros/visp_tracker/visp_tracker-0.11.1.ebuild b/dev-ros/visp_tracker/visp_tracker-0.11.1.ebuild
index 7f8945759d9f..48465b50bcff 100644
--- a/dev-ros/visp_tracker/visp_tracker-0.11.1.ebuild
+++ b/dev-ros/visp_tracker/visp_tracker-0.11.1.ebuild
@@ -1,18 +1,17 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/lagadic/vision_visp"
 KEYWORDS="~amd64 ~arm"
 VER_PREFIX="kinetic-"
 ROS_SUBDIR=${PN}
 CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs"
 
 inherit ros-catkin
 
-DESCRIPTION="Wraps the ViSP moving edge tracker provided by the ViSP visual servoing library into a ROS package"
+DESCRIPTION="Wraps the ViSP moving edge tracker provided by the ViSP library"
 LICENSE="GPL-2"
 SLOT="0"
 IUSE=""
diff --git a/dev-ros/visp_tracker/visp_tracker-9999.ebuild b/dev-ros/visp_tracker/visp_tracker-9999.ebuild
index d4999b7b5199..48465b50bcff 100644
--- a/dev-ros/visp_tracker/visp_tracker-9999.ebuild
+++ b/dev-ros/visp_tracker/visp_tracker-9999.ebuild
@@ -1,18 +1,17 @@
-# Copyright 1999-2018 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/lagadic/vision_visp"
 KEYWORDS="~amd64 ~arm"
 VER_PREFIX="kinetic-"
 ROS_SUBDIR=${PN}
 CATKIN_HAS_MESSAGES=yes
-PYTHON_COMPAT=( python2_7 )
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs"
 
 inherit ros-catkin
 
-DESCRIPTION="Wraps the ViSP moving edge tracker provided by the ViSP visual servoing library into a ROS package"
+DESCRIPTION="Wraps the ViSP moving edge tracker provided by the ViSP library"
 LICENSE="GPL-2"
 SLOT="0"
 IUSE=""
diff --git a/dev-ros/visualization_marker_tutorials/Manifest b/dev-ros/visualization_marker_tutorials/Manifest
index e7e2cbdf6847..5145abfb8e26 100644
--- a/dev-ros/visualization_marker_tutorials/Manifest
+++ b/dev-ros/visualization_marker_tutorials/Manifest
@@ -1,10 +1,4 @@
-DIST visualization_tutorials-0.10.1.tar.gz 428608 BLAKE2B abee44fa91388e792a5e2ccadf07a32236f7575f5a0e0121ddfdc0135bf63b12c8d603d4bee3ef463f0c64debf9e9c6f8c7c89c2e8dce8375d3264039b6378b0 SHA512 38ad2c29456ff994914b1ca3b2ab6d90b0c9224481d360fd7f88b38c0e9615d35eb94b90abb699738b5f4fac091489bdf2373168bc3a0acc0e6ba3a61b646bbf
-DIST visualization_tutorials-0.10.2.tar.gz 428684 BLAKE2B 751d18089c69cdb8cd0cfac97235d213cce9d098264dc49fcaf7d7a949216b8fd40041c23be5d16be1537298b876dc1854a8b7dc1214ba7aeb74b18716892636 SHA512 40d8621fd05e81dc23adbf7fd0a69209d796ade3ad291aa350030872a3bbffad2ec9ac0d31734ccf73f8215f7dd52834a35baaa3fe198a3fc4c5bda71a760b05
-DIST visualization_tutorials-0.10.3.tar.gz 428877 BLAKE2B 4bcd482ae61f29908ca23dda653d1c6d0e6a0a9df56df8343d1dfb5124f8d60c9a12ef8b1565c4655617dcd62d80a2aa51f2fd9b2c5329e33c3cc22e3e63c22d SHA512 2e484791851291d2316c7a20e92d988d71b6c41c98bad98c78bed465069dcfe5fc1ddd5c15c6981e951db2c114e965747c07e27f4851c2705af3dd036b992781
-DIST visualization_tutorials-0.9.2.tar.gz 428117 BLAKE2B f25320fa80b12a8a5499d505af369c33362e7f085de3846478b6376fc49e4e2502f07ded6c9e1025224d7b2418d78c87933b2d93b66ad2865eb45581384df24f SHA512 4a2b323e74725dbb77fbba6405d39246a89b170c66dec78288c4461d70c419efc3197eed5867f68305e490552d0480525153f98a64a3025efddc367db824ca53
-EBUILD visualization_marker_tutorials-0.10.1.ebuild 431 BLAKE2B 611791dde1d1bd5646770eb26f6e52ff904e6823ba9e26d49bff4cc154176faec86ab66bdfea219deda61e08ac56c28d67bc5fb602d101c2cffc4e5d340fdb94 SHA512 b4b03e71016ab6dc058dd36410c9865e53aacf0d45d128a97ae66a249d76958c541167c1fcb94ce56c0dc7ae912024433866a81e62b3aeb5cc7e25f545616573
-EBUILD visualization_marker_tutorials-0.10.2.ebuild 431 BLAKE2B c17e489055aeb591796d7bf9aa76cb55a1577729506cfcfa477edc60a796ef941befadea473c1c29561b8a781b5f8512d4ed78b02fc8efbcce896263de6748e5 SHA512 bdc3f9c5f14fc1d7656b530fd7c7c4c90aa7e4e0bc920cfaec28cb15829430337c8a0f27c683fbe05c4676f2981abe222b0abdd0a980059ca01ea3713f35ab0c
-EBUILD visualization_marker_tutorials-0.10.3.ebuild 431 BLAKE2B c17e489055aeb591796d7bf9aa76cb55a1577729506cfcfa477edc60a796ef941befadea473c1c29561b8a781b5f8512d4ed78b02fc8efbcce896263de6748e5 SHA512 bdc3f9c5f14fc1d7656b530fd7c7c4c90aa7e4e0bc920cfaec28cb15829430337c8a0f27c683fbe05c4676f2981abe222b0abdd0a980059ca01ea3713f35ab0c
-EBUILD visualization_marker_tutorials-0.9.2.ebuild 431 BLAKE2B 611791dde1d1bd5646770eb26f6e52ff904e6823ba9e26d49bff4cc154176faec86ab66bdfea219deda61e08ac56c28d67bc5fb602d101c2cffc4e5d340fdb94 SHA512 b4b03e71016ab6dc058dd36410c9865e53aacf0d45d128a97ae66a249d76958c541167c1fcb94ce56c0dc7ae912024433866a81e62b3aeb5cc7e25f545616573
-EBUILD visualization_marker_tutorials-9999.ebuild 431 BLAKE2B 611791dde1d1bd5646770eb26f6e52ff904e6823ba9e26d49bff4cc154176faec86ab66bdfea219deda61e08ac56c28d67bc5fb602d101c2cffc4e5d340fdb94 SHA512 b4b03e71016ab6dc058dd36410c9865e53aacf0d45d128a97ae66a249d76958c541167c1fcb94ce56c0dc7ae912024433866a81e62b3aeb5cc7e25f545616573
+DIST visualization_tutorials-0.11.0.tar.gz 429489 BLAKE2B d4558a15b696ba05ed156a64ab2c0ad7229314f73d2823c0a46f53132801619d28fc5c68f5d8e0f3e2cadb7bb5078b3518da87ea18940432760b20bddeda578d SHA512 78ebe536a3a209fb0c61fb7dbc0aa115b5f4e6297303b1fc03740402decea719077037a90f4c45a0f6ece95e3578d6dad1095a0b1f0a90c136b738d0350aac9b
+EBUILD visualization_marker_tutorials-0.11.0.ebuild 429 BLAKE2B df650755ff86d5fb4edd7abed03e5be568cc7c39d1ed7451cb7ef60c360962c4736792649b1901687d0a709f53a27fc8ec44b5830d32f5cb7756223a51fc79f4 SHA512 a68a4f63c4d8f71014c8026c1f370dceee19d68480860cbe90fe622d41adf5da26d8289ecfb1ef691d382a00d61df2c41857d9d7bb9d0590a7038daa0e50ea50
+EBUILD visualization_marker_tutorials-9999.ebuild 429 BLAKE2B df650755ff86d5fb4edd7abed03e5be568cc7c39d1ed7451cb7ef60c360962c4736792649b1901687d0a709f53a27fc8ec44b5830d32f5cb7756223a51fc79f4 SHA512 a68a4f63c4d8f71014c8026c1f370dceee19d68480860cbe90fe622d41adf5da26d8289ecfb1ef691d382a00d61df2c41857d9d7bb9d0590a7038daa0e50ea50
 MISC metadata.xml 355 BLAKE2B fb6b9ee20af31ea0d99819722e6df9dc086b3b4de71d9a3aba80bee73490a62738ce308e9b1e77ee22c079e21ff7623b13fd7d46fd8d670232ea45a3cffd47ae SHA512 5e233967a9e4b9c0f790ddfa82d4c2febbb2948b3ed3abe4ec91d1ec0e80202738daed074eb911a63ccd6209837f5e52ab985ff4e792f3e90a38120963e8db34
diff --git a/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-0.10.3.ebuild b/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-0.11.0.ebuild
index 264e1b66adae..b8c35675e259 100644
--- a/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-0.10.3.ebuild
+++ b/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-0.11.0.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2018 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-visualization/visualization_tutorials"
 KEYWORDS="~amd64"
 ROS_SUBDIR=${PN}
@@ -15,6 +15,7 @@ IUSE=""
 
 RDEPEND="
 	dev-ros/roscpp
+"
+DEPEND="${RDEPEND}
 	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 "
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-9999.ebuild b/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-9999.ebuild
index 8bdc9dd6488f..b8c35675e259 100644
--- a/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-9999.ebuild
+++ b/dev-ros/visualization_marker_tutorials/visualization_marker_tutorials-9999.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-visualization/visualization_tutorials"
 KEYWORDS="~amd64"
 ROS_SUBDIR=${PN}
@@ -15,6 +15,7 @@ IUSE=""
 
 RDEPEND="
 	dev-ros/roscpp
+"
+DEPEND="${RDEPEND}
 	dev-ros/visualization_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
 "
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/visualization_msgs/Manifest b/dev-ros/visualization_msgs/Manifest
index 89c407c9f0f5..9acab15ae2de 100644
--- a/dev-ros/visualization_msgs/Manifest
+++ b/dev-ros/visualization_msgs/Manifest
@@ -1,8 +1,4 @@
-DIST common_msgs-1.12.5.tar.gz 59525 BLAKE2B ac6a8f71df81aa520ec5cef00a5b20d098344356fa93141a5cce07eb185032d69593fa2d8c11edc39572826a69cc69e2c94cacf83802993e47180fadcaaa23ac SHA512 99efda88b630c0ebadc576501e9d84f3811fb012084125569d54da0b75656751f8f782d101fa0cf62d7b1ac4419902f17d1dc78efee7188ff67f59bf00a743ee
-DIST common_msgs-1.12.6.tar.gz 66588 BLAKE2B 56c8be3857f5285ebd2f25710f7f8e23f3e316aabfc30c981ba8b0c24b40e3d527fef307d503484506a66391398a8f9196ca57088ddda7f951506edd8e7dd538 SHA512 cc783e5e2c10862418459dc6085dae09948004f7a9d4f718d1a9bfaa117ddbe41e04482d28a8a02cf045dd859ddff6c927074ac6cec0916c8b0aa46526c0eb4b
 DIST common_msgs-1.12.7.tar.gz 67225 BLAKE2B cfa133dc0354b40f938cfb9331d5838a4fc991cc9c6fdafbffc83f9bc6a4d5ba2218d7d7783a0845c69c8ddff917a4df54661a8e08488e1ae11f5fb41b9bd2a8 SHA512 1c4fd492edc44764f5a47dfd260df4f1be1b8717981f42740b9f795434f50c6b457f6bb3ab70b003991e01ccbc47d54ff06d97e2deaef185625857e5a41b5e65
-EBUILD visualization_msgs-1.12.5.ebuild 518 BLAKE2B f62c7addf74a4b63f9e9ff5d1287bbf6edcb4a08aa9613a4749b83853c928aa2ae89aab9f26f374f6eba106e1b7f7a96fc33cc12dc3ca8a7ec64257389e35b54 SHA512 bf8a0e4433e0f5be98d16bf13aba0d0541f799945c0b86aa5fca060a2bc729caa0dfdca2ac51598d8cf082a35d42a6e4582c0c9f7b015c754ce67b984970ec0b
-EBUILD visualization_msgs-1.12.6.ebuild 518 BLAKE2B f62c7addf74a4b63f9e9ff5d1287bbf6edcb4a08aa9613a4749b83853c928aa2ae89aab9f26f374f6eba106e1b7f7a96fc33cc12dc3ca8a7ec64257389e35b54 SHA512 bf8a0e4433e0f5be98d16bf13aba0d0541f799945c0b86aa5fca060a2bc729caa0dfdca2ac51598d8cf082a35d42a6e4582c0c9f7b015c754ce67b984970ec0b
-EBUILD visualization_msgs-1.12.7.ebuild 518 BLAKE2B f62c7addf74a4b63f9e9ff5d1287bbf6edcb4a08aa9613a4749b83853c928aa2ae89aab9f26f374f6eba106e1b7f7a96fc33cc12dc3ca8a7ec64257389e35b54 SHA512 bf8a0e4433e0f5be98d16bf13aba0d0541f799945c0b86aa5fca060a2bc729caa0dfdca2ac51598d8cf082a35d42a6e4582c0c9f7b015c754ce67b984970ec0b
-EBUILD visualization_msgs-9999.ebuild 518 BLAKE2B f62c7addf74a4b63f9e9ff5d1287bbf6edcb4a08aa9613a4749b83853c928aa2ae89aab9f26f374f6eba106e1b7f7a96fc33cc12dc3ca8a7ec64257389e35b54 SHA512 bf8a0e4433e0f5be98d16bf13aba0d0541f799945c0b86aa5fca060a2bc729caa0dfdca2ac51598d8cf082a35d42a6e4582c0c9f7b015c754ce67b984970ec0b
+EBUILD visualization_msgs-1.12.7.ebuild 478 BLAKE2B 881bdd7cae315245dcff079e5b3fa50c27326904b96a4e8c67b3033340140df856dca8dbf70448ca0d386efd14f2226e4b10730234e7746250e783f71db785fd SHA512 0abdc457cfeafee77723962c922a047c3279a311ce11548c2c6097ca842bdce45787d7c03a8dfdfde95b119cad31917a6c549c2b6370c10100657a7dd92a83e6
+EBUILD visualization_msgs-9999.ebuild 478 BLAKE2B 881bdd7cae315245dcff079e5b3fa50c27326904b96a4e8c67b3033340140df856dca8dbf70448ca0d386efd14f2226e4b10730234e7746250e783f71db785fd SHA512 0abdc457cfeafee77723962c922a047c3279a311ce11548c2c6097ca842bdce45787d7c03a8dfdfde95b119cad31917a6c549c2b6370c10100657a7dd92a83e6
 MISC metadata.xml 329 BLAKE2B 31f4f89a8981373ec2da20b753091270b0c6bfefd3ce02dfc5164f1394826dd59a8afce540c0c7ff34d43ec36f86fe71f8321b9a47099dde21f0eca068956f9f SHA512 0c4983993d1eec1067981913453de5b83fc2474c0af890dd388911039080a84c80881b3bc683aa01ceff35f511d2365292f15fb22f8ba10b188cace918dd1022
diff --git a/dev-ros/visualization_msgs/visualization_msgs-1.12.5.ebuild b/dev-ros/visualization_msgs/visualization_msgs-1.12.5.ebuild
deleted file mode 100644
index 869bf09388ca..000000000000
--- a/dev-ros/visualization_msgs/visualization_msgs-1.12.5.ebuild
+++ /dev/null
@@ -1,20 +0,0 @@
-# Copyright 1999-2020 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-CATKIN_HAS_MESSAGES=yes
-ROS_REPO_URI="https://github.com/ros/common_msgs"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
-ROS_SUBDIR=${PN}
-CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs"
-
-inherit ros-catkin
-
-DESCRIPTION="Messages used by higher level packages that deal in visualization-specific data."
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND=""
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/visualization_msgs/visualization_msgs-1.12.6.ebuild b/dev-ros/visualization_msgs/visualization_msgs-1.12.6.ebuild
deleted file mode 100644
index 869bf09388ca..000000000000
--- a/dev-ros/visualization_msgs/visualization_msgs-1.12.6.ebuild
+++ /dev/null
@@ -1,20 +0,0 @@
-# Copyright 1999-2020 Gentoo Authors
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-CATKIN_HAS_MESSAGES=yes
-ROS_REPO_URI="https://github.com/ros/common_msgs"
-KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
-ROS_SUBDIR=${PN}
-CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs"
-
-inherit ros-catkin
-
-DESCRIPTION="Messages used by higher level packages that deal in visualization-specific data."
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND=""
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/visualization_msgs/visualization_msgs-1.12.7.ebuild b/dev-ros/visualization_msgs/visualization_msgs-1.12.7.ebuild
index 869bf09388ca..2532363c374c 100644
--- a/dev-ros/visualization_msgs/visualization_msgs-1.12.7.ebuild
+++ b/dev-ros/visualization_msgs/visualization_msgs-1.12.7.ebuild
@@ -1,11 +1,10 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 CATKIN_HAS_MESSAGES=yes
 ROS_REPO_URI="https://github.com/ros/common_msgs"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 ROS_SUBDIR=${PN}
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs"
 
diff --git a/dev-ros/visualization_msgs/visualization_msgs-9999.ebuild b/dev-ros/visualization_msgs/visualization_msgs-9999.ebuild
index 869bf09388ca..2532363c374c 100644
--- a/dev-ros/visualization_msgs/visualization_msgs-9999.ebuild
+++ b/dev-ros/visualization_msgs/visualization_msgs-9999.ebuild
@@ -1,11 +1,10 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 CATKIN_HAS_MESSAGES=yes
 ROS_REPO_URI="https://github.com/ros/common_msgs"
 KEYWORDS="~amd64 ~arm"
-PYTHON_COMPAT=( python{2_7,3_6} pypy3 )
 ROS_SUBDIR=${PN}
 CATKIN_MESSAGES_TRANSITIVE_DEPS="dev-ros/std_msgs dev-ros/geometry_msgs"
 
diff --git a/dev-ros/voxel_grid/Manifest b/dev-ros/voxel_grid/Manifest
index ce39de131d55..9d484c942a58 100644
--- a/dev-ros/voxel_grid/Manifest
+++ b/dev-ros/voxel_grid/Manifest
@@ -1,12 +1,4 @@
-DIST navigation-1.15.2.tar.gz 348985 BLAKE2B 866779425828b1e4c3a044654ae41f33643646ca70cf6841f23bce265add2c420bf0934a41a6b29fa65fc421228a31dc15e9fb0f6cc4295ce12adbbb627b43d4 SHA512 582422756b31b4d83e929e3c723e7205e772b9775fcf618c9bd5d3c54af1f20e9bc8a0143626750c0c3cffeb0cbea8f8706b7e66f62dc037cfe12b05f23ee142
-DIST navigation-1.16.0.tar.gz 336708 BLAKE2B 74fdc7c3afb00bfbded011678c90b22cc95fe45b126c9a8a4bb9a80f8676ed0ade32e02ad77ec643f167d9719e71347750b6f7993f61cf743fc018d1412436d6 SHA512 ee6336627c2e095ef089534c19b7258f394858a6c04ad49b3aa6e1d0acca67c245c2743f04752be137864dba216c3aa38e34c3e40e3db7839308be3adbc808d6
-DIST navigation-1.16.1.tar.gz 336908 BLAKE2B 0f22db60352a0f50938ae18104ecad72c2e06eedeb2da8f6afe09bdc346868fcd71c90b0243c366b9fd0e7a26fef7551ab6a4febe87ab8d66af5ce3497c68770 SHA512 f6742f5afcaff2d1fc699e2695845b148bb16523e301f79577a8073fcc829541158b7c463f2e5bd9f69571f8b4042dbfacfe563de54b16193b5a31721c5f6faf
-DIST navigation-1.16.2.tar.gz 337389 BLAKE2B a21d014df02ebf8046245777bb42fe3bccaf65af4c607532c4fb72e0b2c43870d1ff1c32c882a0418363708c0fa0c74925943beca2110a5f19b77a65e0a871fc SHA512 890eb391a8a70b3b17aa870dfa79bf48199cf3dcf7a8703b0e005b22ffd404edf723d73e30a04f902f436899fe321894bf3da7610f374b1a95b247629f64256e
-DIST navigation-1.16.3.tar.gz 342459 BLAKE2B 736414787adee9c7511b0d90276395d33b9b52207d55ddd53836c9d77cb6809bf1946443878ad83e4461d0febf05b616b93ec0a18b34ed402323eb9bbb100861 SHA512 2eddb27fd3eff143674cc518be520e6df4d24a965689441f710105977f4bbe307736df5e6303319dde99362187091ea4f90eaec9da5a4bc678250410af174a71
-EBUILD voxel_grid-1.15.2.ebuild 395 BLAKE2B 83874df4d5d10255cc78efa4b0df9f0ee182acf21a166b7ec1897fd271b14c5f8971eee84358a1bd5a0720e582476f28b3794d21be37417bf028697d5406e34f SHA512 9fff1d5091009da26d447f633bb30e7dce527481ec506500546ea55579d17d37bd1e597a39e658829694fdccbeb0500e2f08b2c9af34ad2bd2e9ee4f0758e05e
-EBUILD voxel_grid-1.16.0.ebuild 395 BLAKE2B 83874df4d5d10255cc78efa4b0df9f0ee182acf21a166b7ec1897fd271b14c5f8971eee84358a1bd5a0720e582476f28b3794d21be37417bf028697d5406e34f SHA512 9fff1d5091009da26d447f633bb30e7dce527481ec506500546ea55579d17d37bd1e597a39e658829694fdccbeb0500e2f08b2c9af34ad2bd2e9ee4f0758e05e
-EBUILD voxel_grid-1.16.1.ebuild 395 BLAKE2B 83874df4d5d10255cc78efa4b0df9f0ee182acf21a166b7ec1897fd271b14c5f8971eee84358a1bd5a0720e582476f28b3794d21be37417bf028697d5406e34f SHA512 9fff1d5091009da26d447f633bb30e7dce527481ec506500546ea55579d17d37bd1e597a39e658829694fdccbeb0500e2f08b2c9af34ad2bd2e9ee4f0758e05e
-EBUILD voxel_grid-1.16.2.ebuild 395 BLAKE2B 83874df4d5d10255cc78efa4b0df9f0ee182acf21a166b7ec1897fd271b14c5f8971eee84358a1bd5a0720e582476f28b3794d21be37417bf028697d5406e34f SHA512 9fff1d5091009da26d447f633bb30e7dce527481ec506500546ea55579d17d37bd1e597a39e658829694fdccbeb0500e2f08b2c9af34ad2bd2e9ee4f0758e05e
-EBUILD voxel_grid-1.16.3.ebuild 392 BLAKE2B 9adc5c8250f99aac832502e4ad551a96aeec87cd085dedd6d7e91a5efbe6836bd9452006ff93242726e91750079fa0abf59ff50ba36c359d2a0a43b55eadec88 SHA512 6f9a66ed6db49c7cb727dac1fe4127dc9797f83b86de890af031040bfe1f83fef57b7ebb368ddd54e90c0ccf5324f7c577924f30c27809b77b1137b83fe9ee7b
-EBUILD voxel_grid-9999.ebuild 395 BLAKE2B aaa80f5692268540023d6b98161e92fd5f9376e2835f40699601cc08873412c38586c3a7d70d717680ef70976f22f1542a9fdc2c3660c66183c21e18a9905b36 SHA512 d79c9dbd9f28164ccd0945f2dd8a53e317369a372d254dadefe8e4b72867474b5b9a708fe78950ca469b69e90497c68dcb54d575df9acfa93412cad351dce8cf
+DIST navigation-1.16.6.tar.gz 346529 BLAKE2B ed2d7ddd0ca9525f0ae22711d65fc2ede5f3046fd320e5016b93505616c4d476d65128695ff8830c4fa0b8dbdc276a1ec5951fdb4d0516f4d5f70897e4759f31 SHA512 c6bc3db39457c6bccba7ee2646504c4e1c91840a3297bdb9b92b28d93c608c0de113eb92527d4f499232de628d5b49816ec42522043500b20fb04056e2a7c97f
+EBUILD voxel_grid-1.16.6.ebuild 392 BLAKE2B 80cb2e7bc178de47c612318b29fcbbab0b842a57232f2dd36da2e9236fd6cbd6ed8018ded40f3e328dd98560e1ba7577b23512765ab6395d96f0816e02e841e9 SHA512 e5427c6a3fd9ec77a41efc8a18384353744ff04b67ebb1fce4981573ddbed2b4cca4387b4ed4734dc4e658d0ad616e6f30a756a93c4912199b0f4c7f3a86693d
+EBUILD voxel_grid-9999.ebuild 392 BLAKE2B 80cb2e7bc178de47c612318b29fcbbab0b842a57232f2dd36da2e9236fd6cbd6ed8018ded40f3e328dd98560e1ba7577b23512765ab6395d96f0816e02e841e9 SHA512 e5427c6a3fd9ec77a41efc8a18384353744ff04b67ebb1fce4981573ddbed2b4cca4387b4ed4734dc4e658d0ad616e6f30a756a93c4912199b0f4c7f3a86693d
 MISC metadata.xml 337 BLAKE2B ecfbf3d0b63a1b876065d04b3d52daa0442e3bcaf060836731012a1e698b3aea06ff292d892035feb2fb0fc257d6d8462d013ccc67f2650177c9cdba4d051d44 SHA512 f5df7464100fa15a3d2ad11cc620007500a5cb5ea7be67ac45819a541dd4ae53ce476231d475acf4dfe7e7bf0c31281325dc4e003867d1cc01a29353bb5ea09e
diff --git a/dev-ros/voxel_grid/voxel_grid-1.15.2.ebuild b/dev-ros/voxel_grid/voxel_grid-1.15.2.ebuild
deleted file mode 100644
index 8ced333d52ee..000000000000
--- a/dev-ros/voxel_grid/voxel_grid-1.15.2.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-planning/navigation"
-ROS_SUBDIR=${PN}
-KEYWORDS="~amd64 ~arm"
-
-inherit ros-catkin
-
-DESCRIPTION="Implementation of an efficient 3D voxel grid"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-ros/roscpp"
-DEPEND="${RDEPEND}
-	test? ( dev-cpp/gtest )"
diff --git a/dev-ros/voxel_grid/voxel_grid-1.16.0.ebuild b/dev-ros/voxel_grid/voxel_grid-1.16.0.ebuild
deleted file mode 100644
index 8ced333d52ee..000000000000
--- a/dev-ros/voxel_grid/voxel_grid-1.16.0.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-planning/navigation"
-ROS_SUBDIR=${PN}
-KEYWORDS="~amd64 ~arm"
-
-inherit ros-catkin
-
-DESCRIPTION="Implementation of an efficient 3D voxel grid"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-ros/roscpp"
-DEPEND="${RDEPEND}
-	test? ( dev-cpp/gtest )"
diff --git a/dev-ros/voxel_grid/voxel_grid-1.16.1.ebuild b/dev-ros/voxel_grid/voxel_grid-1.16.1.ebuild
deleted file mode 100644
index 8ced333d52ee..000000000000
--- a/dev-ros/voxel_grid/voxel_grid-1.16.1.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-planning/navigation"
-ROS_SUBDIR=${PN}
-KEYWORDS="~amd64 ~arm"
-
-inherit ros-catkin
-
-DESCRIPTION="Implementation of an efficient 3D voxel grid"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-ros/roscpp"
-DEPEND="${RDEPEND}
-	test? ( dev-cpp/gtest )"
diff --git a/dev-ros/voxel_grid/voxel_grid-1.16.2.ebuild b/dev-ros/voxel_grid/voxel_grid-1.16.2.ebuild
deleted file mode 100644
index 8ced333d52ee..000000000000
--- a/dev-ros/voxel_grid/voxel_grid-1.16.2.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-planning/navigation"
-ROS_SUBDIR=${PN}
-KEYWORDS="~amd64 ~arm"
-
-inherit ros-catkin
-
-DESCRIPTION="Implementation of an efficient 3D voxel grid"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-ros/roscpp"
-DEPEND="${RDEPEND}
-	test? ( dev-cpp/gtest )"
diff --git a/dev-ros/voxel_grid/voxel_grid-1.16.3.ebuild b/dev-ros/voxel_grid/voxel_grid-1.16.6.ebuild
index 4e399db3ffc2..2a7672352f28 100644
--- a/dev-ros/voxel_grid/voxel_grid-1.16.3.ebuild
+++ b/dev-ros/voxel_grid/voxel_grid-1.16.6.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-planning/navigation"
 ROS_SUBDIR=${PN}
 KEYWORDS="~amd64 ~arm"
diff --git a/dev-ros/voxel_grid/voxel_grid-9999.ebuild b/dev-ros/voxel_grid/voxel_grid-9999.ebuild
index 619dcc5b0f7d..2a7672352f28 100644
--- a/dev-ros/voxel_grid/voxel_grid-9999.ebuild
+++ b/dev-ros/voxel_grid/voxel_grid-9999.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 ROS_REPO_URI="https://github.com/ros-planning/navigation"
 ROS_SUBDIR=${PN}
 KEYWORDS="~amd64 ~arm"
diff --git a/dev-ros/xacro/Manifest b/dev-ros/xacro/Manifest
index a8675b13f1cd..1d4d06a7d1d2 100644
--- a/dev-ros/xacro/Manifest
+++ b/dev-ros/xacro/Manifest
@@ -1,6 +1,4 @@
-DIST xacro-1.13.2.tar.gz 81163 BLAKE2B 3c4319ee0b0ad14f6310d8ce9ead7cf18c71285b5c601282b9951173eb2d7bbf0e9752d813b478bd340de29bacfd25e57166c018d7dd703377198773c3326203 SHA512 10a8498c48aa52b4b4930e2b59a3ad8be32b1b974ca5cb1c56f06ce5cb7866473a7f3d29cf37ffc0681c54f4377edcab327a302225429d32eb3cd26bdd322198
-DIST xacro-1.13.3.tar.gz 81173 BLAKE2B 19cbc50a9d57d41c1189e52c24dbc8bbf89b66a910ea646be44b6394c93961c87f0c697da1a1edd715809adf58db27a7e7b74101e005514844388cb57cb9920a SHA512 8ca12483d55d338289f42bfbaefcca8f4f95da3b884e29532c8a32f3d43f98d78150e4cc2683e6bd976d38d22ff37ffccdba0790b5a74b846a9068a7254bcc02
-EBUILD xacro-1.13.2.ebuild 494 BLAKE2B 7a6b16056e1fde6ecc980f7aa4319c0e1fc604e786a12d7700ca4fd239772bb7bc9b4255d57e5f6107ef41eb64d8c6cb9b2ca5da0c08e86a63f3fd72edc748aa SHA512 0dbe3e599a3a84b3fa810fdecbc63be4ac547a74dd74b19225c90513f6145c4f765b5474156d5402731773fc0d2984b1e8d0a7a7c3048eb976eb569d791f94b0
-EBUILD xacro-1.13.3.ebuild 491 BLAKE2B 63657342deb47d05f3af899cfdb93481fa0688b1b069dc0abcead6c9a340289ce731e6d3fcc7ed3304469a312d665ba890a0ca6707a44939404248a31bf49a99 SHA512 849a8d758025598a78d9e8e6d106b160782d33ac497c31a6ff0c0c76b974f68311d8729d2a8bc05270551ad2796ab036a788d371f807d926c064df84b2087f98
-EBUILD xacro-9999.ebuild 494 BLAKE2B 6d35cfe8f1b31cd28a38bc06c462267cdadc569afab8fea4234e79aa3aa273b3508058b159276ac44cebbe5fb55de4fbd9749f25aeee4c4705f05938f7118229 SHA512 8d869a3a6a2b070affb22353d619d4ca8fb00ad7a7c1ecee3c908d82580a9bc71fb9066171cf88a4098d17a0296c304d925919aa7af2618c7ab762ae90eb49a1
+DIST xacro-1.14.1.tar.gz 80879 BLAKE2B 6ce62c42e194d41bc2c0af322497f2ade2d4ac9e788cd15f3b7b6c976abae575b3bbb1224085d4e2d68cd10d3fbb665b9b333f91a38bdefe4a22f71d9270f005 SHA512 fb2272a4c4da47dcee26860ec94a5b4921401c6a4f0544181c7a9ae188c0cf6bb8ee2c0c0eb6e7fabd3f323c10d391dbafcc2b118384a32ecd18da6c8075ae10
+EBUILD xacro-1.14.1.ebuild 463 BLAKE2B b2a331233b1ad1ee58057838114e1285a5c7593e89b9646d91346132f6b9f3b3730518fe3fbd20dd45f767332fbca4acac2038d8a6672530a552f945959ec8ae SHA512 57e581c8615ad3f8e1cf90b1ecda1cdffb729ea228440338128bcce2aa827f77cdf9032e2842e01b11a2a8dfffa7fc585edae30c2452d6151f6e2a7b57ab4573
+EBUILD xacro-9999.ebuild 463 BLAKE2B b2a331233b1ad1ee58057838114e1285a5c7593e89b9646d91346132f6b9f3b3730518fe3fbd20dd45f767332fbca4acac2038d8a6672530a552f945959ec8ae SHA512 57e581c8615ad3f8e1cf90b1ecda1cdffb729ea228440338128bcce2aa827f77cdf9032e2842e01b11a2a8dfffa7fc585edae30c2452d6151f6e2a7b57ab4573
 MISC metadata.xml 323 BLAKE2B d43754a1147a95e3536569c858b3dafecbc9dd4ec06ef00d23d7948de3aaf40d15aabf502f6c1b5579c03139c06579517c86fddc6eaa61f970baf101d9fef68e SHA512 9c6fccac3f7ab699969eb90199aa9690d064f1d66cc003c157bf85bc3147ae42f1433ac1589f57ce5b05ebd78a44c7f1a92f99e3af29bdee58727c1a676afd37
diff --git a/dev-ros/xacro/xacro-1.13.2.ebuild b/dev-ros/xacro/xacro-1.13.2.ebuild
deleted file mode 100644
index a7b93c3df7f6..000000000000
--- a/dev-ros/xacro/xacro-1.13.2.ebuild
+++ /dev/null
@@ -1,22 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/ros/xacro"
-KEYWORDS="~amd64"
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="XML macro language"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-ros/roslint[${PYTHON_USEDEP}]"
-DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] dev-python/nose[${PYTHON_USEDEP}] )
-"
-RDEPEND="${RDEPEND}
-	dev-ros/roslaunch[${PYTHON_USEDEP}]"
diff --git a/dev-ros/xacro/xacro-1.13.3.ebuild b/dev-ros/xacro/xacro-1.14.1.ebuild
index f3ebf72d0a8a..e29730c0f573 100644
--- a/dev-ros/xacro/xacro-1.13.3.ebuild
+++ b/dev-ros/xacro/xacro-1.14.1.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2019 Gentoo Authors
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/xacro"
 KEYWORDS="~amd64"
-PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/xacro/xacro-9999.ebuild b/dev-ros/xacro/xacro-9999.ebuild
index 312243f6f193..e29730c0f573 100644
--- a/dev-ros/xacro/xacro-9999.ebuild
+++ b/dev-ros/xacro/xacro-9999.ebuild
@@ -1,11 +1,10 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/xacro"
 KEYWORDS="~amd64"
-PYTHON_COMPAT=( python2_7 )
 
 inherit ros-catkin
 
diff --git a/dev-ros/xmlrpcpp/Manifest b/dev-ros/xmlrpcpp/Manifest
index b1ce66bb68d5..5363a3a1037a 100644
--- a/dev-ros/xmlrpcpp/Manifest
+++ b/dev-ros/xmlrpcpp/Manifest
@@ -1,8 +1,4 @@
-DIST ros_comm-1.14.2.tar.gz 1044745 BLAKE2B 1a5d47a4c6682c7a629d9d84be121a5eafcfc16621dec9a9ab9b57c2c7f9070f0007e15492ee44d86e1879351fae20bb9a759093424dd22ae7d44ae0f28e00e1 SHA512 8cece09572dc6b94a42eb49537cbcddbb954f70df01dc7ac9bd8aba17f53207b86afd8ccff81d929eca33bb9642ad7c530835d3f43471de497611940edae4777
-DIST ros_comm-1.14.3.tar.gz 1045287 BLAKE2B c079983aa730e70028d1bf2c365d01d99ce09ced0c0f6443b18f9d0fb83715f6af4b313d6db4eb99dcc10052c81fa3e6560e7b3591b2fbe14b9ec20fac24babe SHA512 52df24f10f476697ee6fa340da354b45431f35018a25e2674dc9306f175929a4b0368753503ea143f87aeb4945a2e67c37f83d833f54b53f9a76a81022c280a3
 DIST ros_comm-1.15.4.tar.gz 1071246 BLAKE2B 57867c192bfd48f3a0534762808c668031081a6155510879e68f9618226b9c5eff0d5fc9ec0e7ec8d0cc1f0d74794a4e55151036275ae6fc5bb613cc42137ddc SHA512 f92233cbf5ee97832023545730d3e756dfa08507072c074ac3e0763db1c2c2ab9fcbb0c90995a0c5d43f0ddc2ee528c185173a664b19abe4f8159aa3f3cb20dc
-EBUILD xmlrpcpp-1.14.2.ebuild 372 BLAKE2B 8caf0ab6a8639e6dacde87df3fd5e236e43c27d0f419775f6689613d772b08d1019e23b62dd6580a09d22097c418b359462a507684163b7878b2e4d058c417ef SHA512 6509ebcf6deee98bbdaf1b82a95a137801c8dffe9e8fffed70533b78ee19941544432d770089130707747d93fd955fb035440354bf30938081afe9a97c53002c
-EBUILD xmlrpcpp-1.14.3.ebuild 372 BLAKE2B 8caf0ab6a8639e6dacde87df3fd5e236e43c27d0f419775f6689613d772b08d1019e23b62dd6580a09d22097c418b359462a507684163b7878b2e4d058c417ef SHA512 6509ebcf6deee98bbdaf1b82a95a137801c8dffe9e8fffed70533b78ee19941544432d770089130707747d93fd955fb035440354bf30938081afe9a97c53002c
-EBUILD xmlrpcpp-1.15.4.ebuild 369 BLAKE2B f409c970fe8f94a204e8e112584bd8757a0518a3cc263c1d0894c161514ee825d6fba27460ac4cc5b60482cb8300dd9cb7f9ca1e2388aa839373ae5309fa7671 SHA512 20e8450e09b1662c7bbf3180f00940e2db4881f984abe996bec80b9bf80f4957e33a56009a50b33134d3fe08e63dcad2c833abf48e09bf250b5e7e83ed63094e
-EBUILD xmlrpcpp-9999.ebuild 372 BLAKE2B a665b463f43367c765319e4a86d0027fabecb2ec7672f3fce55a3b593f875171eeef769bfbc70d3cfb701c035895ee1819b2b922b2e29c083085e43e491b2d2c SHA512 cd4b48ddd4741f7112ecc47ee4e6907ce1d7e67ab4d580b876f95229b325ce2fbbb466d764155cda81d99c9f22f05f2d0524a5ccf7c930a5cb57f0e8bf0b0791
+EBUILD xmlrpcpp-1.15.4.ebuild 369 BLAKE2B da4bf959669d93ae24d44dbb2cf6470d01c13e401cf592bcc800fddfca951e782af24233a6c0e034107d986d58c549d373f4422e36edc759dd1b11b2b982c3d0 SHA512 bbe65fcc0140d24d41a0d557e6d7402dc98ba2001820a99eeb44f108af452407a125a48b536151c69f917b71d30b59938e0f08dac42b566cb86425ab3787335c
+EBUILD xmlrpcpp-9999.ebuild 369 BLAKE2B da4bf959669d93ae24d44dbb2cf6470d01c13e401cf592bcc800fddfca951e782af24233a6c0e034107d986d58c549d373f4422e36edc759dd1b11b2b982c3d0 SHA512 bbe65fcc0140d24d41a0d557e6d7402dc98ba2001820a99eeb44f108af452407a125a48b536151c69f917b71d30b59938e0f08dac42b566cb86425ab3787335c
 MISC metadata.xml 326 BLAKE2B c8975866f4616482c71ac67084df89cea2643cc8233957c86450f7dba2ce320448e4e95fd1495c81717559d3fc5384dcc19f2182d3a348e4dcf2ea4d248e702e SHA512 6f647154c02825982d150588332801ad4c10c75cc5997b7825c0dd0381f48f6a3d09bf88346bc3e075891e77ca43a0a4c9f9c65962fd791085385c4229a1eb45
diff --git a/dev-ros/xmlrpcpp/xmlrpcpp-1.14.2.ebuild b/dev-ros/xmlrpcpp/xmlrpcpp-1.14.2.ebuild
deleted file mode 100644
index e20aad21511f..000000000000
--- a/dev-ros/xmlrpcpp/xmlrpcpp-1.14.2.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/ros/ros_comm"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=utilities/${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ implementation of the XML-RPC protocol"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-ros/cpp_common"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/xmlrpcpp/xmlrpcpp-1.14.3.ebuild b/dev-ros/xmlrpcpp/xmlrpcpp-1.14.3.ebuild
deleted file mode 100644
index e20aad21511f..000000000000
--- a/dev-ros/xmlrpcpp/xmlrpcpp-1.14.3.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2018 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-
-EAPI=5
-
-ROS_REPO_URI="https://github.com/ros/ros_comm"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=utilities/${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ implementation of the XML-RPC protocol"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-ros/cpp_common"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/xmlrpcpp/xmlrpcpp-1.15.4.ebuild b/dev-ros/xmlrpcpp/xmlrpcpp-1.15.4.ebuild
index 0e4f1eeed2e5..605e02ba7813 100644
--- a/dev-ros/xmlrpcpp/xmlrpcpp-1.15.4.ebuild
+++ b/dev-ros/xmlrpcpp/xmlrpcpp-1.15.4.ebuild
@@ -1,7 +1,7 @@
 # Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/ros_comm"
 KEYWORDS="~amd64 ~arm"
diff --git a/dev-ros/xmlrpcpp/xmlrpcpp-9999.ebuild b/dev-ros/xmlrpcpp/xmlrpcpp-9999.ebuild
index dcc5fc87cd25..605e02ba7813 100644
--- a/dev-ros/xmlrpcpp/xmlrpcpp-9999.ebuild
+++ b/dev-ros/xmlrpcpp/xmlrpcpp-9999.ebuild
@@ -1,7 +1,7 @@
-# Copyright 1999-2017 Gentoo Foundation
+# Copyright 1999-2020 Gentoo Authors
 # Distributed under the terms of the GNU General Public License v2
 
-EAPI=5
+EAPI=7
 
 ROS_REPO_URI="https://github.com/ros/ros_comm"
 KEYWORDS="~amd64 ~arm"
author	V3n3RiX <venerix@redcorelinux.org>	2020-05-30 11:44:06 +0100
committer	V3n3RiX <venerix@redcorelinux.org>	2020-05-30 11:44:06 +0100
commit	f516638b7fe9592837389826a6152a7e1b251c54 (patch)
tree	8bfecb640b7b6403d7a3d662d923eed630033da7 /dev-ros
parent	1a61119f9f7b057830e2ce0563f913ec86f282ad (diff)