Merge updates from master

83 files changed, 1278 insertions, 1650 deletions

diff --git a/dev-libs/sdformat/Manifest b/dev-libs/sdformat/Manifest
index db90c520d06f..ac8e6e02fb6a 100644
--- a/dev-libs/sdformat/Manifest
+++ b/dev-libs/sdformat/Manifest
@@ -1,2 +1 @@
-DIST sdformat-4.1.0.tar.bz2 455347 SHA256 0f63e446a29073affed2427214aa04d23c1cb8331cdd1bd7d48768d7eee5862a SHA512 ce9b89c39b636de12811181dd9f52a7e6ff3abd1ac3ca9195cd93dd2665eadd455a5e989c063046ea5c1db3eb1898017a2546189027ed93e240f1457b47cd604 WHIRLPOOL c55353b8531a787092ac5ad4d225a38fcc5a0825792422a44a8d81e8e69ec22e9cd6a05948e68ff5756df3691c0ee12d596ce577b66b52566713a6fc69a39107
 DIST sdformat-4.1.1.tar.bz2 443491 SHA256 e2656984ea0411f5132363c2722b1016524195853b05fdd99e9b7dd3fa4031b1 SHA512 c124d8d4cde4dddd289ce2a83708fe3c6db31df186697b9c8c9d7fbec136cbd8f0418576590897089288885688369dae3ecb0993d74a2228077c7928499bfb32 WHIRLPOOL 3f3ba54d5bda89da87d9d8ff254b153929dd900d7611f36d92e2c5ea930b96416ff7c41b303aa04fb43c464e21739ada48fbfa175ef6dacdb53dfb034ad5cd67
diff --git a/dev-libs/sdformat/files/urdfdom1.patch b/dev-libs/sdformat/files/urdfdom1.patch
new file mode 100644
index 000000000000..d76376aec016
--- /dev/null
+++ b/dev-libs/sdformat/files/urdfdom1.patch
@@ -0,0 +1,392 @@
+Index: sdformat-4.1.1/src/parser_urdf.cc
+===================================================================
+--- sdformat-4.1.1.orig/src/parser_urdf.cc
++++ sdformat-4.1.1/src/parser_urdf.cc
+@@ -25,6 +25,7 @@
+ #include "urdf_model/model.h"
+ #include "urdf_model/link.h"
+ #include "urdf_parser/urdf_parser.h"
++#include <urdf_model/utils.h>
+ 
+ #include "sdf/SDFExtension.hh"
+ #include "sdf/parser_urdf.hh"
+@@ -32,10 +33,10 @@
+ 
+ using namespace sdf;
+ 
+-typedef boost::shared_ptr<urdf::Collision> UrdfCollisionPtr;
+-typedef boost::shared_ptr<urdf::Visual> UrdfVisualPtr;
+-typedef boost::shared_ptr<urdf::Link> UrdfLinkPtr;
+-typedef boost::shared_ptr<const urdf::Link> ConstUrdfLinkPtr;
++typedef std::shared_ptr<urdf::Collision> UrdfCollisionPtr;
++typedef std::shared_ptr<urdf::Visual> UrdfVisualPtr;
++typedef std::shared_ptr<urdf::Link> UrdfLinkPtr;
++typedef std::shared_ptr<const urdf::Link> ConstUrdfLinkPtr;
+ typedef std::shared_ptr<TiXmlElement> TiXmlElementPtr;
+ typedef std::shared_ptr<SDFExtension> SDFExtensionPtr;
+ typedef std::map<std::string, std::vector<SDFExtensionPtr> >
+@@ -78,7 +79,7 @@ void InsertSDFExtensionJoint(TiXmlElemen
+ /// reduced fixed joints:  check if a fixed joint should be lumped
+ ///   checking both the joint type and if disabledFixedJointLumping
+ ///   option is set
+-bool FixedJointShouldBeReduced(boost::shared_ptr<urdf::Joint> _jnt);
++bool FixedJointShouldBeReduced(std::shared_ptr<urdf::Joint> _jnt);
+ 
+ /// reduced fixed joints:  apply transform reduction for ray sensors
+ ///   in extensions when doing fixed joint reduction
+@@ -217,9 +218,9 @@ std::string Values2str(unsigned int _cou
+ 
+ 
+ void CreateGeometry(TiXmlElement* _elem,
+-    boost::shared_ptr<urdf::Geometry> _geometry);
++    std::shared_ptr<urdf::Geometry> _geometry);
+ 
+-std::string GetGeometryBoundingBox(boost::shared_ptr<urdf::Geometry> _geometry,
++std::string GetGeometryBoundingBox(std::shared_ptr<urdf::Geometry> _geometry,
+     double *_sizeVals);
+ 
+ ignition::math::Pose3d inverseTransformToParentFrame(
+@@ -254,7 +255,7 @@ urdf::Vector3 ParseVector3(const std::st
+   std::vector<std::string> pieces;
+   std::vector<double> vals;
+ 
+-  boost::split(pieces, _str, boost::is_any_of(" "));
++  urdf::split_string(pieces, _str, " ");
+   for (unsigned int i = 0; i < pieces.size(); ++i)
+   {
+     if (pieces[i] != "")
+@@ -262,7 +263,7 @@ urdf::Vector3 ParseVector3(const std::st
+       try
+       {
+         vals.push_back(_scale
+-            * boost::lexical_cast<double>(pieces[i].c_str()));
++            * std::stod(pieces[i].c_str()));
+       }
+       catch(boost::bad_lexical_cast &)
+       {
+@@ -349,7 +350,7 @@ void ReduceCollisionToParent(UrdfLinkPtr
+     UrdfCollisionPtr _collision)
+ {
+ #ifndef URDF_GE_0P3
+-  boost::shared_ptr<std::vector<UrdfCollisionPtr> > cols;
++  std::shared_ptr<std::vector<UrdfCollisionPtr> > cols;
+   cols = _parentLink->getCollisions(_name);
+ 
+   if (!cols)
+@@ -427,7 +428,7 @@ void ReduceVisualToParent(UrdfLinkPtr _p
+     UrdfVisualPtr _visual)
+ {
+ #ifndef URDF_GE_0P3
+-  boost::shared_ptr<std::vector<UrdfVisualPtr> > viss;
++  std::shared_ptr<std::vector<UrdfVisualPtr> > viss;
+   viss = _parentLink->getVisuals(_name);
+ 
+   if (!viss)
+@@ -950,7 +951,7 @@ void ReduceVisualsToParent(UrdfLinkPtr _
+   // (original parent link name before lumping/reducing).
+ #ifndef URDF_GE_0P3
+   for (std::map<std::string,
+-      boost::shared_ptr<std::vector<UrdfVisualPtr> > >::iterator
++      std::shared_ptr<std::vector<UrdfVisualPtr> > >::iterator
+       visualsIt = _link->visual_groups.begin();
+       visualsIt != _link->visual_groups.end(); ++visualsIt)
+   {
+@@ -1057,7 +1058,7 @@ void ReduceCollisionsToParent(UrdfLinkPt
+   // (original parent link name before lumping/reducing).
+ #ifndef URDF_GE_0P3
+   for (std::map<std::string,
+-      boost::shared_ptr<std::vector<UrdfCollisionPtr> > >::iterator
++      std::shared_ptr<std::vector<UrdfCollisionPtr> > >::iterator
+       collisionsIt = _link->collision_groups.begin();
+       collisionsIt != _link->collision_groups.end(); ++collisionsIt)
+   {
+@@ -1160,7 +1161,7 @@ void ReduceJointsToParent(UrdfLinkPtr _l
+   // a parent link up stream that does not have a fixed parentJoint
+   for (unsigned int i = 0 ; i < _link->child_links.size() ; ++i)
+   {
+-    boost::shared_ptr<urdf::Joint> parentJoint =
++    std::shared_ptr<urdf::Joint> parentJoint =
+       _link->child_links[i]->parent_joint;
+     if (!FixedJointShouldBeReduced(parentJoint))
+     {
+@@ -1431,31 +1432,31 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
+       else if (childElem->ValueStr() == "dampingFactor")
+       {
+         sdf->isDampingFactor = true;
+-        sdf->dampingFactor = boost::lexical_cast<double>(
++        sdf->dampingFactor = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "maxVel")
+       {
+         sdf->isMaxVel = true;
+-        sdf->maxVel = boost::lexical_cast<double>(
++        sdf->maxVel = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "minDepth")
+       {
+         sdf->isMinDepth = true;
+-        sdf->minDepth = boost::lexical_cast<double>(
++        sdf->minDepth = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "mu1")
+       {
+         sdf->isMu1 = true;
+-        sdf->mu1 = boost::lexical_cast<double>(
++        sdf->mu1 = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "mu2")
+       {
+         sdf->isMu2 = true;
+-        sdf->mu2 = boost::lexical_cast<double>(
++        sdf->mu2 = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "fdir1")
+@@ -1465,13 +1466,13 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
+       else if (childElem->ValueStr() == "kp")
+       {
+         sdf->isKp = true;
+-        sdf->kp = boost::lexical_cast<double>(
++        sdf->kp = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "kd")
+       {
+         sdf->isKd = true;
+-        sdf->kd = boost::lexical_cast<double>(
++        sdf->kd = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "selfCollide")
+@@ -1488,13 +1489,13 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
+       else if (childElem->ValueStr() == "maxContacts")
+       {
+         sdf->isMaxContacts = true;
+-        sdf->maxContacts = boost::lexical_cast<int>(
++        sdf->maxContacts = std::stoi(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "laserRetro")
+       {
+         sdf->isLaserRetro = true;
+-        sdf->laserRetro = boost::lexical_cast<double>(
++        sdf->laserRetro = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "springReference")
+@@ -1510,37 +1511,37 @@ void URDF2SDF::ParseSDFExtension(TiXmlDo
+       else if (childElem->ValueStr() == "stopCfm")
+       {
+         sdf->isStopCfm = true;
+-        sdf->stopCfm = boost::lexical_cast<double>(
++        sdf->stopCfm = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "stopErp")
+       {
+         sdf->isStopErp = true;
+-        sdf->stopErp = boost::lexical_cast<double>(
++        sdf->stopErp = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "stopKp")
+       {
+         sdf->isStopKp = true;
+-        sdf->stopKp = boost::lexical_cast<double>(
++        sdf->stopKp = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "stopKd")
+       {
+         sdf->isStopKd = true;
+-        sdf->stopKd = boost::lexical_cast<double>(
++        sdf->stopKd = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "initialJointPosition")
+       {
+         sdf->isInitialJointPosition = true;
+-        sdf->initialJointPosition = boost::lexical_cast<double>(
++        sdf->initialJointPosition = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "fudgeFactor")
+       {
+         sdf->isFudgeFactor = true;
+-        sdf->fudgeFactor = boost::lexical_cast<double>(
++        sdf->fudgeFactor = std::stod(
+             GetKeyValueAsString(childElem).c_str());
+       }
+       else if (childElem->ValueStr() == "provideFeedback")
+@@ -1917,7 +1918,7 @@ void InsertSDFExtensionCollision(TiXmlEl
+           if ((*ge)->isMaxContacts)
+           {
+             AddKeyValue(_elem, "max_contacts",
+-                boost::lexical_cast<std::string>((*ge)->maxContacts));
++                std::to_string((*ge)->maxContacts));
+           }
+         }
+       }
+@@ -2339,7 +2340,7 @@ void InsertSDFExtensionRobot(TiXmlElemen
+ 
+ ////////////////////////////////////////////////////////////////////////////////
+ void CreateGeometry(TiXmlElement* _elem,
+-    boost::shared_ptr<urdf::Geometry> _geom)
++    std::shared_ptr<urdf::Geometry> _geom)
+ {
+   TiXmlElement *sdfGeometry = new TiXmlElement("geometry");
+ 
+@@ -2351,8 +2352,8 @@ void CreateGeometry(TiXmlElement* _elem,
+     case urdf::Geometry::BOX:
+       type = "box";
+       {
+-        boost::shared_ptr<const urdf::Box> box;
+-        box = boost::dynamic_pointer_cast< const urdf::Box >(_geom);
++        std::shared_ptr<const urdf::Box> box;
++        box = std::dynamic_pointer_cast< const urdf::Box >(_geom);
+         int sizeCount = 3;
+         double sizeVals[3];
+         sizeVals[0] = box->dim.x;
+@@ -2366,8 +2367,8 @@ void CreateGeometry(TiXmlElement* _elem,
+     case urdf::Geometry::CYLINDER:
+       type = "cylinder";
+       {
+-        boost::shared_ptr<const urdf::Cylinder> cylinder;
+-        cylinder = boost::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
++        std::shared_ptr<const urdf::Cylinder> cylinder;
++        cylinder = std::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
+         geometryType = new TiXmlElement(type);
+         AddKeyValue(geometryType, "length",
+             Values2str(1, &cylinder->length));
+@@ -2378,8 +2379,8 @@ void CreateGeometry(TiXmlElement* _elem,
+     case urdf::Geometry::SPHERE:
+       type = "sphere";
+       {
+-        boost::shared_ptr<const urdf::Sphere> sphere;
+-        sphere = boost::dynamic_pointer_cast<const urdf::Sphere >(_geom);
++        std::shared_ptr<const urdf::Sphere> sphere;
++        sphere = std::dynamic_pointer_cast<const urdf::Sphere >(_geom);
+         geometryType = new TiXmlElement(type);
+         AddKeyValue(geometryType, "radius",
+             Values2str(1, &sphere->radius));
+@@ -2388,8 +2389,8 @@ void CreateGeometry(TiXmlElement* _elem,
+     case urdf::Geometry::MESH:
+       type = "mesh";
+       {
+-        boost::shared_ptr<const urdf::Mesh> mesh;
+-        mesh = boost::dynamic_pointer_cast<const urdf::Mesh >(_geom);
++        std::shared_ptr<const urdf::Mesh> mesh;
++        mesh = std::dynamic_pointer_cast<const urdf::Mesh >(_geom);
+         geometryType = new TiXmlElement(type);
+         AddKeyValue(geometryType, "scale", Vector32Str(mesh->scale));
+         // do something more to meshes
+@@ -2451,7 +2452,7 @@ void CreateGeometry(TiXmlElement* _elem,
+ 
+ ////////////////////////////////////////////////////////////////////////////////
+ std::string GetGeometryBoundingBox(
+-    boost::shared_ptr<urdf::Geometry> _geom, double *_sizeVals)
++    std::shared_ptr<urdf::Geometry> _geom, double *_sizeVals)
+ {
+   std::string type;
+ 
+@@ -2460,8 +2461,8 @@ std::string GetGeometryBoundingBox(
+     case urdf::Geometry::BOX:
+       type = "box";
+       {
+-        boost::shared_ptr<const urdf::Box> box;
+-        box = boost::dynamic_pointer_cast<const urdf::Box >(_geom);
++        std::shared_ptr<const urdf::Box> box;
++        box = std::dynamic_pointer_cast<const urdf::Box >(_geom);
+         _sizeVals[0] = box->dim.x;
+         _sizeVals[1] = box->dim.y;
+         _sizeVals[2] = box->dim.z;
+@@ -2470,8 +2471,8 @@ std::string GetGeometryBoundingBox(
+     case urdf::Geometry::CYLINDER:
+       type = "cylinder";
+       {
+-        boost::shared_ptr<const urdf::Cylinder> cylinder;
+-        cylinder = boost::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
++        std::shared_ptr<const urdf::Cylinder> cylinder;
++        cylinder = std::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
+         _sizeVals[0] = cylinder->radius * 2;
+         _sizeVals[1] = cylinder->radius * 2;
+         _sizeVals[2] = cylinder->length;
+@@ -2480,16 +2481,16 @@ std::string GetGeometryBoundingBox(
+     case urdf::Geometry::SPHERE:
+       type = "sphere";
+       {
+-        boost::shared_ptr<const urdf::Sphere> sphere;
+-        sphere = boost::dynamic_pointer_cast<const urdf::Sphere >(_geom);
++        std::shared_ptr<const urdf::Sphere> sphere;
++        sphere = std::dynamic_pointer_cast<const urdf::Sphere >(_geom);
+         _sizeVals[0] = _sizeVals[1] = _sizeVals[2] = sphere->radius * 2;
+       }
+       break;
+     case urdf::Geometry::MESH:
+       type = "trimesh";
+       {
+-        boost::shared_ptr<const urdf::Mesh> mesh;
+-        mesh = boost::dynamic_pointer_cast<const urdf::Mesh >(_geom);
++        std::shared_ptr<const urdf::Mesh> mesh;
++        mesh = std::dynamic_pointer_cast<const urdf::Mesh >(_geom);
+         _sizeVals[0] = mesh->scale.x;
+         _sizeVals[1] = mesh->scale.y;
+         _sizeVals[2] = mesh->scale.z;
+@@ -2513,7 +2514,7 @@ void PrintCollisionGroups(UrdfLinkPtr _l
+     << static_cast<int>(_link->collision_groups.size())
+     << "] collisions.\n";
+   for (std::map<std::string,
+-      boost::shared_ptr<std::vector<UrdfCollisionPtr > > >::iterator
++      std::shared_ptr<std::vector<UrdfCollisionPtr > > >::iterator
+       colsIt = _link->collision_groups.begin();
+       colsIt != _link->collision_groups.end(); ++colsIt)
+   {
+@@ -2906,7 +2907,7 @@ void CreateCollisions(TiXmlElement* _ele
+   //   lumped meshes (fixed joint reduction)
+ #ifndef URDF_GE_0P3
+   for (std::map<std::string,
+-      boost::shared_ptr<std::vector<UrdfCollisionPtr> > >::const_iterator
++      std::shared_ptr<std::vector<UrdfCollisionPtr> > >::const_iterator
+       collisionsIt = _link->collision_groups.begin();
+       collisionsIt != _link->collision_groups.end(); ++collisionsIt)
+   {
+@@ -3028,7 +3029,7 @@ void CreateVisuals(TiXmlElement* _elem,
+   //   lumped meshes (fixed joint reduction)
+ #ifndef URDF_GE_0P3
+   for (std::map<std::string,
+-      boost::shared_ptr<std::vector<UrdfVisualPtr> > >::const_iterator
++      std::shared_ptr<std::vector<UrdfVisualPtr> > >::const_iterator
+       visualsIt = _link->visual_groups.begin();
+       visualsIt != _link->visual_groups.end(); ++visualsIt)
+   {
+@@ -3411,7 +3412,7 @@ TiXmlDocument URDF2SDF::InitModelString(
+   g_enforceLimits = _enforceLimits;
+ 
+   // Create a RobotModel from string
+-  boost::shared_ptr<urdf::ModelInterface> robotModel =
++  std::shared_ptr<urdf::ModelInterface> robotModel =
+     urdf::parseURDF(_urdfStr.c_str());
+ 
+   // an xml object to hold the xml result
+@@ -3453,7 +3454,7 @@ TiXmlDocument URDF2SDF::InitModelString(
+   // fixed joint lumping only for selected joints
+   if (g_reduceFixedJoints)
+     ReduceFixedJoints(robot,
+-        (boost::const_pointer_cast< urdf::Link >(rootLink)));
++        (std::const_pointer_cast< urdf::Link >(rootLink)));
+ 
+   if (rootLink->name == "world")
+   {
+@@ -3514,7 +3515,7 @@ TiXmlDocument URDF2SDF::InitModelFile(co
+ }
+ 
+ ////////////////////////////////////////////////////////////////////////////////
+-bool FixedJointShouldBeReduced(boost::shared_ptr<urdf::Joint> _jnt)
++bool FixedJointShouldBeReduced(std::shared_ptr<urdf::Joint> _jnt)
+ {
+     // A joint should be lumped only if its type is fixed and
+     // the disabledFixedJointLumping joint option is not set
diff --git a/dev-libs/sdformat/sdformat-4.1.0.ebuild b/dev-libs/sdformat/sdformat-4.1.0.ebuild
deleted file mode 100644
index e125dad08327..000000000000
--- a/dev-libs/sdformat/sdformat-4.1.0.ebuild
+++ /dev/null
@@ -1,39 +0,0 @@
-# Copyright 1999-2015 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-
-inherit cmake-utils
-
-DESCRIPTION="Simulation Description Format (SDF) parser"
-HOMEPAGE="http://sdformat.org/"
-SRC_URI="http://osrf-distributions.s3.amazonaws.com/sdformat/releases/${P}.tar.bz2"
-
-LICENSE="Apache-2.0"
-# subslot = libsdformat major
-SLOT="0/4"
-KEYWORDS="~amd64"
-IUSE=""
-
-RDEPEND="
-	dev-libs/urdfdom
-	dev-libs/tinyxml
-	dev-libs/boost:=
-	sci-libs/ignition-math:2=
-"
-DEPEND="${RDEPEND}
-	dev-lang/ruby:*
-	virtual/pkgconfig
-"
-CMAKE_BUILD_TYPE=RelWithDebInfo
-
-src_configure() {
-	echo "set (CMAKE_C_FLAGS_ALL \"${CXXFLAGS} \${CMAKE_C_FLAGS_ALL}\")" > "${S}/cmake/HostCFlags.cmake"
-	sed -i -e "s/LINK_FLAGS_RELWITHDEBINFO \" \"/LINK_FLAGS_RELWITHDEBINFO \" ${LDFLAGS} \"/" cmake/DefaultCFlags.cmake || die
-	local mycmakeargs=(
-		"-DUSE_EXTERNAL_URDF=ON"
-		"-DUSE_EXTERNAL_TINYXML=ON"
-	)
-	cmake-utils_src_configure
-}
diff --git a/dev-libs/sdformat/sdformat-4.1.1.ebuild b/dev-libs/sdformat/sdformat-4.1.1-r1.ebuild
index 68dededeaf85..66bc9be6c0f8 100644
--- a/dev-libs/sdformat/sdformat-4.1.1.ebuild
+++ b/dev-libs/sdformat/sdformat-4.1.1-r1.ebuild
@@ -17,7 +17,7 @@ KEYWORDS="~amd64"
 IUSE=""
 
 RDEPEND="
-	dev-libs/urdfdom
+	>=dev-libs/urdfdom-1:=
 	dev-libs/tinyxml
 	dev-libs/boost:=
 	sci-libs/ignition-math:2=
@@ -27,6 +27,7 @@ DEPEND="${RDEPEND}
 	virtual/pkgconfig
 "
 CMAKE_BUILD_TYPE=RelWithDebInfo
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
 
 src_configure() {
 	echo "set (CMAKE_C_FLAGS_ALL \"${CXXFLAGS} \${CMAKE_C_FLAGS_ALL}\")" > "${S}/cmake/HostCFlags.cmake"
diff --git a/dev-libs/urdfdom/Manifest b/dev-libs/urdfdom/Manifest
index 7cdb4d192840..0a6fd5388903 100644
--- a/dev-libs/urdfdom/Manifest
+++ b/dev-libs/urdfdom/Manifest
@@ -1,3 +1,2 @@
-DIST urdfdom-0.3.0.tar.gz 58477 SHA256 2e3f14bdb47e237f2ba75fc9e26008a133210c15b52f73c9112adeb0b0d1da6c SHA512 ce49dca7963d7301cd1aae58fff9fb4341144ecba9b7ce2efa74ee98424bd7fde6e891331944b7cd008bb974cb19df3eee0f88a77dad09fb72feb63b45bbc6d3 WHIRLPOOL 5c847cbb0bf28ed39f8fa0cfbe27246d863085b761a032764e570dac012ebc27ee2d175a1e599e5fc7495d14768b42a3dd82aeab7f513b1ff62d23e5f50509ef
-DIST urdfdom-0.4.1.tar.gz 62609 SHA256 6552e2b6de63b0ff7300909fa69d9bab18381b6184a05dc2fe744b2334a9fde5 SHA512 4718f93b6a17d52c377757deda34cdac2cd462fc820e188c1d649e7397a17f1df424e2ef40134f3f313066d7b005681e44f6ec7142c7c56f08660d622209e255 WHIRLPOOL b3d498ae7b24e9411d287163f7d08d8c94785682ee317844130d0624a673d887b00a9b467e68a464b60d3c161ea8434ad7e729ac676de7b3cb28a8f34fa47555
 DIST urdfdom-0.4.2.tar.gz 24893 SHA256 ed1b72830b05868514f92324846dbb7de79df661e20cd7d937af8a069a1a7e20 SHA512 96bcc8c660fbf5a2f1be7b9586136b26a721c72ccc532ad15104b3283ac125ab0d021d4b723fb72f996adacf84fbfff8b2f18619e403ac0fed4a8bad0d237394 WHIRLPOOL c54cdcea1d6238c81fb4269b65eb8f066aee2435923717879b17be747615c0d08be9639466f1480d47347b46a958fec84d42752956a833ab48caf2661e79503d
+DIST urdfdom-1.0.0.tar.gz 250016 SHA256 243ea925d434ebde0f9dee35ee5615ecc2c16151834713a01f85b97ac25991e1 SHA512 50a218e596bcc0cecff904db2fa626bebc3902c4fe1f5ff8e08195e462b4d9a8c416a41f4773cabbcc71490060d3feff7e8528a76b824569dc7fdb0bda01ec3f WHIRLPOOL 097bb7a0c3391df88e428344231a49fd8cb696073d8c690ff692fef91196fa56cdd7e0645560d85dde33d786d67e7562a7b6960d99e8b400d5cb7a1c32213a75
diff --git a/dev-libs/urdfdom/metadata.xml b/dev-libs/urdfdom/metadata.xml
index 90ef4af18e51..763be347f9d6 100644
--- a/dev-libs/urdfdom/metadata.xml
+++ b/dev-libs/urdfdom/metadata.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE pkgmetadata SYSTEM "http://www.gentoo.org/dtd/metadata.dtd">
 <pkgmetadata>
-  <maintainer type="person">
-    <email>aballier@gentoo.org</email>
-    <name>Alexis Ballier</name>
+  <maintainer type="project">
+    <email>ros@gentoo.org</email>
+    <name>Gentoo ROS Project</name>
   </maintainer>
   <upstream>
     <remote-id type="github">ros/urdfdom</remote-id>
diff --git a/dev-libs/urdfdom/urdfdom-0.3.0.ebuild b/dev-libs/urdfdom/urdfdom-0.3.0.ebuild
deleted file mode 100644
index 763b5ca63bf7..000000000000
--- a/dev-libs/urdfdom/urdfdom-0.3.0.ebuild
+++ /dev/null
@@ -1,69 +0,0 @@
-# Copyright 1999-2015 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-
-SCM=""
-if [ "${PV#9999}" != "${PV}" ] ; then
-	SCM="git-r3"
-	EGIT_REPO_URI="https://github.com/ros/urdfdom"
-fi
-
-PYTHON_COMPAT=( python2_7 )
-
-inherit ${SCM} distutils-r1 cmake-utils
-
-if [ "${PV#9999}" != "${PV}" ] ; then
-	KEYWORDS=""
-	SRC_URI=""
-else
-	KEYWORDS="~amd64 ~arm"
-	SRC_URI="https://github.com/ros/urdfdom/archive/${PV}.tar.gz -> ${P}.tar.gz"
-fi
-
-DESCRIPTION="URDF (U-Robot Description Format) library"
-HOMEPAGE="http://ros.org/wiki/urdf"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-libs/urdfdom_headers
-	dev-libs/console_bridge
-	dev-libs/tinyxml
-	dev-libs/boost:=[threads]"
-DEPEND="${RDEPEND}"
-
-PY_S="${S}/urdf_parser_py"
-
-src_prepare() {
-	sed -i -e 's/set(CMAKE_INSTALL_LIBDIR/#/' CMakeLists.txt || die
-	cmake-utils_src_prepare
-	cd "${PY_S}"
-	S="${PY_S}" distutils-r1_src_prepare
-}
-
-src_configure() {
-	local mycmakeargs=( "-DPYTHON=FALSE" )
-	cmake-utils_src_configure
-	cd "${PY_S}"
-	S="${PY_S}" distutils-r1_src_configure
-}
-
-src_compile() {
-	cmake-utils_src_compile
-	cd "${PY_S}"
-	S="${PY_S}" distutils-r1_src_compile
-}
-
-src_test() {
-	cmake-utils_src_test
-	cd "${PY_S}"
-	S="${PY_S}" distutils-r1_src_test
-}
-
-src_install() {
-	cmake-utils_src_install
-	cd "${PY_S}"
-	S="${PY_S}" distutils-r1_src_install
-}
diff --git a/dev-libs/urdfdom/urdfdom-0.4.1.ebuild b/dev-libs/urdfdom/urdfdom-0.4.1.ebuild
deleted file mode 100644
index 763b5ca63bf7..000000000000
--- a/dev-libs/urdfdom/urdfdom-0.4.1.ebuild
+++ /dev/null
@@ -1,69 +0,0 @@
-# Copyright 1999-2015 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-
-SCM=""
-if [ "${PV#9999}" != "${PV}" ] ; then
-	SCM="git-r3"
-	EGIT_REPO_URI="https://github.com/ros/urdfdom"
-fi
-
-PYTHON_COMPAT=( python2_7 )
-
-inherit ${SCM} distutils-r1 cmake-utils
-
-if [ "${PV#9999}" != "${PV}" ] ; then
-	KEYWORDS=""
-	SRC_URI=""
-else
-	KEYWORDS="~amd64 ~arm"
-	SRC_URI="https://github.com/ros/urdfdom/archive/${PV}.tar.gz -> ${P}.tar.gz"
-fi
-
-DESCRIPTION="URDF (U-Robot Description Format) library"
-HOMEPAGE="http://ros.org/wiki/urdf"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-libs/urdfdom_headers
-	dev-libs/console_bridge
-	dev-libs/tinyxml
-	dev-libs/boost:=[threads]"
-DEPEND="${RDEPEND}"
-
-PY_S="${S}/urdf_parser_py"
-
-src_prepare() {
-	sed -i -e 's/set(CMAKE_INSTALL_LIBDIR/#/' CMakeLists.txt || die
-	cmake-utils_src_prepare
-	cd "${PY_S}"
-	S="${PY_S}" distutils-r1_src_prepare
-}
-
-src_configure() {
-	local mycmakeargs=( "-DPYTHON=FALSE" )
-	cmake-utils_src_configure
-	cd "${PY_S}"
-	S="${PY_S}" distutils-r1_src_configure
-}
-
-src_compile() {
-	cmake-utils_src_compile
-	cd "${PY_S}"
-	S="${PY_S}" distutils-r1_src_compile
-}
-
-src_test() {
-	cmake-utils_src_test
-	cd "${PY_S}"
-	S="${PY_S}" distutils-r1_src_test
-}
-
-src_install() {
-	cmake-utils_src_install
-	cd "${PY_S}"
-	S="${PY_S}" distutils-r1_src_install
-}
diff --git a/dev-libs/urdfdom/urdfdom-1.0.0.ebuild b/dev-libs/urdfdom/urdfdom-1.0.0.ebuild
new file mode 100644
index 000000000000..7bac4aa9496a
--- /dev/null
+++ b/dev-libs/urdfdom/urdfdom-1.0.0.ebuild
@@ -0,0 +1,38 @@
+# Copyright 1999-2016 Gentoo Foundation
+# Distributed under the terms of the GNU General Public License v2
+# $Id$
+
+EAPI=5
+
+SCM=""
+if [ "${PV#9999}" != "${PV}" ] ; then
+	SCM="git-r3"
+	EGIT_REPO_URI="https://github.com/ros/urdfdom"
+fi
+
+inherit ${SCM} cmake-utils
+
+if [ "${PV#9999}" != "${PV}" ] ; then
+	KEYWORDS=""
+	SRC_URI=""
+else
+	KEYWORDS="~amd64 ~arm"
+	SRC_URI="https://github.com/ros/urdfdom/archive/${PV}.tar.gz -> ${P}.tar.gz"
+fi
+
+DESCRIPTION="URDF (U-Robot Description Format) library"
+HOMEPAGE="http://ros.org/wiki/urdf"
+LICENSE="BSD"
+SLOT="0/1"
+IUSE=""
+
+RDEPEND=">=dev-libs/urdfdom_headers-1.0.0
+	>=dev-libs/console_bridge-0.3
+	dev-libs/tinyxml
+	dev-libs/boost:=[threads]"
+DEPEND="${RDEPEND}"
+
+src_prepare() {
+	sed -i -e 's/set(CMAKE_INSTALL_LIBDIR/#/' CMakeLists.txt || die
+	cmake-utils_src_prepare
+}
diff --git a/dev-libs/urdfdom/urdfdom-9999.ebuild b/dev-libs/urdfdom/urdfdom-9999.ebuild
index da86cd0408a2..7bac4aa9496a 100644
--- a/dev-libs/urdfdom/urdfdom-9999.ebuild
+++ b/dev-libs/urdfdom/urdfdom-9999.ebuild
@@ -23,10 +23,10 @@ fi
 DESCRIPTION="URDF (U-Robot Description Format) library"
 HOMEPAGE="http://ros.org/wiki/urdf"
 LICENSE="BSD"
-SLOT="0"
+SLOT="0/1"
 IUSE=""
 
-RDEPEND="dev-libs/urdfdom_headers
+RDEPEND=">=dev-libs/urdfdom_headers-1.0.0
 	>=dev-libs/console_bridge-0.3
 	dev-libs/tinyxml
 	dev-libs/boost:=[threads]"
diff --git a/dev-libs/urdfdom_headers/Manifest b/dev-libs/urdfdom_headers/Manifest
index 5b5216ce57cf..d81c856e7089 100644
--- a/dev-libs/urdfdom_headers/Manifest
+++ b/dev-libs/urdfdom_headers/Manifest
@@ -1,4 +1,2 @@
-DIST urdfdom_headers-0.3.0.tar.gz 9931 SHA256 f059350cd85fc3b8394ed0c3bd0d4b8d14fa9c8edd09c3ee01881b4711843087 SHA512 249ea2a2cb8196eb14e005f32a3376585a5a25d599ff041b562500e2e9f17a988a8cd0dfd575853e1cfc7ca736882e856998718b702b8d0be0fc4a011d8d9dd9 WHIRLPOOL 9f7919fb1b56eedfafa8b474e2c990349f070cee10d7e48f66d5e02246583915804d5ab0c60ea98a3013b8adaabb3e0f33e814a0d79e86c2e4ced0a06e2115d8
-DIST urdfdom_headers-0.4.0.tar.gz 11488 SHA256 01fec111f91805eb5bcbbee56b5da7413de7a7485ad4c63ea51614ebdfc25eca SHA512 c04807d52a252c5def9d1a8dbc23dc694e432b7f777607a79de1aa74d66a20c19b5cce911051de734d21e08daa925ceaf4272a6504bf39bc2289eeda60e7f5e6 WHIRLPOOL 9fa094be524a0f7c9e76d2946e9321effd3058b11221c4b8a389ab30bb18ac63f2336b247c3d4563ddcd92e48b9f5d6add7805ae57ee9f0d726d8a4b87e58e20
-DIST urdfdom_headers-0.4.1.tar.gz 11473 SHA256 e210f9234af47bfc9fa4bb17d004fb3eac4513dcdfe639fb7b1c2db6408c8cd8 SHA512 cf123fb842159fbfae1083a770b6229063c6444712c686e7e461020c8efcd43e076c6db1d2035a26e5842a66dc17d4d6d2416c7c01772c890a9b75f50977b7f2 WHIRLPOOL 92a4239c532e32df1c7e7a264759b423ed2da55d1c8e5105933bd2f4b46f6c0cf31b9dfe1f7aeedc72b77bccc20341976a01d587940c6285900d5dc427b07e85
 DIST urdfdom_headers-0.4.2.tar.gz 11498 SHA256 3ecd6026a8eae494366ea6f8280988c232aa3e300c89e4a5971856d8258a171f SHA512 e54019c829a033a9504cfef315a957d45cbdb384fe817dc721ff68cb70e30befb835a6575a5ab870a93ff5503783770cf01e0b5b067ef3decf1dfa3020dc14ea WHIRLPOOL e5bf9cc8ef69c588fcbafd02d5f866af2a79ef2ffccc4fcefaad2c2bee190474e0f1f7b14792dbf52560bdfcc17e26eb5d27e4a207279e3078b4051d89b63d5e
+DIST urdfdom_headers-1.0.0.tar.gz 11794 SHA256 f341e9956d53dc7e713c577eb9a8a7ee4139c8b6f529ce0a501270a851673001 SHA512 b1f63c1a13f062c987d6be4fcea5eea903577a710d44fdce077722b70d72eb65a265131beac1fdeba576bde189ebf51ac0eb19b2b06a34b0f9fb9dcbd437291a WHIRLPOOL e7117221027667bf05083d2362332132bc307791e03c3a8da4a2fed49f7753ffd9cfe1539cc8244ce479f0dc097646720f90028d13182c77aa387d732a2e187a
diff --git a/dev-libs/urdfdom_headers/urdfdom_headers-0.3.0.ebuild b/dev-libs/urdfdom_headers/urdfdom_headers-0.3.0.ebuild
deleted file mode 100644
index 956b287f7714..000000000000
--- a/dev-libs/urdfdom_headers/urdfdom_headers-0.3.0.ebuild
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 1999-2015 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-
-SCM=""
-if [ "${PV#9999}" != "${PV}" ] ; then
-	SCM="git-r3"
-	EGIT_REPO_URI="https://github.com/ros/urdfdom_headers"
-fi
-
-inherit ${SCM} cmake-utils
-
-if [ "${PV#9999}" != "${PV}" ] ; then
-	KEYWORDS=""
-	SRC_URI=""
-else
-	KEYWORDS="~amd64 ~arm"
-	SRC_URI="https://github.com/ros/urdfdom_headers/archive/${PV}.tar.gz -> ${P}.tar.gz"
-fi
-
-DESCRIPTION="URDF (U-Robot Description Format) headers"
-HOMEPAGE="http://ros.org/wiki/urdf"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-DEPEND=""
-RDEPEND="${DEPEND}"
diff --git a/dev-libs/urdfdom_headers/urdfdom_headers-0.4.0.ebuild b/dev-libs/urdfdom_headers/urdfdom_headers-0.4.0.ebuild
deleted file mode 100644
index 956b287f7714..000000000000
--- a/dev-libs/urdfdom_headers/urdfdom_headers-0.4.0.ebuild
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 1999-2015 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-
-SCM=""
-if [ "${PV#9999}" != "${PV}" ] ; then
-	SCM="git-r3"
-	EGIT_REPO_URI="https://github.com/ros/urdfdom_headers"
-fi
-
-inherit ${SCM} cmake-utils
-
-if [ "${PV#9999}" != "${PV}" ] ; then
-	KEYWORDS=""
-	SRC_URI=""
-else
-	KEYWORDS="~amd64 ~arm"
-	SRC_URI="https://github.com/ros/urdfdom_headers/archive/${PV}.tar.gz -> ${P}.tar.gz"
-fi
-
-DESCRIPTION="URDF (U-Robot Description Format) headers"
-HOMEPAGE="http://ros.org/wiki/urdf"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-DEPEND=""
-RDEPEND="${DEPEND}"
diff --git a/dev-libs/urdfdom_headers/urdfdom_headers-0.4.1.ebuild b/dev-libs/urdfdom_headers/urdfdom_headers-1.0.0.ebuild
index 956b287f7714..cbca5d764fee 100644
--- a/dev-libs/urdfdom_headers/urdfdom_headers-0.4.1.ebuild
+++ b/dev-libs/urdfdom_headers/urdfdom_headers-1.0.0.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2015 Gentoo Foundation
+# Copyright 1999-2016 Gentoo Foundation
 # Distributed under the terms of the GNU General Public License v2
 # $Id$
 
diff --git a/dev-ros/collada_parser/Manifest b/dev-ros/collada_parser/Manifest
index 4943c9c4053e..e1808ab34552 100644
--- a/dev-ros/collada_parser/Manifest
+++ b/dev-ros/collada_parser/Manifest
@@ -1,6 +1 @@
-DIST robot_model-1.11.10.tar.gz 1292754 SHA256 a43a17e8f19a41fba5660f94eb40e89f2b3fecab81fe8b54f657d430dd936cd4 SHA512 95770807d22de4581a87e7297fc9f9e0e781ad2a8f273a3f4781ac2864f53b73b408dde9c696aa934bab1dada5bac396a8c65d62e4a941884cc9966c680da4a8 WHIRLPOOL c41f637723ac00331abf0d52d9b6d6546205d25e0adc972b4cc793ce4a9351e0246bf42d59a5755532ca54bdc186b6055b2412777601bcbfc09d1399a0b46292
-DIST robot_model-1.11.8.tar.gz 364741 SHA256 781a0510136a820d217862f7491183b3deeadaf18aa0fabeb28d79e365510e12 SHA512 65471bb58c7383987f587a61f9e32fbd991c4eb26f1d5a819db8a5f456def7566ab9d16ab343a885fba73e0a017f5729815501356ef85b6aff0b4f0544a41212 WHIRLPOOL 95a9e654c1e7324593d2671a37b4c16aeee373450d5cb52508435b643c80c72c7263506914459c3c320af47355129dc0e906cdfb30d0e3bda1fd418e016e3a39
-DIST robot_model-1.11.9.tar.gz 1292675 SHA256 145d43c32cb93888f8555bdcbce48ea417515fb17dbd2445fa1ed7ac32e2399b SHA512 10afe675739746ba313d5c3b4758940c9896bd96fbd3b81fb4809d18cf39d49b36e9b24b28af38f700a65c7c2fb572186dc3920ab2cbd190cc79b485c54eb78d WHIRLPOOL cc176a18819258d6c2af33024b1f92e301f656949d0073f90659b22dd7532708b65b1fefaa3d684bf0f425acb66225eb25bc96bf6272bacbd733451e7e549ec5
-DIST robot_model-1.12.0.tar.gz 1292282 SHA256 942edd173fde0efd3c7dab03a30cc1b96b9aa513ed914f00b45f603476ec46fe SHA512 6faf6219788d6cbd6765ff1cb55e7cbc1f3bc414f3f83ac0d46ff7a8617cfe477871104eef846c9a47ffb09c69a948d080e199d455d1269fe043ed11a7d1e335 WHIRLPOOL c487eaea77598b8663d3239142864da9b2dd02d8f6ec321e9beb88ec31fa03d90d77e1fcd7bc0ea7b9afda168a4c46ee4f27b4f8867e70ef9f7ab3d3e00a9e3e
-DIST robot_model-1.12.2.tar.gz 1291779 SHA256 49543ae6f31a2e0f02730e00b926a1a0d3b7e97aa98e1ce27ff3bfd1114806f9 SHA512 39c7c893047ea5e21e9598e3e0b8ca3d2f8a256d1d06ddf419f953bffafb73199f8865f872416ec9c0570cf6cad180d5e1498af13033d1c42b54a640b14e9020 WHIRLPOOL 08b387d4aeca0f97315ad33f2f3efc7ac2323a05ca7ea3cb9e3bd36be858be454882508553a9bd4ad42d0650e43d31fd4e90800fff719877172f5ffc7efd5048
 DIST robot_model-1.12.3.tar.gz 1292139 SHA256 4b2bf070e4d07450fd9977a62c260e8abb40645ff9fcf5f5781f505a8b61b194 SHA512 eae18db87bdd7fc867868493f54f1812358f1a301c88fc7eae611fa75bc2418165b5cb2f5c5839f3cb644d4c1f560f85d84b635ffbecaa631c78a3176d1fb6db WHIRLPOOL c555faee5282942db894866a08aa3a675c6db618fce2acdd1f67d622cf1c0a8e5747f5f9a5217b4fc83997f9bb9125f1c7f2ca6b77e9fd75244f121b48a77f66
diff --git a/dev-ros/collada_parser/collada_parser-1.11.10.ebuild b/dev-ros/collada_parser/collada_parser-1.11.10.ebuild
deleted file mode 100644
index 4661ff2a6689..000000000000
--- a/dev-ros/collada_parser/collada_parser-1.11.10.ebuild
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ parser for the Collada robot description format"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/urdf_parser_plugin
-	dev-ros/roscpp
-	dev-ros/class_loader
-	dev-libs/urdfdom_headers
-	dev-libs/collada-dom
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/collada_parser/collada_parser-1.11.8.ebuild b/dev-ros/collada_parser/collada_parser-1.11.8.ebuild
deleted file mode 100644
index 4661ff2a6689..000000000000
--- a/dev-ros/collada_parser/collada_parser-1.11.8.ebuild
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ parser for the Collada robot description format"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/urdf_parser_plugin
-	dev-ros/roscpp
-	dev-ros/class_loader
-	dev-libs/urdfdom_headers
-	dev-libs/collada-dom
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/collada_parser/collada_parser-1.11.9.ebuild b/dev-ros/collada_parser/collada_parser-1.11.9.ebuild
deleted file mode 100644
index 4661ff2a6689..000000000000
--- a/dev-ros/collada_parser/collada_parser-1.11.9.ebuild
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ parser for the Collada robot description format"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/urdf_parser_plugin
-	dev-ros/roscpp
-	dev-ros/class_loader
-	dev-libs/urdfdom_headers
-	dev-libs/collada-dom
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/collada_parser/collada_parser-1.12.0.ebuild b/dev-ros/collada_parser/collada_parser-1.12.0.ebuild
deleted file mode 100644
index 4661ff2a6689..000000000000
--- a/dev-ros/collada_parser/collada_parser-1.12.0.ebuild
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ parser for the Collada robot description format"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/urdf_parser_plugin
-	dev-ros/roscpp
-	dev-ros/class_loader
-	dev-libs/urdfdom_headers
-	dev-libs/collada-dom
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/collada_parser/collada_parser-1.12.2.ebuild b/dev-ros/collada_parser/collada_parser-1.12.2.ebuild
deleted file mode 100644
index 4661ff2a6689..000000000000
--- a/dev-ros/collada_parser/collada_parser-1.12.2.ebuild
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ parser for the Collada robot description format"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/urdf_parser_plugin
-	dev-ros/roscpp
-	dev-ros/class_loader
-	dev-libs/urdfdom_headers
-	dev-libs/collada-dom
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/collada_parser/collada_parser-1.12.3.ebuild b/dev-ros/collada_parser/collada_parser-1.12.3-r1.ebuild
index bdf3b898aca6..88716c5be513 100644
--- a/dev-ros/collada_parser/collada_parser-1.12.3.ebuild
+++ b/dev-ros/collada_parser/collada_parser-1.12.3-r1.ebuild
@@ -7,7 +7,7 @@ ROS_REPO_URI="https://github.com/ros/robot_model"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
 
-inherit ros-catkin
+inherit ros-catkin flag-o-matic
 
 DESCRIPTION="C++ parser for the Collada robot description format"
 LICENSE="BSD"
@@ -16,10 +16,16 @@ IUSE=""
 
 RDEPEND="
 	dev-libs/boost:=
-	dev-ros/urdf_parser_plugin
+	>=dev-ros/urdf_parser_plugin-1.12.3-r1
 	dev-ros/roscpp
 	dev-ros/class_loader
 	dev-libs/urdfdom_headers
 	dev-libs/collada-dom
 "
 DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
+
+src_configure() {
+	append-cxxflags -std=gnu++11
+	ros-catkin_src_configure
+}
diff --git a/dev-ros/collada_parser/files/urdfdom1.patch b/dev-ros/collada_parser/files/urdfdom1.patch
new file mode 100644
index 000000000000..139137256a8a
--- /dev/null
+++ b/dev-ros/collada_parser/files/urdfdom1.patch
@@ -0,0 +1,224 @@
+Index: collada_parser/include/collada_parser/collada_parser.h
+===================================================================
+--- collada_parser.orig/include/collada_parser/collada_parser.h
++++ collada_parser/include/collada_parser/collada_parser.h
+@@ -47,7 +47,7 @@
+ namespace urdf {
+ 
+ /// \brief Load Model from string
+-boost::shared_ptr<ModelInterface> parseCollada(const std::string &xml_string );
++std::shared_ptr<ModelInterface> parseCollada(const std::string &xml_string );
+ 
+ }
+ 
+Index: collada_parser/include/collada_parser/collada_parser_plugin.h
+===================================================================
+--- collada_parser.orig/include/collada_parser/collada_parser_plugin.h
++++ collada_parser/include/collada_parser/collada_parser_plugin.h
+@@ -46,7 +46,7 @@ class ColladaURDFParser : public URDFPar
+ {
+ public:
+ 
+-  virtual boost::shared_ptr<ModelInterface> parse(const std::string &xml_string);    
++  virtual std::shared_ptr<ModelInterface> parse(const std::string &xml_string);    
+ };
+ 
+ }
+Index: collada_parser/src/collada_parser.cpp
+===================================================================
+--- collada_parser.orig/src/collada_parser.cpp
++++ collada_parser/src/collada_parser.cpp
+@@ -176,7 +176,7 @@ public:
+         USERDATA(double scale) : scale(scale) {
+         }
+         double scale;
+-        boost::shared_ptr<void> p; ///< custom managed data
++        std::shared_ptr<void> p; ///< custom managed data
+     };
+ 
+     enum GeomType {
+@@ -409,7 +409,7 @@ public:
+     };
+ 
+ public:
+-    ColladaModelReader(boost::shared_ptr<ModelInterface> model) : _dom(NULL), _nGlobalSensorId(0), _nGlobalManipulatorId(0), _model(model) {
++    ColladaModelReader(std::shared_ptr<ModelInterface> model) : _dom(NULL), _nGlobalSensorId(0), _nGlobalManipulatorId(0), _model(model) {
+         daeErrorHandler::setErrorHandler(this);
+         _resourcedir = ".";
+     }
+@@ -715,7 +715,7 @@ protected:
+             }
+ 
+             // find the target joint
+-            boost::shared_ptr<Joint> pjoint = _getJointFromRef(pf->getTarget()->getParam()->getValue(),pf);
++            std::shared_ptr<Joint> pjoint = _getJointFromRef(pf->getTarget()->getParam()->getValue(),pf);
+             if (!pjoint) {
+                 continue;
+             }
+@@ -785,7 +785,7 @@ protected:
+                     }
+                     BOOST_ASSERT(psymboljoint->hasAttribute("encoding"));
+                     BOOST_ASSERT(psymboljoint->getAttribute("encoding")==std::string("COLLADA"));
+-                    boost::shared_ptr<Joint> pbasejoint = _getJointFromRef(psymboljoint->getCharData().c_str(),pf);
++                    std::shared_ptr<Joint> pbasejoint = _getJointFromRef(psymboljoint->getCharData().c_str(),pf);
+                     if( !!pbasejoint ) {
+                         // set the mimic properties
+                         pjoint->mimic.reset(new JointMimic());
+@@ -801,7 +801,7 @@ protected:
+     }
+ 
+     ///  \brief Extract Link info and add it to an existing body
+-    boost::shared_ptr<Link> _ExtractLink(const domLinkRef pdomlink,const domNodeRef pdomnode, const Pose& tParentWorldLink, const Pose& tParentLink, const std::vector<domJointRef>& vdomjoints, const KinematicsSceneBindings& bindings) {
++    std::shared_ptr<Link> _ExtractLink(const domLinkRef pdomlink,const domNodeRef pdomnode, const Pose& tParentWorldLink, const Pose& tParentLink, const std::vector<domJointRef>& vdomjoints, const KinematicsSceneBindings& bindings) {
+         const std::list<JointAxisBinding>& listAxisBindings = bindings.listAxisBindings;
+         //  Set link name with the name of the COLLADA's Link
+         std::string linkname = _ExtractLinkName(pdomlink);
+@@ -817,7 +817,7 @@ protected:
+             }
+         }
+ 
+-        boost::shared_ptr<Link> plink;
++        LinkSharedPtr plink;
+         _model->getLink(linkname,plink);
+         if( !plink ) {
+             plink.reset(new Link());
+@@ -921,7 +921,7 @@ protected:
+ 
+                 if (!pdomjoint || pdomjoint->typeID() != domJoint::ID()) {
+                     ROS_WARN_STREAM(str(boost::format("could not find attached joint %s!\n")%pattfull->getJoint()));
+-                    return boost::shared_ptr<Link>();
++                    return std::shared_ptr<Link>();
+                 }
+ 
+                 // get direct child link
+@@ -952,7 +952,7 @@ protected:
+                 }
+ 
+                 // create the joints before creating the child links
+-                std::vector<boost::shared_ptr<Joint> > vjoints(vdomaxes.getCount());
++                std::vector<std::shared_ptr<Joint> > vjoints(vdomaxes.getCount());
+                 for (size_t ic = 0; ic < vdomaxes.getCount(); ++ic) {
+                     bool joint_active = true; // if not active, put into the passive list
+                     FOREACHC(itaxisbinding,listAxisBindings) {
+@@ -966,7 +966,7 @@ protected:
+                         }
+                     }
+ 
+-                    boost::shared_ptr<Joint> pjoint(new Joint());
++                    std::shared_ptr<Joint> pjoint(new Joint());
+                     pjoint->limits.reset(new JointLimits());
+                     pjoint->limits->velocity = 0.0;
+                     pjoint->limits->effort = 0.0;
+@@ -995,12 +995,12 @@ protected:
+                     }
+ 
+                     _getUserData(pdomjoint)->p = pjoint;
+-                    _getUserData(pdomaxis)->p = boost::shared_ptr<int>(new int(_model->joints_.size()));
++                    _getUserData(pdomaxis)->p = std::shared_ptr<int>(new int(_model->joints_.size()));
+                     _model->joints_[pjoint->name] = pjoint;
+                     vjoints[ic] = pjoint;
+                 }
+ 
+-                boost::shared_ptr<Link> pchildlink = _ExtractLink(pattfull->getLink(), pchildnode, _poseMult(_poseMult(tParentWorldLink,tlink), tatt), tatt, vdomjoints, bindings);
++                std::shared_ptr<Link> pchildlink = _ExtractLink(pattfull->getLink(), pchildnode, _poseMult(_poseMult(tParentWorldLink,tlink), tatt), tatt, vdomjoints, bindings);
+ 
+                 if (!pchildlink) {
+                     ROS_WARN_STREAM(str(boost::format("Link has no child: %s\n")%plink->name));
+@@ -1035,7 +1035,7 @@ protected:
+                     }
+ 
+                     ROS_DEBUG_STREAM(str(boost::format("Joint %s assigned %d \n")%vjoints[ic]->name%ic));
+-                    boost::shared_ptr<Joint> pjoint = vjoints[ic];
++                    std::shared_ptr<Joint> pjoint = vjoints[ic];
+                     pjoint->child_link_name = pchildlink->name;
+ 
+ #define PRINT_POSE(pname, apose) ROS_DEBUG(pname" pos: %f %f %f, rot: %f %f %f %f", \
+@@ -1178,7 +1178,7 @@ protected:
+         return plink;
+     }
+ 
+-    boost::shared_ptr<Geometry> _CreateGeometry(const std::string& name, const std::list<GEOMPROPERTIES>& listGeomProperties)
++    urdf::GeometrySharedPtr _CreateGeometry(const std::string& name, const std::list<GEOMPROPERTIES>& listGeomProperties)
+     {
+         std::vector<std::vector<Vector3> > vertices;
+         std::vector<std::vector<int> > indices;
+@@ -1219,12 +1219,12 @@ protected:
+         }
+ 
+         if (vert_counter == 0) {
+-          boost::shared_ptr<Mesh> ret;
++          std::shared_ptr<Mesh> ret;
+           ret.reset();
+           return ret;
+         }
+ 
+-        boost::shared_ptr<Mesh> geometry(new Mesh());
++        std::shared_ptr<Mesh> geometry(new Mesh());
+         geometry->type = Geometry::MESH;
+         geometry->scale.x = 1;
+         geometry->scale.y = 1;
+@@ -2020,7 +2020,7 @@ protected:
+                 //std::string aname = pextra->getAttribute("name");
+                 domTechniqueRef tec = _ExtractOpenRAVEProfile(pextra->getTechnique_array());
+                 if( !!tec ) {
+-                    boost::shared_ptr<Joint> pjoint;
++                    std::shared_ptr<Joint> pjoint;
+                     daeElementRef domactuator;
+                     {
+                         daeElementRef bact = tec->getChild("bind_actuator");
+@@ -2413,7 +2413,7 @@ protected:
+         return name.substr(pos+1)==type;
+     }
+ 
+-    boost::shared_ptr<Joint> _getJointFromRef(xsToken targetref, daeElementRef peltref) {
++    std::shared_ptr<Joint> _getJointFromRef(xsToken targetref, daeElementRef peltref) {
+         daeElement* peltjoint = daeSidRef(targetref, peltref).resolve().elt;
+         domJointRef pdomjoint = daeSafeCast<domJoint> (peltjoint);
+ 
+@@ -2426,10 +2426,10 @@ protected:
+ 
+         if (!pdomjoint || pdomjoint->typeID() != domJoint::ID() || !pdomjoint->getName()) {
+             ROS_WARN_STREAM(str(boost::format("could not find collada joint %s!\n")%targetref));
+-            return boost::shared_ptr<Joint>();
++            return std::shared_ptr<Joint>();
+         }
+ 
+-        boost::shared_ptr<Joint> pjoint;
++        std::shared_ptr<Joint> pjoint;
+         std::string name(pdomjoint->getName());
+         if (_model->joints_.find(name) == _model->joints_.end()) {
+             pjoint.reset();
+@@ -2797,7 +2797,7 @@ protected:
+     int _nGlobalSensorId, _nGlobalManipulatorId;
+     std::string _filename;
+     std::string _resourcedir;
+-    boost::shared_ptr<ModelInterface> _model;
++    std::shared_ptr<ModelInterface> _model;
+     Pose _RootOrigin;
+     Pose _VisualRootOrigin;
+ };
+@@ -2805,9 +2805,9 @@ protected:
+ 
+ 
+ 
+-boost::shared_ptr<ModelInterface> parseCollada(const std::string &xml_str)
++std::shared_ptr<ModelInterface> parseCollada(const std::string &xml_str)
+ {
+-    boost::shared_ptr<ModelInterface> model(new ModelInterface);
++    std::shared_ptr<ModelInterface> model(new ModelInterface);
+ 
+     ColladaModelReader reader(model);
+     if (!reader.InitFromData(xml_str))
+Index: collada_parser/src/collada_parser_plugin.cpp
+===================================================================
+--- collada_parser.orig/src/collada_parser_plugin.cpp
++++ collada_parser/src/collada_parser_plugin.cpp
+@@ -38,7 +38,7 @@
+ #include "collada_parser/collada_parser.h"
+ #include <class_loader/class_loader.h>
+ 
+-boost::shared_ptr<urdf::ModelInterface> urdf::ColladaURDFParser::parse(const std::string &xml_string)
++std::shared_ptr<urdf::ModelInterface> urdf::ColladaURDFParser::parse(const std::string &xml_string)
+ {
+   return urdf::parseCollada(xml_string);
+ }
diff --git a/dev-ros/collada_urdf/Manifest b/dev-ros/collada_urdf/Manifest
index 4943c9c4053e..e1808ab34552 100644
--- a/dev-ros/collada_urdf/Manifest
+++ b/dev-ros/collada_urdf/Manifest
@@ -1,6 +1 @@
-DIST robot_model-1.11.10.tar.gz 1292754 SHA256 a43a17e8f19a41fba5660f94eb40e89f2b3fecab81fe8b54f657d430dd936cd4 SHA512 95770807d22de4581a87e7297fc9f9e0e781ad2a8f273a3f4781ac2864f53b73b408dde9c696aa934bab1dada5bac396a8c65d62e4a941884cc9966c680da4a8 WHIRLPOOL c41f637723ac00331abf0d52d9b6d6546205d25e0adc972b4cc793ce4a9351e0246bf42d59a5755532ca54bdc186b6055b2412777601bcbfc09d1399a0b46292
-DIST robot_model-1.11.8.tar.gz 364741 SHA256 781a0510136a820d217862f7491183b3deeadaf18aa0fabeb28d79e365510e12 SHA512 65471bb58c7383987f587a61f9e32fbd991c4eb26f1d5a819db8a5f456def7566ab9d16ab343a885fba73e0a017f5729815501356ef85b6aff0b4f0544a41212 WHIRLPOOL 95a9e654c1e7324593d2671a37b4c16aeee373450d5cb52508435b643c80c72c7263506914459c3c320af47355129dc0e906cdfb30d0e3bda1fd418e016e3a39
-DIST robot_model-1.11.9.tar.gz 1292675 SHA256 145d43c32cb93888f8555bdcbce48ea417515fb17dbd2445fa1ed7ac32e2399b SHA512 10afe675739746ba313d5c3b4758940c9896bd96fbd3b81fb4809d18cf39d49b36e9b24b28af38f700a65c7c2fb572186dc3920ab2cbd190cc79b485c54eb78d WHIRLPOOL cc176a18819258d6c2af33024b1f92e301f656949d0073f90659b22dd7532708b65b1fefaa3d684bf0f425acb66225eb25bc96bf6272bacbd733451e7e549ec5
-DIST robot_model-1.12.0.tar.gz 1292282 SHA256 942edd173fde0efd3c7dab03a30cc1b96b9aa513ed914f00b45f603476ec46fe SHA512 6faf6219788d6cbd6765ff1cb55e7cbc1f3bc414f3f83ac0d46ff7a8617cfe477871104eef846c9a47ffb09c69a948d080e199d455d1269fe043ed11a7d1e335 WHIRLPOOL c487eaea77598b8663d3239142864da9b2dd02d8f6ec321e9beb88ec31fa03d90d77e1fcd7bc0ea7b9afda168a4c46ee4f27b4f8867e70ef9f7ab3d3e00a9e3e
-DIST robot_model-1.12.2.tar.gz 1291779 SHA256 49543ae6f31a2e0f02730e00b926a1a0d3b7e97aa98e1ce27ff3bfd1114806f9 SHA512 39c7c893047ea5e21e9598e3e0b8ca3d2f8a256d1d06ddf419f953bffafb73199f8865f872416ec9c0570cf6cad180d5e1498af13033d1c42b54a640b14e9020 WHIRLPOOL 08b387d4aeca0f97315ad33f2f3efc7ac2323a05ca7ea3cb9e3bd36be858be454882508553a9bd4ad42d0650e43d31fd4e90800fff719877172f5ffc7efd5048
 DIST robot_model-1.12.3.tar.gz 1292139 SHA256 4b2bf070e4d07450fd9977a62c260e8abb40645ff9fcf5f5781f505a8b61b194 SHA512 eae18db87bdd7fc867868493f54f1812358f1a301c88fc7eae611fa75bc2418165b5cb2f5c5839f3cb644d4c1f560f85d84b635ffbecaa631c78a3176d1fb6db WHIRLPOOL c555faee5282942db894866a08aa3a675c6db618fce2acdd1f67d622cf1c0a8e5747f5f9a5217b4fc83997f9bb9125f1c7f2ca6b77e9fd75244f121b48a77f66
diff --git a/dev-ros/collada_urdf/collada_urdf-1.11.10.ebuild b/dev-ros/collada_urdf/collada_urdf-1.11.10.ebuild
deleted file mode 100644
index 76180ad14709..000000000000
--- a/dev-ros/collada_urdf/collada_urdf-1.11.10.ebuild
+++ /dev/null
@@ -1,29 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="Tool to convert Unified Robot Description Format (URDF) documents into COLLADA documents"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/angles
-	dev-ros/collada_parser
-	dev-ros/resource_retriever
-	dev-ros/urdf
-	dev-ros/geometric_shapes
-	dev-ros/tf
-	media-libs/assimp
-	dev-libs/tinyxml
-	dev-libs/collada-dom
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/collada_urdf/collada_urdf-1.11.8.ebuild b/dev-ros/collada_urdf/collada_urdf-1.11.8.ebuild
deleted file mode 100644
index 76180ad14709..000000000000
--- a/dev-ros/collada_urdf/collada_urdf-1.11.8.ebuild
+++ /dev/null
@@ -1,29 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="Tool to convert Unified Robot Description Format (URDF) documents into COLLADA documents"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/angles
-	dev-ros/collada_parser
-	dev-ros/resource_retriever
-	dev-ros/urdf
-	dev-ros/geometric_shapes
-	dev-ros/tf
-	media-libs/assimp
-	dev-libs/tinyxml
-	dev-libs/collada-dom
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/collada_urdf/collada_urdf-1.11.9.ebuild b/dev-ros/collada_urdf/collada_urdf-1.11.9.ebuild
deleted file mode 100644
index 76180ad14709..000000000000
--- a/dev-ros/collada_urdf/collada_urdf-1.11.9.ebuild
+++ /dev/null
@@ -1,29 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="Tool to convert Unified Robot Description Format (URDF) documents into COLLADA documents"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/angles
-	dev-ros/collada_parser
-	dev-ros/resource_retriever
-	dev-ros/urdf
-	dev-ros/geometric_shapes
-	dev-ros/tf
-	media-libs/assimp
-	dev-libs/tinyxml
-	dev-libs/collada-dom
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/collada_urdf/collada_urdf-1.12.0.ebuild b/dev-ros/collada_urdf/collada_urdf-1.12.0.ebuild
deleted file mode 100644
index 76180ad14709..000000000000
--- a/dev-ros/collada_urdf/collada_urdf-1.12.0.ebuild
+++ /dev/null
@@ -1,29 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="Tool to convert Unified Robot Description Format (URDF) documents into COLLADA documents"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/angles
-	dev-ros/collada_parser
-	dev-ros/resource_retriever
-	dev-ros/urdf
-	dev-ros/geometric_shapes
-	dev-ros/tf
-	media-libs/assimp
-	dev-libs/tinyxml
-	dev-libs/collada-dom
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/collada_urdf/collada_urdf-1.12.2.ebuild b/dev-ros/collada_urdf/collada_urdf-1.12.2.ebuild
deleted file mode 100644
index 76180ad14709..000000000000
--- a/dev-ros/collada_urdf/collada_urdf-1.12.2.ebuild
+++ /dev/null
@@ -1,29 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="Tool to convert Unified Robot Description Format (URDF) documents into COLLADA documents"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/angles
-	dev-ros/collada_parser
-	dev-ros/resource_retriever
-	dev-ros/urdf
-	dev-ros/geometric_shapes
-	dev-ros/tf
-	media-libs/assimp
-	dev-libs/tinyxml
-	dev-libs/collada-dom
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/collada_urdf/collada_urdf-1.12.3.ebuild b/dev-ros/collada_urdf/collada_urdf-1.12.3-r1.ebuild
index bea7a16f72a7..ef087a9e678a 100644
--- a/dev-ros/collada_urdf/collada_urdf-1.12.3.ebuild
+++ b/dev-ros/collada_urdf/collada_urdf-1.12.3-r1.ebuild
@@ -7,7 +7,7 @@ ROS_REPO_URI="https://github.com/ros/robot_model"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
 
-inherit ros-catkin
+inherit ros-catkin flag-o-matic
 
 DESCRIPTION="Tool to convert Unified Robot Description Format (URDF) documents into COLLADA documents"
 LICENSE="BSD"
@@ -19,7 +19,7 @@ RDEPEND="
 	dev-ros/angles
 	dev-ros/collada_parser
 	dev-ros/resource_retriever
-	dev-ros/urdf
+	>=dev-ros/urdf-1.12.3-r1
 	dev-ros/geometric_shapes
 	dev-ros/tf
 	media-libs/assimp
@@ -27,3 +27,9 @@ RDEPEND="
 	dev-libs/collada-dom
 "
 DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
+
+src_configure() {
+	append-cxxflags -std=gnu++11
+	ros-catkin_src_configure
+}
diff --git a/dev-ros/collada_urdf/files/urdfdom1.patch b/dev-ros/collada_urdf/files/urdfdom1.patch
new file mode 100644
index 000000000000..dd47d87f24ce
--- /dev/null
+++ b/dev-ros/collada_urdf/files/urdfdom1.patch
@@ -0,0 +1,185 @@
+Index: collada_urdf/src/collada_urdf.cpp
+===================================================================
+--- collada_urdf.orig/src/collada_urdf.cpp
++++ collada_urdf/src/collada_urdf.cpp
+@@ -538,7 +538,7 @@ private:
+         domInstance_with_extraRef piscene;
+     };
+ 
+-    typedef std::map< boost::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES;
++    typedef std::map< std::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES;
+     struct LINKOUTPUT
+     {
+         list<pair<int,string> > listusedlinks;
+@@ -562,7 +562,7 @@ private:
+             axis_output() : iaxis(0) {
+             }
+             string sid, nodesid;
+-            boost::shared_ptr<const urdf::Joint> pjoint;
++            std::shared_ptr<const urdf::Joint> pjoint;
+             int iaxis;
+             string jointnodesid;
+         };
+@@ -788,7 +788,7 @@ protected:
+ 
+         for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) {
+             string axis_infosid = _ComputeId(str(boost::format("axis_info_inst%d")%idof));
+-            boost::shared_ptr<const urdf::Joint> pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint;
++            std::shared_ptr<const urdf::Joint> pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint;
+             BOOST_ASSERT(_mapjointindices[pjoint] == (int)idof);
+             //int iaxis = _ikmout->kmout->vaxissids.at(idof).iaxis;
+ 
+@@ -966,7 +966,7 @@ protected:
+         kmout->vlinksids.resize(_robot.links_.size());
+ 
+         FOREACHC(itjoint, _robot.joints_) {
+-            boost::shared_ptr<urdf::Joint> pjoint = itjoint->second;
++            std::shared_ptr<urdf::Joint> pjoint = itjoint->second;
+             int index = _mapjointindices[itjoint->second];
+             domJointRef pdomjoint = daeSafeCast<domJoint>(ktec->add(COLLADA_ELEMENT_JOINT));
+             string jointid = _ComputeId(pjoint->name); //str(boost::format("joint%d")%index);
+@@ -1039,7 +1039,7 @@ protected:
+         // create the formulas for all mimic joints
+         FOREACHC(itjoint, _robot.joints_) {
+             string jointsid = _ComputeId(itjoint->second->name);
+-            boost::shared_ptr<urdf::Joint> pjoint = itjoint->second;
++            std::shared_ptr<urdf::Joint> pjoint = itjoint->second;
+             if( !pjoint->mimic ) {
+                 continue;
+             }
+@@ -1125,7 +1125,7 @@ protected:
+     /// \param pkinparent Kinbody parent
+     /// \param pnodeparent Node parent
+     /// \param strModelUri
+-    virtual LINKOUTPUT _WriteLink(boost::shared_ptr<const urdf::Link> plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri)
++    virtual LINKOUTPUT _WriteLink(std::shared_ptr<const urdf::Link> plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri)
+     {
+         LINKOUTPUT out;
+         int linkindex = _maplinkindices[plink];
+@@ -1141,8 +1141,8 @@ protected:
+         pnode->setSid(nodesid.c_str());
+         pnode->setName(plink->name.c_str());
+ 
+-        boost::shared_ptr<urdf::Geometry> geometry;
+-        boost::shared_ptr<urdf::Material> material;
++        std::shared_ptr<urdf::Geometry> geometry;
++        std::shared_ptr<urdf::Material> material;
+         urdf::Pose geometry_origin;
+         if( !!plink->visual ) {
+             geometry = plink->visual->geometry;
+@@ -1161,7 +1161,7 @@ protected:
+             if ( !!plink->visual ) {
+               if (plink->visual_array.size() > 1) {
+ 		int igeom = 0;
+-		for (std::vector<boost::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin();
++		for (std::vector<std::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin();
+ 		     it != plink->visual_array.end(); it++) {
+ 		  // geom
+ 		  string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom));
+@@ -1208,7 +1208,7 @@ protected:
+ 
+         // process all children
+         FOREACHC(itjoint, plink->child_joints) {
+-            boost::shared_ptr<urdf::Joint> pjoint = *itjoint;
++            std::shared_ptr<urdf::Joint> pjoint = *itjoint;
+             int index = _mapjointindices[pjoint];
+ 
+             // <attachment_full joint="k1/joint0">
+@@ -1269,7 +1269,7 @@ protected:
+         return out;
+     }
+ 
+-    domGeometryRef _WriteGeometry(boost::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL)
++    domGeometryRef _WriteGeometry(std::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL)
+     {
+         domGeometryRef cgeometry = daeSafeCast<domGeometry>(_geometriesLib->add(COLLADA_ELEMENT_GEOMETRY));
+         cgeometry->setId(geometry_id.c_str());
+@@ -1308,7 +1308,7 @@ protected:
+         return cgeometry;
+     }
+ 
+-    void _WriteMaterial(const string& geometry_id, boost::shared_ptr<urdf::Material> material)
++    void _WriteMaterial(const string& geometry_id, std::shared_ptr<urdf::Material> material)
+     {
+         string effid = geometry_id+string("_eff");
+         string matid = geometry_id+string("_mat");
+@@ -1386,7 +1386,7 @@ protected:
+             rigid_body->setSid(rigidsid.c_str());
+             rigid_body->setName(itlink->second->name.c_str());
+             domRigid_body::domTechnique_commonRef ptec = daeSafeCast<domRigid_body::domTechnique_common>(rigid_body->add(COLLADA_ELEMENT_TECHNIQUE_COMMON));
+-            boost::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
++            std::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
+             if( !!inertial ) {
+                 daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(true)); //!!inertial));
+                 domTargetable_floatRef mass = daeSafeCast<domTargetable_float>(ptec->add(COLLADA_ELEMENT_MASS));
+@@ -1916,9 +1916,9 @@ private:
+ 
+     boost::shared_ptr<instance_kinematics_model_output> _ikmout;
+     boost::shared_ptr<instance_articulated_system_output> _iasout;
+-    std::map< boost::shared_ptr<const urdf::Joint>, int > _mapjointindices;
+-    std::map< boost::shared_ptr<const urdf::Link>, int > _maplinkindices;
+-    std::map< boost::shared_ptr<const urdf::Material>, int > _mapmaterialindices;
++    std::map< std::shared_ptr<const urdf::Joint>, int > _mapjointindices;
++    std::map< std::shared_ptr<const urdf::Link>, int > _maplinkindices;
++    std::map< std::shared_ptr<const urdf::Material>, int > _mapmaterialindices;
+     Assimp::Importer _importer;
+ };
+ 
+Index: collada_urdf/src/collada_to_urdf.cpp
+===================================================================
+--- collada_urdf.orig/src/collada_to_urdf.cpp
++++ collada_urdf/src/collada_to_urdf.cpp
+@@ -188,7 +188,7 @@ void assimp_calc_bbox(string fname, floa
+   }
+ }
+ 
+-void addChildLinkNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
++void addChildLinkNamesXML(std::shared_ptr<const Link> link, ofstream& os)
+ {
+   os << "  <link name=\"" << link->name << "\">" << endl;
+   if ( !!link->visual ) {
+@@ -405,14 +405,14 @@ void addChildLinkNamesXML(boost::shared_
+   }
+ #endif
+ 
+-  for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
++  for (std::vector<std::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
+     addChildLinkNamesXML(*child, os);
+ }
+ 
+-void addChildJointNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
++void addChildJointNamesXML(std::shared_ptr<const Link> link, ofstream& os)
+ {
+   double r, p, y;
+-  for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
++  for (std::vector<std::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
+     (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(r,p,y);
+     std::string jtype;
+     if ( (*child)->parent_joint->type == urdf::Joint::UNKNOWN ) {
+@@ -443,7 +443,7 @@ void addChildJointNamesXML(boost::shared
+     os << "    <axis   xyz=\"" <<  (*child)->parent_joint->axis.x << " ";
+     os << (*child)->parent_joint->axis.y << " " << (*child)->parent_joint->axis.z << "\"/>" << endl;
+     {
+-      boost::shared_ptr<urdf::Joint> jt((*child)->parent_joint);
++      std::shared_ptr<urdf::Joint> jt((*child)->parent_joint);
+ 
+       if ( !!jt->limits ) {
+         os << "    <limit ";
+@@ -501,7 +501,7 @@ void addChildJointNamesXML(boost::shared
+   }
+ }
+ 
+-void printTreeXML(boost::shared_ptr<const Link> link, string name, string file)
++void printTreeXML(std::shared_ptr<const Link> link, string name, string file)
+ {
+   std::ofstream os;
+   os.open(file.c_str());
+@@ -667,7 +667,7 @@ int main(int argc, char** argv)
+   }
+   xml_file.close();
+ 
+-  boost::shared_ptr<ModelInterface> robot;
++  std::shared_ptr<ModelInterface> robot;
+   if( xml_string.find("<COLLADA") != std::string::npos )
+   {
+     ROS_DEBUG("Parsing robot collada xml string");
diff --git a/dev-ros/gazebo_ros_control/Manifest b/dev-ros/gazebo_ros_control/Manifest
index 85e31aa7c7d6..cf8a4de67534 100644
--- a/dev-ros/gazebo_ros_control/Manifest
+++ b/dev-ros/gazebo_ros_control/Manifest
@@ -1,5 +1 @@
-DIST gazebo_ros_pkgs-2.5.1.tar.gz 1812295 SHA256 1d78839d174790db400466b4b165a79fea50177a3fbe59291539b8bdc1876d4e SHA512 2e0faaa770abe9ff2b41d176c7a3dadaf8749f32c924ba6018b3d7dabf0fe2a1e4ffd24c840c777229a4941e7f4522bf2287288619e2c819d4fb3c10fa431c9d WHIRLPOOL 09b0c5038b21a6cfc355fed8d8d2981cb845c8d209cb89112fb6daf1694b735dd68096ca7e2f255fdc2e8ba435080df186057344c81c2ac247c28d64019dbe32
-DIST gazebo_ros_pkgs-2.5.2.tar.gz 1815044 SHA256 849c541412b7312d3455827ccf386246b5bbc4d674e76ed0e9e08032026a929b SHA512 1f8b7034520712606e8389526115f0bae4084cbfdd1b5834f5c00233ae2864260cbb591512228f1519642fde860366a7b4f9602d5374817ca084494668b76bd4 WHIRLPOOL 13283cda29a4da4efb366d3074b9a55ca61b5c9e4a27b3cb467210405ed82334a849a3353f652bc6333e86e845f5845437ebaa23942a027a288fcd831fc77525
-DIST gazebo_ros_pkgs-2.5.3.tar.gz 1816954 SHA256 5c30ea914b624fb0bf1ca8bda869b9c10ce8336114e629ef19ad075320f4fca4 SHA512 9c045c0fa5be33c37017fc6abe5f307e97c8c9190a4c602e66f3dcc6435854b8c1bd863e26fc1e480c7be0bca381889677f140bd8948abe55cb468c19c636039 WHIRLPOOL 35d07adce0ab4f1accd4acf1fc11f2309776f8870abc2ec69422c60962acbb4cb1157c4e81e40517202b2573ffc6daa2a49f129c2b2c4117a886f77c433fcddd
-DIST gazebo_ros_pkgs-2.5.6.tar.gz 1821635 SHA256 ff8da02dd8c58a92deddcff9bf67c3d9583cb0fac0e6435774989f7451c939c8 SHA512 7c815de70d5e3a27f4796de2d0cebbbbde85dc55f90da3d2db6ea650a4c82bd333f3f1d5aaf3a6d9d6d1101fd54bf589f97d02c6d89ba5e78c72d79a90e0aa10 WHIRLPOOL 17b9caa8a5aa17284d6a0409064b0ec8300877f2a1ec701707e787d079a612b80d0a7758822e99d64a5d125bd32066fe8b2809fbace4facfa5490af4a8d9ac32
 DIST gazebo_ros_pkgs-2.5.7.tar.gz 1821656 SHA256 6a40c129d4b4d6c7c5d4608aac7314b84f815a4416cd905d71b2b98067c2aaa7 SHA512 13790eaa50d6a6b1be26236ce3dd118f6d09c1096b7c95fffbad99fe70d59546b8169597eda5fa774cce37c5b3f46ca61b3c66a8520b675fb8c020e36f002d94 WHIRLPOOL b94be63a019d4bd9fa175f6c8c24f96c2e034ebfdf9b4f96aad6e71476409cb57453c895d2bb14aa50ba1410fb89302147c0677c055544ef826b28425e0a1046
diff --git a/dev-ros/gazebo_ros_control/files/gazebo7.patch b/dev-ros/gazebo_ros_control/files/gazebo7.patch
deleted file mode 100644
index 190756daa747..000000000000
--- a/dev-ros/gazebo_ros_control/files/gazebo7.patch
+++ /dev/null
@@ -1,61 +0,0 @@
-commit b5303e692bb5dd2e4f4fc7932c7ec2c7e0b2e907
-Author: Steven Peters <scpeters@osrfoundation.org>
-Date:   Tue Apr 14 18:10:36 2015 -0700
-
-    Use Joint::SetParam for joint velocity motors
-    
-    Before gazebo5, Joint::SetVelocity and SetMaxForce
-    were used to set joint velocity motors.
-    The API has changed in gazebo5, to use Joint::SetParam
-    instead.
-    The functionality is still available through the SetParam API.
-    
-    cherry-picked from indigo-devel
-    
-    Add ifdefs to fix build with gazebo2
-    
-    It was broken by #315.
-    Fixes #321.
-
-diff --git a/gazebo_ros_control/src/default_robot_hw_sim.cpp b/gazebo_ros_control/src/default_robot_hw_sim.cpp
-index 249c8d3..1d9418d 100644
---- a/gazebo_ros_control/src/default_robot_hw_sim.cpp
-+++ b/gazebo_ros_control/src/default_robot_hw_sim.cpp
-@@ -199,7 +199,7 @@ bool DefaultRobotHWSim::initSim(
-     if (joint_control_methods_[j] != EFFORT)
-     {
-       // Initialize the PID controller. If no PID gain values are found, use joint->SetAngle() or
--      // joint->SetVelocity() to control the joint.
-+      // joint->SetParam("vel") to control the joint.
-       const ros::NodeHandle nh(model_nh, "/gazebo_ros_control/pid_gains/" +
-                                joint_names_[j]);
-       if (pid_controllers_[j].init(nh, true))
-@@ -216,10 +216,14 @@ bool DefaultRobotHWSim::initSim(
-       }
-       else
-       {
--        // joint->SetMaxForce() must be called if joint->SetAngle() or joint->SetVelocity() are
--        // going to be called. joint->SetMaxForce() must *not* be called if joint->SetForce() is
-+        // joint->SetParam("fmax") must be called if joint->SetAngle() or joint->SetParam("vel") are
-+        // going to be called. joint->SetParam("fmax") must *not* be called if joint->SetForce() is
-         // going to be called.
-+#if GAZEBO_MAJOR_VERSION > 2
-+        joint->SetParam("fmax", 0, joint_effort_limits_[j]);
-+#else
-         joint->SetMaxForce(0, joint_effort_limits_[j]);
-+#endif
-       }
-     }
-   }
-@@ -327,7 +331,11 @@ void DefaultRobotHWSim::writeSim(ros::Time time, ros::Duration period)
-         break;
- 
-       case VELOCITY:
-+#if GAZEBO_MAJOR_VERSION > 2
-+        sim_joints_[j]->SetParam("vel", 0, e_stop_active_ ? 0 : joint_velocity_command_[j]);
-+#else
-         sim_joints_[j]->SetVelocity(0, e_stop_active_ ? 0 : joint_velocity_command_[j]);
-+#endif
-         break;
- 
-       case VELOCITY_PID:
diff --git a/dev-ros/gazebo_ros_control/files/urdfdom1.patch b/dev-ros/gazebo_ros_control/files/urdfdom1.patch
new file mode 100644
index 000000000000..0da763186ca9
--- /dev/null
+++ b/dev-ros/gazebo_ros_control/files/urdfdom1.patch
@@ -0,0 +1,13 @@
+Index: gazebo_ros_control/src/default_robot_hw_sim.cpp
+===================================================================
+--- gazebo_ros_control.orig/src/default_robot_hw_sim.cpp
++++ gazebo_ros_control/src/default_robot_hw_sim.cpp
+@@ -381,7 +381,7 @@ void DefaultRobotHWSim::registerJointLim
+ 
+   if (urdf_model != NULL)
+   {
+-    const boost::shared_ptr<const urdf::Joint> urdf_joint = urdf_model->getJoint(joint_name);
++    const std::shared_ptr<const urdf::Joint> urdf_joint = urdf_model->getJoint(joint_name);
+     if (urdf_joint != NULL)
+     {
+       *joint_type = urdf_joint->type;
diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild
deleted file mode 100644
index 65b2ca7eeb20..000000000000
--- a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
-KEYWORDS="~amd64"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="ROS control plugins for gazebo"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/gazebo_ros
-	dev-ros/control_toolbox
-	dev-ros/controller_manager
-	dev-ros/hardware_interface
-	dev-ros/transmission_interface
-	dev-ros/pluginlib
-	dev-ros/joint_limits_interface
-	dev-ros/urdf
-	sci-electronics/gazebo
-"
-DEPEND="${RDEPEND}"
-PATCHES=( "${FILESDIR}/gazebo7.patch" )
diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.2.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.2.ebuild
deleted file mode 100644
index a8ee99778afd..000000000000
--- a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.2.ebuild
+++ /dev/null
@@ -1,29 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
-KEYWORDS="~amd64"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="ROS control plugins for gazebo"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/gazebo_ros
-	dev-ros/control_toolbox
-	dev-ros/controller_manager
-	dev-ros/hardware_interface
-	dev-ros/transmission_interface
-	dev-ros/pluginlib
-	dev-ros/joint_limits_interface
-	dev-ros/urdf
-	sci-electronics/gazebo
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.3.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.3.ebuild
deleted file mode 100644
index a8ee99778afd..000000000000
--- a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.3.ebuild
+++ /dev/null
@@ -1,29 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
-KEYWORDS="~amd64"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="ROS control plugins for gazebo"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/gazebo_ros
-	dev-ros/control_toolbox
-	dev-ros/controller_manager
-	dev-ros/hardware_interface
-	dev-ros/transmission_interface
-	dev-ros/pluginlib
-	dev-ros/joint_limits_interface
-	dev-ros/urdf
-	sci-electronics/gazebo
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.6.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.6.ebuild
deleted file mode 100644
index a8ee99778afd..000000000000
--- a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.6.ebuild
+++ /dev/null
@@ -1,29 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
-KEYWORDS="~amd64"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="ROS control plugins for gazebo"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/gazebo_ros
-	dev-ros/control_toolbox
-	dev-ros/controller_manager
-	dev-ros/hardware_interface
-	dev-ros/transmission_interface
-	dev-ros/pluginlib
-	dev-ros/joint_limits_interface
-	dev-ros/urdf
-	sci-electronics/gazebo
-"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.7.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.7-r1.ebuild
index 63ccb13e17d3..8f80022535e9 100644
--- a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.7.ebuild
+++ b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.7-r1.ebuild
@@ -22,8 +22,10 @@ RDEPEND="
 	dev-ros/hardware_interface
 	dev-ros/transmission_interface
 	dev-ros/pluginlib
-	dev-ros/joint_limits_interface
-	dev-ros/urdf
+	>=dev-ros/joint_limits_interface-0.11.0
+	>=dev-ros/urdf-1.12.3-r1
+	dev-libs/urdfdom:=
 	sci-electronics/gazebo
 "
 DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-9999.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-9999.ebuild
index a8ee99778afd..edf64680c22e 100644
--- a/dev-ros/gazebo_ros_control/gazebo_ros_control-9999.ebuild
+++ b/dev-ros/gazebo_ros_control/gazebo_ros_control-9999.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2016 Gentoo Foundation
 # Distributed under the terms of the GNU General Public License v2
 # $Id$
 
@@ -25,5 +25,6 @@ RDEPEND="
 	dev-ros/joint_limits_interface
 	dev-ros/urdf
 	sci-electronics/gazebo
+	dev-libs/urdfdom:=
 "
 DEPEND="${RDEPEND}"
diff --git a/dev-ros/joint_limits_interface/Manifest b/dev-ros/joint_limits_interface/Manifest
index 076e82aa40a7..7e38aa6703d3 100644
--- a/dev-ros/joint_limits_interface/Manifest
+++ b/dev-ros/joint_limits_interface/Manifest
@@ -1,4 +1 @@
-DIST ros_control-0.10.0.tar.gz 620871 SHA256 d11ef3c34874068cf32a1766901686f59177ce7b94e229cb151a30f6fc1fcaca SHA512 93f400a024fa2eda49ec4a680f05559a31d0879e0c081e796c4ebccfc9c6e568655c79cde252e6afb6e5728c71135aa0d5d618a8727a66d69e7b49b46ae0f422 WHIRLPOOL 016631d6557919c1311da0912c34ce1aac34d55cff57cd0d0952d9899c3c99be6de650ecc495b724b46cc7294ca4b008a921ea2680bb7f8fa3ddec0e2f7fe6e6
-DIST ros_control-0.10.1.tar.gz 621418 SHA256 2469f75eeeb46d3f68a1096864f91ea0599131d0fc894d18e948022ca8f8e957 SHA512 78d7fd7e30cf9ebd19a13d426573f47da5a06ff070b40672074fa1900c35c64ed7bf28121356e85fd35709be37a4694711a1e73a7537d64e448ded662d4a8fa4 WHIRLPOOL 97d2860b3403a3178b12458305650501040c381da8bd3a62d49d9d556aae185c2f69a9b67dcefa25617fd8099bfda8fd34352b21ae5be79b4bcef35aa66532fa
 DIST ros_control-0.11.0.tar.gz 633993 SHA256 a21839b729459f752f9a37b73965e116dfbd36c6e9edc4e85a9791cdf469f16c SHA512 fe18a513c12db60a4e49a37ec9588a448e24acd618162930dd6772a2bdc9855d56e56a45d0ba4f2e2c1ce29551efb93e3db0f2232a1ddf4ca40c053cf5845fd5 WHIRLPOOL 47dfe7fd5b01fc47a5aa38a6389a046af92363ddc26226900d347aa44e0f3d56da585e7acd87a7256c2d472769976e51aceb052241afdbbf9e8ee7c4b485e665
-DIST ros_control-0.9.3.tar.gz 593174 SHA256 51e5e58e2010f668c136fd6178f83747af643fe5cf170484ce449c7e4e219a4e SHA512 37537de9cbee4702515f1db62980975c5d37c952e338bf1ffacf84722c605ad9f6bd660d8b6005e701fcb935f96b6adf1f28375640f14a2227703644b55e90fb WHIRLPOOL 1077031ba3511ef293a280af62afd237ca5da97140083dd396a34bc93d752be29d1599090fb8336627be85d9ee6d66231829d7af9fdd2214fd21535dad4e0abf
diff --git a/dev-ros/joint_limits_interface/files/urdfdom1.patch b/dev-ros/joint_limits_interface/files/urdfdom1.patch
new file mode 100644
index 000000000000..b63fe13ec22d
--- /dev/null
+++ b/dev-ros/joint_limits_interface/files/urdfdom1.patch
@@ -0,0 +1,22 @@
+Index: joint_limits_interface/include/joint_limits_interface/joint_limits_urdf.h
+===================================================================
+--- joint_limits_interface.orig/include/joint_limits_interface/joint_limits_urdf.h
++++ joint_limits_interface/include/joint_limits_interface/joint_limits_urdf.h
+@@ -48,7 +48,7 @@ namespace joint_limits_interface
+  * values. Values in \e limits not present in \e urdf_joint remain unchanged.
+  * \return True if \e urdf_joint has a valid limits specification, false otherwise.
+  */
+-inline bool getJointLimits(boost::shared_ptr<const urdf::Joint> urdf_joint, JointLimits& limits)
++inline bool getJointLimits(std::shared_ptr<const urdf::Joint> urdf_joint, JointLimits& limits)
+ {
+   if (!urdf_joint || !urdf_joint->limits)
+   {
+@@ -84,7 +84,7 @@ inline bool getJointLimits(boost::shared
+  * \param[out] soft_limits Where URDF soft joint limit data gets written into.
+  * \return True if \e urdf_joint has a valid soft limits specification, false otherwise.
+  */
+-inline bool getSoftJointLimits(boost::shared_ptr<const urdf::Joint> urdf_joint, SoftJointLimits& soft_limits)
++inline bool getSoftJointLimits(std::shared_ptr<const urdf::Joint> urdf_joint, SoftJointLimits& soft_limits)
+ {
+   if (!urdf_joint || !urdf_joint->safety)
+   {
diff --git a/dev-ros/joint_limits_interface/joint_limits_interface-0.10.0.ebuild b/dev-ros/joint_limits_interface/joint_limits_interface-0.10.0.ebuild
deleted file mode 100644
index ef9f7119aabf..000000000000
--- a/dev-ros/joint_limits_interface/joint_limits_interface-0.10.0.ebuild
+++ /dev/null
@@ -1,24 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-controls/ros_control"
-KEYWORDS="~amd64"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="Interface for enforcing joint limits"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/hardware_interface
-	dev-libs/urdfdom
-"
-DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest dev-cpp/gtest )"
diff --git a/dev-ros/joint_limits_interface/joint_limits_interface-0.10.1.ebuild b/dev-ros/joint_limits_interface/joint_limits_interface-0.10.1.ebuild
deleted file mode 100644
index ef9f7119aabf..000000000000
--- a/dev-ros/joint_limits_interface/joint_limits_interface-0.10.1.ebuild
+++ /dev/null
@@ -1,24 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-controls/ros_control"
-KEYWORDS="~amd64"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="Interface for enforcing joint limits"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/hardware_interface
-	dev-libs/urdfdom
-"
-DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest dev-cpp/gtest )"
diff --git a/dev-ros/joint_limits_interface/joint_limits_interface-0.11.0.ebuild b/dev-ros/joint_limits_interface/joint_limits_interface-0.11.0-r1.ebuild
index 0f9aa3cf3703..2a65e6da8629 100644
--- a/dev-ros/joint_limits_interface/joint_limits_interface-0.11.0.ebuild
+++ b/dev-ros/joint_limits_interface/joint_limits_interface-0.11.0-r1.ebuild
@@ -18,7 +18,8 @@ IUSE=""
 RDEPEND="
 	dev-ros/roscpp
 	dev-ros/hardware_interface
-	dev-libs/urdfdom
+	>=dev-libs/urdfdom-1
 "
 DEPEND="${RDEPEND}
 	test? ( dev-ros/rostest dev-cpp/gtest )"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
diff --git a/dev-ros/joint_limits_interface/joint_limits_interface-0.9.3.ebuild b/dev-ros/joint_limits_interface/joint_limits_interface-0.9.3.ebuild
deleted file mode 100644
index ef9f7119aabf..000000000000
--- a/dev-ros/joint_limits_interface/joint_limits_interface-0.9.3.ebuild
+++ /dev/null
@@ -1,24 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-controls/ros_control"
-KEYWORDS="~amd64"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="Interface for enforcing joint limits"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-ros/roscpp
-	dev-ros/hardware_interface
-	dev-libs/urdfdom
-"
-DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest dev-cpp/gtest )"
diff --git a/dev-ros/kdl_parser/Manifest b/dev-ros/kdl_parser/Manifest
index 4943c9c4053e..e1808ab34552 100644
--- a/dev-ros/kdl_parser/Manifest
+++ b/dev-ros/kdl_parser/Manifest
@@ -1,6 +1 @@
-DIST robot_model-1.11.10.tar.gz 1292754 SHA256 a43a17e8f19a41fba5660f94eb40e89f2b3fecab81fe8b54f657d430dd936cd4 SHA512 95770807d22de4581a87e7297fc9f9e0e781ad2a8f273a3f4781ac2864f53b73b408dde9c696aa934bab1dada5bac396a8c65d62e4a941884cc9966c680da4a8 WHIRLPOOL c41f637723ac00331abf0d52d9b6d6546205d25e0adc972b4cc793ce4a9351e0246bf42d59a5755532ca54bdc186b6055b2412777601bcbfc09d1399a0b46292
-DIST robot_model-1.11.8.tar.gz 364741 SHA256 781a0510136a820d217862f7491183b3deeadaf18aa0fabeb28d79e365510e12 SHA512 65471bb58c7383987f587a61f9e32fbd991c4eb26f1d5a819db8a5f456def7566ab9d16ab343a885fba73e0a017f5729815501356ef85b6aff0b4f0544a41212 WHIRLPOOL 95a9e654c1e7324593d2671a37b4c16aeee373450d5cb52508435b643c80c72c7263506914459c3c320af47355129dc0e906cdfb30d0e3bda1fd418e016e3a39
-DIST robot_model-1.11.9.tar.gz 1292675 SHA256 145d43c32cb93888f8555bdcbce48ea417515fb17dbd2445fa1ed7ac32e2399b SHA512 10afe675739746ba313d5c3b4758940c9896bd96fbd3b81fb4809d18cf39d49b36e9b24b28af38f700a65c7c2fb572186dc3920ab2cbd190cc79b485c54eb78d WHIRLPOOL cc176a18819258d6c2af33024b1f92e301f656949d0073f90659b22dd7532708b65b1fefaa3d684bf0f425acb66225eb25bc96bf6272bacbd733451e7e549ec5
-DIST robot_model-1.12.0.tar.gz 1292282 SHA256 942edd173fde0efd3c7dab03a30cc1b96b9aa513ed914f00b45f603476ec46fe SHA512 6faf6219788d6cbd6765ff1cb55e7cbc1f3bc414f3f83ac0d46ff7a8617cfe477871104eef846c9a47ffb09c69a948d080e199d455d1269fe043ed11a7d1e335 WHIRLPOOL c487eaea77598b8663d3239142864da9b2dd02d8f6ec321e9beb88ec31fa03d90d77e1fcd7bc0ea7b9afda168a4c46ee4f27b4f8867e70ef9f7ab3d3e00a9e3e
-DIST robot_model-1.12.2.tar.gz 1291779 SHA256 49543ae6f31a2e0f02730e00b926a1a0d3b7e97aa98e1ce27ff3bfd1114806f9 SHA512 39c7c893047ea5e21e9598e3e0b8ca3d2f8a256d1d06ddf419f953bffafb73199f8865f872416ec9c0570cf6cad180d5e1498af13033d1c42b54a640b14e9020 WHIRLPOOL 08b387d4aeca0f97315ad33f2f3efc7ac2323a05ca7ea3cb9e3bd36be858be454882508553a9bd4ad42d0650e43d31fd4e90800fff719877172f5ffc7efd5048
 DIST robot_model-1.12.3.tar.gz 1292139 SHA256 4b2bf070e4d07450fd9977a62c260e8abb40645ff9fcf5f5781f505a8b61b194 SHA512 eae18db87bdd7fc867868493f54f1812358f1a301c88fc7eae611fa75bc2418165b5cb2f5c5839f3cb644d4c1f560f85d84b635ffbecaa631c78a3176d1fb6db WHIRLPOOL c555faee5282942db894866a08aa3a675c6db618fce2acdd1f67d622cf1c0a8e5747f5f9a5217b4fc83997f9bb9125f1c7f2ca6b77e9fd75244f121b48a77f66
diff --git a/dev-ros/kdl_parser/files/urdfdom1.patch b/dev-ros/kdl_parser/files/urdfdom1.patch
new file mode 100644
index 000000000000..c4b1d5c6e586
--- /dev/null
+++ b/dev-ros/kdl_parser/files/urdfdom1.patch
@@ -0,0 +1,34 @@
+Index: kdl_parser/src/kdl_parser.cpp
+===================================================================
+--- kdl_parser.orig/src/kdl_parser.cpp
++++ kdl_parser/src/kdl_parser.cpp
+@@ -64,7 +64,7 @@ Frame toKdl(urdf::Pose p)
+ }
+ 
+ // construct joint
+-Joint toKdl(boost::shared_ptr<urdf::Joint> jnt)
++Joint toKdl(std::shared_ptr<urdf::Joint> jnt)
+ {
+   Frame F_parent_jnt = toKdl(jnt->parent_to_joint_origin_transform);
+ 
+@@ -93,7 +93,7 @@ Joint toKdl(boost::shared_ptr<urdf::Join
+ }
+ 
+ // construct inertia
+-RigidBodyInertia toKdl(boost::shared_ptr<urdf::Inertial> i)
++RigidBodyInertia toKdl(std::shared_ptr<urdf::Inertial> i)
+ {
+   Frame origin = toKdl(i->origin);
+   
+@@ -124,9 +124,9 @@ RigidBodyInertia toKdl(boost::shared_ptr
+ 
+ 
+ // recursive function to walk through tree
+-bool addChildrenToTree(boost::shared_ptr<const urdf::Link> root, Tree& tree)
++bool addChildrenToTree(std::shared_ptr<const urdf::Link> root, Tree& tree)
+ {
+-  std::vector<boost::shared_ptr<urdf::Link> > children = root->child_links;
++  std::vector<std::shared_ptr<urdf::Link> > children = root->child_links;
+   ROS_DEBUG("Link %s had %i children", root->name.c_str(), (int)children.size());
+ 
+   // constructs the optional inertia
diff --git a/dev-ros/kdl_parser/kdl_parser-1.11.10.ebuild b/dev-ros/kdl_parser/kdl_parser-1.11.10.ebuild
deleted file mode 100644
index 7a28042faf3c..000000000000
--- a/dev-ros/kdl_parser/kdl_parser-1.11.10.ebuild
+++ /dev/null
@@ -1,27 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="Constructs a KDL tree from an XML robot representation in URDF"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/roscpp
-	dev-ros/rosconsole
-	dev-ros/urdf
-	sci-libs/orocos_kdl
-	dev-libs/tinyxml
-"
-DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] )"
diff --git a/dev-ros/kdl_parser/kdl_parser-1.11.8.ebuild b/dev-ros/kdl_parser/kdl_parser-1.11.8.ebuild
deleted file mode 100644
index f3a2d5c4440c..000000000000
--- a/dev-ros/kdl_parser/kdl_parser-1.11.8.ebuild
+++ /dev/null
@@ -1,26 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="Constructs a KDL tree from an XML robot representation in URDF"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/roscpp
-	dev-ros/rosconsole
-	dev-ros/urdf
-	sci-libs/orocos_kdl
-	dev-libs/tinyxml
-"
-DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest )"
diff --git a/dev-ros/kdl_parser/kdl_parser-1.11.9.ebuild b/dev-ros/kdl_parser/kdl_parser-1.11.9.ebuild
deleted file mode 100644
index 7a28042faf3c..000000000000
--- a/dev-ros/kdl_parser/kdl_parser-1.11.9.ebuild
+++ /dev/null
@@ -1,27 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="Constructs a KDL tree from an XML robot representation in URDF"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/roscpp
-	dev-ros/rosconsole
-	dev-ros/urdf
-	sci-libs/orocos_kdl
-	dev-libs/tinyxml
-"
-DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] )"
diff --git a/dev-ros/kdl_parser/kdl_parser-1.12.0.ebuild b/dev-ros/kdl_parser/kdl_parser-1.12.0.ebuild
deleted file mode 100644
index 7a28042faf3c..000000000000
--- a/dev-ros/kdl_parser/kdl_parser-1.12.0.ebuild
+++ /dev/null
@@ -1,27 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="Constructs a KDL tree from an XML robot representation in URDF"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/roscpp
-	dev-ros/rosconsole
-	dev-ros/urdf
-	sci-libs/orocos_kdl
-	dev-libs/tinyxml
-"
-DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] )"
diff --git a/dev-ros/kdl_parser/kdl_parser-1.12.2.ebuild b/dev-ros/kdl_parser/kdl_parser-1.12.2.ebuild
deleted file mode 100644
index 7a28042faf3c..000000000000
--- a/dev-ros/kdl_parser/kdl_parser-1.12.2.ebuild
+++ /dev/null
@@ -1,27 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="Constructs a KDL tree from an XML robot representation in URDF"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=
-	dev-ros/roscpp
-	dev-ros/rosconsole
-	dev-ros/urdf
-	sci-libs/orocos_kdl
-	dev-libs/tinyxml
-"
-DEPEND="${RDEPEND}
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] )"
diff --git a/dev-ros/kdl_parser/kdl_parser-1.12.3.ebuild b/dev-ros/kdl_parser/kdl_parser-1.12.3-r1.ebuild
index 372f508af7ea..7e6a2bd82278 100644
--- a/dev-ros/kdl_parser/kdl_parser-1.12.3.ebuild
+++ b/dev-ros/kdl_parser/kdl_parser-1.12.3-r1.ebuild
@@ -8,7 +8,7 @@ KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
 PYTHON_COMPAT=( python2_7 )
 
-inherit ros-catkin
+inherit ros-catkin flag-o-matic
 
 DESCRIPTION="Constructs a KDL tree from an XML robot representation in URDF"
 LICENSE="BSD"
@@ -19,9 +19,15 @@ RDEPEND="
 	dev-libs/boost:=
 	dev-ros/roscpp
 	dev-ros/rosconsole
-	dev-ros/urdf
+	>=dev-ros/urdf-1.12.3-r1
 	sci-libs/orocos_kdl
 	dev-libs/tinyxml
 "
 DEPEND="${RDEPEND}
 	test? ( dev-ros/rostest[${PYTHON_USEDEP}] )"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
+
+src_configure() {
+	append-cxxflags -std=gnu++11
+	ros-catkin_src_configure
+}
diff --git a/dev-ros/rviz/Manifest b/dev-ros/rviz/Manifest
index a8cfe59aa9e9..2348e6bc030a 100644
--- a/dev-ros/rviz/Manifest
+++ b/dev-ros/rviz/Manifest
@@ -1,5 +1 @@
-DIST rviz-1.11.10.tar.gz 4526836 SHA256 0b1f91042d9e4c90c7c40602a2f479632f432c7ce40801e5508a0077281eadbe SHA512 552a7482f90ce70933bbf93aa7dc29e6ef1685998b508dfd60af2c8e60f43d88ae6c1b5a8585494248d79c5ac7c1c1ade784acd1260ef3aea62ee61050fecafe WHIRLPOOL 47dbd86a3f07e6a78808e5abd0f7a5a17c75839e025479f036def64be042b266adb758426f02bde2c0c0c3fd9a764150a742ad0ed42cc90cddcf6bfc0f2b5a0e
-DIST rviz-1.11.13.tar.gz 4532451 SHA256 97189c47427f1d0d7d3599777544bd001da27694f7225d7fe3c3eab1c064b9b4 SHA512 652355cfe062d22858925329081458b61a95d2f2d8ecf10f746b238e124553706dd2fa507c8191450d0f9a3907ebcfd2b1440212b918b7da69bd9f3b16d5a5a2 WHIRLPOOL 9dc30f05150304a9306b9bb41ca06ccc27271f8b4e9537128ec3a0d5ab9205598f423f234ebbf7619dd323f53ca81f0150a814bb47d280e7818159d4dbbcae2d
-DIST rviz-1.11.14.tar.gz 4532724 SHA256 89b77d11315318e2f3737e0f04803df2b7808ff00e50c0d6ed0ae03ab3773d3e SHA512 5d912050876b55ed405a5d31e6602db04e802e1b8cfd8f411f318519fa8c45d096fb17b3009ca195cf07345666f27d5a7b61a248d1bb88ec63b775c9fa6fa0e1 WHIRLPOOL 75b67c5702251a021da98a0da86c827209259231f02af6be78c79200716d6c5495541adc1c977076f8faaef35ae6ec986635639993586314456aafcf8b619a63
-DIST rviz-1.12.0.tar.gz 4531765 SHA256 28753abc7dd3a3888b37b6eb2d7b66bbf74cd42b7eb08410e0f21ffd357aafa0 SHA512 33b7a7fafb3b0565507a799e98c2fc2908a5b6e8ed68e013604583a2c7806693754665e363edd7e0f053fdc0f7522353cbbdee7e37a3e7e421ab3144f2ab68d9 WHIRLPOOL 2ac5771dcf5f67be5b51686a39efaca8887a3bdbd493a584281d7d32aa2d0a235729b667fd998535116cda0d43becd198ace05c993f09c4bef93541e4eeed480
 DIST rviz-1.12.1.tar.gz 4532138 SHA256 194a387de5afd53b7b6de2cde06c81ae3a94d4d410545ea5bf62ef38ea2b03f0 SHA512 64ff0cb00a1be2e845b8619f9aea7c7268b6d5ca42002fafb20a3c86b44dcce46ef7951883c51fea099763f0974675e1c24ac0f3fc5b93ae5795508443cd634c WHIRLPOOL 1e65f2977337e73b5fbcf85ff633de2e6db4ce60f71be1601f06992595848c297d4048b6b1d83f0bae8bfbcf0b092783c2bdb89fd1a695f40817bf11cfa0b3a9
diff --git a/dev-ros/rviz/files/urdfdom1.patch b/dev-ros/rviz/files/urdfdom1.patch
new file mode 100644
index 000000000000..d7f152c15581
--- /dev/null
+++ b/dev-ros/rviz/files/urdfdom1.patch
@@ -0,0 +1,261 @@
+Index: rviz-1.12.1/src/rviz/default_plugin/effort_display.cpp
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_display.cpp
++++ rviz-1.12.1/src/rviz/default_plugin/effort_display.cpp
+@@ -200,7 +200,7 @@ namespace rviz
+         robot_description_ = content;
+ 
+ 
+-	robot_model_ = boost::shared_ptr<urdf::Model>(new urdf::Model());
++	robot_model_ = std::shared_ptr<urdf::Model>(new urdf::Model());
+ 	if (!robot_model_->initString(content))
+ 	{
+ 	    ROS_ERROR("Unable to parse URDF description!");
+@@ -208,11 +208,11 @@ namespace rviz
+ 	    return;
+ 	}
+         setStatus(rviz::StatusProperty::Ok, "URDF", "Robot model parserd Ok");
+-	for (std::map<std::string, boost::shared_ptr<urdf::Joint> >::iterator it = robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it ++ ) {
+-            boost::shared_ptr<urdf::Joint> joint = it->second;
++	for (std::map<std::string, std::shared_ptr<urdf::Joint> >::iterator it = robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it ++ ) {
++            std::shared_ptr<urdf::Joint> joint = it->second;
+ 	    if ( joint->type == urdf::Joint::REVOLUTE ) {
+                 std::string joint_name = it->first;
+-		boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
++		std::shared_ptr<urdf::JointLimits> limit = joint->limits;
+                 joints_[joint_name] = createJoint(joint_name);
+                 //joints_[joint_name]->max_effort_property_->setFloat(limit->effort);
+                 //joints_[joint_name]->max_effort_property_->setReadOnly( true );
+Index: rviz-1.12.1/src/rviz/default_plugin/effort_display.h
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_display.h
++++ rviz-1.12.1/src/rviz/default_plugin/effort_display.h
+@@ -36,13 +36,13 @@ namespace tf
+ # undef TF_MESSAGEFILTER_DEBUG
+ #endif
+ #define TF_MESSAGEFILTER_DEBUG(fmt, ...) \
+-  ROS_DEBUG_NAMED("message_filter", "MessageFilter [target=%s]: "fmt, getTargetFramesString().c_str(), __VA_ARGS__)
++  ROS_DEBUG_NAMED("message_filter", "MessageFilter [target=%s]: " fmt, getTargetFramesString().c_str(), __VA_ARGS__)
+ 
+ #ifdef TF_MESSAGEFILTER_WARN
+ # undef TF_MESSAGEFILTER_WARN
+ #endif
+ #define TF_MESSAGEFILTER_WARN(fmt, ...) \
+-  ROS_WARN_NAMED("message_filter", "MessageFilter [target=%s]: "fmt, getTargetFramesString().c_str(), __VA_ARGS__)
++  ROS_WARN_NAMED("message_filter", "MessageFilter [target=%s]: " fmt, getTargetFramesString().c_str(), __VA_ARGS__)
+ 
+     class MessageFilterJointState : public MessageFilter<sensor_msgs::JointState>
+     {
+@@ -706,7 +706,7 @@ namespace rviz
+         void clear();
+ 
+ 	// The object for urdf model
+-	boost::shared_ptr<urdf::Model> robot_model_;
++	std::shared_ptr<urdf::Model> robot_model_;
+ 
+         //
+         std::string robot_description_;
+Index: rviz-1.12.1/src/rviz/default_plugin/effort_visual.cpp
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_visual.cpp
++++ rviz-1.12.1/src/rviz/default_plugin/effort_visual.cpp
+@@ -13,7 +13,7 @@
+ namespace rviz
+ {
+ 
+-    EffortVisual::EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, boost::shared_ptr<urdf::Model> urdf_model )
++    EffortVisual::EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, std::shared_ptr<urdf::Model> urdf_model )
+     {
+ 	scene_manager_ = scene_manager;
+ 
+@@ -31,7 +31,7 @@ namespace rviz
+ 
+ 	// We create the arrow object within the frame node so that we can
+ 	// set its position and direction relative to its header frame.
+-	for (std::map<std::string, boost::shared_ptr<urdf::Joint> >::iterator it = urdf_model_->joints_.begin(); it != urdf_model_->joints_.end(); it ++ ) {
++	for (std::map<std::string, std::shared_ptr<urdf::Joint> >::iterator it = urdf_model_->joints_.begin(); it != urdf_model_->joints_.end(); it ++ ) {
+ 	    if ( it->second->type == urdf::Joint::REVOLUTE ) {
+                 std::string joint_name = it->first;
+                 effort_enabled_[joint_name] = true;
+@@ -103,7 +103,7 @@ namespace rviz
+                 if ( ! effort_enabled_[joint_name] ) continue;
+ 
+ 		//tf::Transform offset = poseFromJoint(joint);
+-		boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
++		std::shared_ptr<urdf::JointLimits> limit = joint->limits;
+ 		double max_effort = limit->effort, effort_value = 0.05;
+ 
+ 		if ( max_effort != 0.0 )
+Index: rviz-1.12.1/src/rviz/default_plugin/effort_visual.h
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_visual.h
++++ rviz-1.12.1/src/rviz/default_plugin/effort_visual.h
+@@ -33,7 +33,7 @@ class EffortVisual
+ public:
+     // Constructor.  Creates the visual stuff and puts it into the
+     // scene, but in an unconfigured state.
+-    EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, boost::shared_ptr<urdf::Model> urdf_model );
++    EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, std::shared_ptr<urdf::Model> urdf_model );
+ 
+     // Destructor.  Removes the visual stuff from the scene.
+     virtual ~EffortVisual();
+@@ -85,7 +85,7 @@ private:
+     float width_, scale_;
+ 
+     // The object for urdf model
+-    boost::shared_ptr<urdf::Model> urdf_model_;
++    std::shared_ptr<urdf::Model> urdf_model_;
+ };
+ 
+ } // end namespace rviz
+Index: rviz-1.12.1/src/rviz/robot/robot.cpp
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot.cpp
++++ rviz-1.12.1/src/rviz/robot/robot.cpp
+@@ -236,7 +236,7 @@ void Robot::clear()
+ 
+ RobotLink* Robot::LinkFactory::createLink(
+     Robot* robot,
+-    const boost::shared_ptr<const urdf::Link>& link,
++    const std::shared_ptr<const urdf::Link>& link,
+     const std::string& parent_joint_name,
+     bool visual,
+     bool collision)
+@@ -246,7 +246,7 @@ RobotLink* Robot::LinkFactory::createLin
+ 
+ RobotJoint* Robot::LinkFactory::createJoint(
+     Robot* robot,
+-    const boost::shared_ptr<const urdf::Joint>& joint)
++    const std::shared_ptr<const urdf::Joint>& joint)
+ {
+   return new RobotJoint(robot, joint);
+ }
+@@ -265,12 +265,12 @@ void Robot::load( const urdf::ModelInter
+   // Create properties for each link.
+   // Properties are not added to display until changedLinkTreeStyle() is called (below).
+   {
+-    typedef std::map<std::string, boost::shared_ptr<urdf::Link> > M_NameToUrdfLink;
++    typedef std::map<std::string, std::shared_ptr<urdf::Link> > M_NameToUrdfLink;
+     M_NameToUrdfLink::const_iterator link_it = urdf.links_.begin();
+     M_NameToUrdfLink::const_iterator link_end = urdf.links_.end();
+     for( ; link_it != link_end; ++link_it )
+     {
+-      const boost::shared_ptr<const urdf::Link>& urdf_link = link_it->second;
++      const std::shared_ptr<const urdf::Link>& urdf_link = link_it->second;
+       std::string parent_joint_name;
+ 
+       if (urdf_link != urdf.getRoot() && urdf_link->parent_joint)
+@@ -298,12 +298,12 @@ void Robot::load( const urdf::ModelInter
+   // Create properties for each joint.
+   // Properties are not added to display until changedLinkTreeStyle() is called (below).
+   {
+-    typedef std::map<std::string, boost::shared_ptr<urdf::Joint> > M_NameToUrdfJoint;
++    typedef std::map<std::string, std::shared_ptr<urdf::Joint> > M_NameToUrdfJoint;
+     M_NameToUrdfJoint::const_iterator joint_it = urdf.joints_.begin();
+     M_NameToUrdfJoint::const_iterator joint_end = urdf.joints_.end();
+     for( ; joint_it != joint_end; ++joint_it )
+     {
+-      const boost::shared_ptr<const urdf::Joint>& urdf_joint = joint_it->second;
++      const std::shared_ptr<const urdf::Joint>& urdf_joint = joint_it->second;
+       RobotJoint* joint = link_factory_->createJoint( this, urdf_joint );
+ 
+       joints_[urdf_joint->name] = joint;
+Index: rviz-1.12.1/src/rviz/robot/robot.h
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot.h
++++ rviz-1.12.1/src/rviz/robot/robot.h
+@@ -173,12 +173,12 @@ public:
+   {
+   public:
+     virtual RobotLink* createLink( Robot* robot,
+-                                   const boost::shared_ptr<const urdf::Link>& link,
++				   const std::shared_ptr<const urdf::Link>& link,
+                                    const std::string& parent_joint_name,
+                                    bool visual,
+                                    bool collision);
+     virtual RobotJoint* createJoint( Robot* robot,
+-                                     const boost::shared_ptr<const urdf::Joint>& joint);
++                                     const std::shared_ptr<const urdf::Joint>& joint);
+   };
+ 
+   /** Call this before load() to subclass the RobotLink or RobotJoint class used in the link property.
+Index: rviz-1.12.1/src/rviz/robot/robot_joint.cpp
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot_joint.cpp
++++ rviz-1.12.1/src/rviz/robot/robot_joint.cpp
+@@ -46,7 +46,7 @@
+ namespace rviz
+ {
+ 
+-RobotJoint::RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint )
++RobotJoint::RobotJoint( Robot* robot, const std::shared_ptr<const urdf::Joint>& joint )
+   : robot_( robot )
+   , name_( joint->name )
+   , child_link_name_( joint->child_link_name )
+Index: rviz-1.12.1/src/rviz/robot/robot_joint.h
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot_joint.h
++++ rviz-1.12.1/src/rviz/robot/robot_joint.h
+@@ -89,7 +89,7 @@ class RobotJoint: public QObject
+ {
+ Q_OBJECT
+ public:
+-  RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint );
++  RobotJoint( Robot* robot, const std::shared_ptr<const urdf::Joint>& joint );
+   virtual ~RobotJoint();
+ 
+ 
+Index: rviz-1.12.1/src/rviz/robot/robot_link.cpp
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot_link.cpp
++++ rviz-1.12.1/src/rviz/robot/robot_link.cpp
+@@ -262,8 +262,8 @@ RobotLink::RobotLink( Robot* robot,
+       desc << " child joint: ";
+     }
+ 
+-    std::vector<boost::shared_ptr<urdf::Joint> >::const_iterator child_it = link->child_joints.begin();
+-    std::vector<boost::shared_ptr<urdf::Joint> >::const_iterator child_end = link->child_joints.end();
++    std::vector<std::shared_ptr<urdf::Joint> >::const_iterator child_it = link->child_joints.begin();
++    std::vector<std::shared_ptr<urdf::Joint> >::const_iterator child_end = link->child_joints.end();
+     for ( ; child_it != child_end ; ++child_it )
+     {
+       urdf::Joint *child_joint = child_it->get();
+@@ -674,10 +674,10 @@ void RobotLink::createCollision(const ur
+     }
+   }
+ #else
+-  std::vector<boost::shared_ptr<urdf::Collision> >::const_iterator vi;
++  std::vector<std::shared_ptr<urdf::Collision> >::const_iterator vi;
+   for( vi = link->collision_array.begin(); vi != link->collision_array.end(); vi++ )
+   {
+-    boost::shared_ptr<urdf::Collision> collision = *vi;
++    std::shared_ptr<urdf::Collision> collision = *vi;
+     if( collision && collision->geometry )
+     {
+       Ogre::Entity* collision_mesh = NULL;
+@@ -731,10 +731,10 @@ void RobotLink::createVisual(const urdf:
+     }
+   }
+ #else
+-  std::vector<boost::shared_ptr<urdf::Visual> >::const_iterator vi;
++  std::vector<std::shared_ptr<urdf::Visual> >::const_iterator vi;
+   for( vi = link->visual_array.begin(); vi != link->visual_array.end(); vi++ )
+   {
+-    boost::shared_ptr<urdf::Visual> visual = *vi;
++    std::shared_ptr<urdf::Visual> visual = *vi;
+     if( visual && visual->geometry )
+     {
+       Ogre::Entity* visual_mesh = NULL;
+Index: rviz-1.12.1/src/rviz/robot/robot_link.h
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot_link.h
++++ rviz-1.12.1/src/rviz/robot/robot_link.h
+@@ -62,7 +62,7 @@ namespace urdf
+ {
+ class ModelInterface;
+ class Link;
+-typedef boost::shared_ptr<const Link> LinkConstPtr;
++typedef std::shared_ptr<const Link> LinkConstPtr;
+ class Geometry;
+ typedef boost::shared_ptr<const Geometry> GeometryConstPtr;
+ class Pose;
diff --git a/dev-ros/rviz/rviz-1.11.10.ebuild b/dev-ros/rviz/rviz-1.11.10.ebuild
deleted file mode 100644
index 43b31fc3a7fd..000000000000
--- a/dev-ros/rviz/rviz-1.11.10.ebuild
+++ /dev/null
@@ -1,61 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-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
-	virtual/opengl
-	dev-qt/qtgui:4
-	dev-qt/qtopengl:4
-	dev-qt/qtcore:4
-	dev-qt/qtsvg:4
-	dev-cpp/eigen:3
-	dev-cpp/yaml-cpp
-
-	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[${PYTHON_USEDEP}]
-	dev-ros/resource_retriever
-	dev-ros/rosbag[${PYTHON_USEDEP}]
-	dev-ros/rosconsole
-	dev-ros/roscpp
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-ros/tf
-	dev-ros/urdf
-
-	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
-	)"
diff --git a/dev-ros/rviz/rviz-1.11.13.ebuild b/dev-ros/rviz/rviz-1.11.13.ebuild
deleted file mode 100644
index 61c0440f524e..000000000000
--- a/dev-ros/rviz/rviz-1.11.13.ebuild
+++ /dev/null
@@ -1,73 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-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="qt5"
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	media-libs/assimp
-	dev-games/ogre
-	virtual/opengl
-	qt5? (
-		dev-qt/qtwidgets:5
-		dev-qt/qtcore:5
-		dev-qt/qtopengl:5
-	)
-	!qt5? (
-		dev-qt/qtgui:4
-		dev-qt/qtopengl:4
-		dev-qt/qtcore:4
-		dev-qt/qtsvg:4
-	)
-	dev-cpp/eigen:3
-	dev-cpp/yaml-cpp
-
-	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[${PYTHON_USEDEP}]
-	dev-ros/resource_retriever
-	dev-ros/rosbag[${PYTHON_USEDEP}]
-	dev-ros/rosconsole
-	dev-ros/roscpp
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-ros/tf
-	dev-ros/urdf
-
-	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=$(usex qt5 ON OFF)" )
-	ros-catkin_src_configure
-}
diff --git a/dev-ros/rviz/rviz-1.11.14.ebuild b/dev-ros/rviz/rviz-1.11.14.ebuild
deleted file mode 100644
index 61c0440f524e..000000000000
--- a/dev-ros/rviz/rviz-1.11.14.ebuild
+++ /dev/null
@@ -1,73 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-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="qt5"
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	media-libs/assimp
-	dev-games/ogre
-	virtual/opengl
-	qt5? (
-		dev-qt/qtwidgets:5
-		dev-qt/qtcore:5
-		dev-qt/qtopengl:5
-	)
-	!qt5? (
-		dev-qt/qtgui:4
-		dev-qt/qtopengl:4
-		dev-qt/qtcore:4
-		dev-qt/qtsvg:4
-	)
-	dev-cpp/eigen:3
-	dev-cpp/yaml-cpp
-
-	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[${PYTHON_USEDEP}]
-	dev-ros/resource_retriever
-	dev-ros/rosbag[${PYTHON_USEDEP}]
-	dev-ros/rosconsole
-	dev-ros/roscpp
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-ros/tf
-	dev-ros/urdf
-
-	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=$(usex qt5 ON OFF)" )
-	ros-catkin_src_configure
-}
diff --git a/dev-ros/rviz/rviz-1.12.0.ebuild b/dev-ros/rviz/rviz-1.12.1-r1.ebuild
index 23a35fa96613..3f1eee60efdf 100644
--- a/dev-ros/rviz/rviz-1.12.0.ebuild
+++ b/dev-ros/rviz/rviz-1.12.1-r1.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2016 Gentoo Foundation
 # Distributed under the terms of the GNU General Public License v2
 # $Id$
 
@@ -8,7 +8,7 @@ ROS_REPO_URI="https://github.com/ros-visualization/rviz"
 KEYWORDS="~amd64"
 PYTHON_COMPAT=( python2_7 )
 
-inherit ros-catkin
+inherit ros-catkin flag-o-matic
 
 DESCRIPTION="3D visualization tool for ROS"
 LICENSE="BSD"
@@ -25,6 +25,7 @@ RDEPEND="
 	dev-qt/qtopengl:5
 	dev-cpp/eigen:3
 	dev-cpp/yaml-cpp
+	dev-libs/urdfdom:=
 
 	dev-ros/angles
 	dev-ros/image_geometry
@@ -41,7 +42,7 @@ RDEPEND="
 	dev-ros/roslib[${PYTHON_USEDEP}]
 	dev-ros/rospy[${PYTHON_USEDEP}]
 	dev-ros/tf
-	dev-ros/urdf
+	>=dev-ros/urdf-1.12.3-r1
 
 	dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
 	dev-ros/map_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
@@ -58,8 +59,10 @@ DEPEND="${RDEPEND}
 		dev-ros/rostest[${PYTHON_USEDEP}]
 		dev-cpp/gtest
 	)"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
 
 src_configure() {
+	append-cxxflags -std=gnu++11
 	local mycatkincmakeargs=( "-DUseQt5=ON" )
 	ros-catkin_src_configure
 }
diff --git a/dev-ros/rviz/rviz-1.12.1.ebuild b/dev-ros/rviz/rviz-1.12.1.ebuild
deleted file mode 100644
index 23a35fa96613..000000000000
--- a/dev-ros/rviz/rviz-1.12.1.ebuild
+++ /dev/null
@@ -1,65 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-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
-	virtual/opengl
-	dev-qt/qtwidgets:5
-	dev-qt/qtcore:5
-	dev-qt/qtopengl:5
-	dev-cpp/eigen:3
-	dev-cpp/yaml-cpp
-
-	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-ros/roscpp
-	dev-ros/roslib[${PYTHON_USEDEP}]
-	dev-ros/rospy[${PYTHON_USEDEP}]
-	dev-ros/tf
-	dev-ros/urdf
-
-	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-9999.ebuild b/dev-ros/rviz/rviz-9999.ebuild
index 23a35fa96613..ac1c4eb09d51 100644
--- a/dev-ros/rviz/rviz-9999.ebuild
+++ b/dev-ros/rviz/rviz-9999.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2016 Gentoo Foundation
 # Distributed under the terms of the GNU General Public License v2
 # $Id$
 
@@ -25,6 +25,7 @@ RDEPEND="
 	dev-qt/qtopengl:5
 	dev-cpp/eigen:3
 	dev-cpp/yaml-cpp
+	dev-libs/urdfdom:=
 
 	dev-ros/angles
 	dev-ros/image_geometry
diff --git a/dev-ros/urdf/Manifest b/dev-ros/urdf/Manifest
index 4943c9c4053e..e1808ab34552 100644
--- a/dev-ros/urdf/Manifest
+++ b/dev-ros/urdf/Manifest
@@ -1,6 +1 @@
-DIST robot_model-1.11.10.tar.gz 1292754 SHA256 a43a17e8f19a41fba5660f94eb40e89f2b3fecab81fe8b54f657d430dd936cd4 SHA512 95770807d22de4581a87e7297fc9f9e0e781ad2a8f273a3f4781ac2864f53b73b408dde9c696aa934bab1dada5bac396a8c65d62e4a941884cc9966c680da4a8 WHIRLPOOL c41f637723ac00331abf0d52d9b6d6546205d25e0adc972b4cc793ce4a9351e0246bf42d59a5755532ca54bdc186b6055b2412777601bcbfc09d1399a0b46292
-DIST robot_model-1.11.8.tar.gz 364741 SHA256 781a0510136a820d217862f7491183b3deeadaf18aa0fabeb28d79e365510e12 SHA512 65471bb58c7383987f587a61f9e32fbd991c4eb26f1d5a819db8a5f456def7566ab9d16ab343a885fba73e0a017f5729815501356ef85b6aff0b4f0544a41212 WHIRLPOOL 95a9e654c1e7324593d2671a37b4c16aeee373450d5cb52508435b643c80c72c7263506914459c3c320af47355129dc0e906cdfb30d0e3bda1fd418e016e3a39
-DIST robot_model-1.11.9.tar.gz 1292675 SHA256 145d43c32cb93888f8555bdcbce48ea417515fb17dbd2445fa1ed7ac32e2399b SHA512 10afe675739746ba313d5c3b4758940c9896bd96fbd3b81fb4809d18cf39d49b36e9b24b28af38f700a65c7c2fb572186dc3920ab2cbd190cc79b485c54eb78d WHIRLPOOL cc176a18819258d6c2af33024b1f92e301f656949d0073f90659b22dd7532708b65b1fefaa3d684bf0f425acb66225eb25bc96bf6272bacbd733451e7e549ec5
-DIST robot_model-1.12.0.tar.gz 1292282 SHA256 942edd173fde0efd3c7dab03a30cc1b96b9aa513ed914f00b45f603476ec46fe SHA512 6faf6219788d6cbd6765ff1cb55e7cbc1f3bc414f3f83ac0d46ff7a8617cfe477871104eef846c9a47ffb09c69a948d080e199d455d1269fe043ed11a7d1e335 WHIRLPOOL c487eaea77598b8663d3239142864da9b2dd02d8f6ec321e9beb88ec31fa03d90d77e1fcd7bc0ea7b9afda168a4c46ee4f27b4f8867e70ef9f7ab3d3e00a9e3e
-DIST robot_model-1.12.2.tar.gz 1291779 SHA256 49543ae6f31a2e0f02730e00b926a1a0d3b7e97aa98e1ce27ff3bfd1114806f9 SHA512 39c7c893047ea5e21e9598e3e0b8ca3d2f8a256d1d06ddf419f953bffafb73199f8865f872416ec9c0570cf6cad180d5e1498af13033d1c42b54a640b14e9020 WHIRLPOOL 08b387d4aeca0f97315ad33f2f3efc7ac2323a05ca7ea3cb9e3bd36be858be454882508553a9bd4ad42d0650e43d31fd4e90800fff719877172f5ffc7efd5048
 DIST robot_model-1.12.3.tar.gz 1292139 SHA256 4b2bf070e4d07450fd9977a62c260e8abb40645ff9fcf5f5781f505a8b61b194 SHA512 eae18db87bdd7fc867868493f54f1812358f1a301c88fc7eae611fa75bc2418165b5cb2f5c5839f3cb644d4c1f560f85d84b635ffbecaa631c78a3176d1fb6db WHIRLPOOL c555faee5282942db894866a08aa3a675c6db618fce2acdd1f67d622cf1c0a8e5747f5f9a5217b4fc83997f9bb9125f1c7f2ca6b77e9fd75244f121b48a77f66
diff --git a/dev-ros/urdf/files/urdfdom1.patch b/dev-ros/urdf/files/urdfdom1.patch
new file mode 100644
index 000000000000..aa1d31ce9788
--- /dev/null
+++ b/dev-ros/urdf/files/urdfdom1.patch
@@ -0,0 +1,13 @@
+Index: urdf/src/model.cpp
+===================================================================
+--- urdf.orig/src/model.cpp
++++ urdf/src/model.cpp
+@@ -136,7 +136,7 @@ bool Model::initXml(TiXmlElement *robot_
+ 
+ bool Model::initString(const std::string& xml_string)
+ {
+-  boost::shared_ptr<ModelInterface> model;
++  std::shared_ptr<ModelInterface> model;
+ 
+   // necessary for COLLADA compatibility
+   if( IsColladaData(xml_string) ) {
diff --git a/dev-ros/urdf/urdf-1.11.10.ebuild b/dev-ros/urdf/urdf-1.11.10.ebuild
deleted file mode 100644
index e406d8de61e2..000000000000
--- a/dev-ros/urdf/urdf-1.11.10.ebuild
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="C++ parser for the Unified Robot Description Format (URDF)"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	dev-libs/urdfdom
-	dev-libs/urdfdom_headers
-	dev-ros/urdf_parser_plugin
-	dev-ros/pluginlib
-	dev-ros/rosconsole_bridge
-	dev-ros/roscpp
-	dev-libs/tinyxml
-"
-DEPEND="${RDEPEND}
-	dev-ros/cmake_modules
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] dev-cpp/gtest )"
diff --git a/dev-ros/urdf/urdf-1.11.8.ebuild b/dev-ros/urdf/urdf-1.11.8.ebuild
deleted file mode 100644
index e0ec2afa5395..000000000000
--- a/dev-ros/urdf/urdf-1.11.8.ebuild
+++ /dev/null
@@ -1,29 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ parser for the Unified Robot Description Format (URDF)"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	dev-libs/urdfdom
-	dev-libs/urdfdom_headers
-	dev-ros/urdf_parser_plugin
-	dev-ros/pluginlib
-	dev-ros/rosconsole_bridge
-	dev-ros/roscpp
-	dev-libs/tinyxml
-"
-DEPEND="${RDEPEND}
-	dev-ros/cmake_modules
-	test? ( dev-ros/rostest dev-cpp/gtest )"
diff --git a/dev-ros/urdf/urdf-1.11.9.ebuild b/dev-ros/urdf/urdf-1.11.9.ebuild
deleted file mode 100644
index e406d8de61e2..000000000000
--- a/dev-ros/urdf/urdf-1.11.9.ebuild
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="C++ parser for the Unified Robot Description Format (URDF)"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	dev-libs/urdfdom
-	dev-libs/urdfdom_headers
-	dev-ros/urdf_parser_plugin
-	dev-ros/pluginlib
-	dev-ros/rosconsole_bridge
-	dev-ros/roscpp
-	dev-libs/tinyxml
-"
-DEPEND="${RDEPEND}
-	dev-ros/cmake_modules
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] dev-cpp/gtest )"
diff --git a/dev-ros/urdf/urdf-1.12.0.ebuild b/dev-ros/urdf/urdf-1.12.0.ebuild
deleted file mode 100644
index e406d8de61e2..000000000000
--- a/dev-ros/urdf/urdf-1.12.0.ebuild
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="C++ parser for the Unified Robot Description Format (URDF)"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	dev-libs/urdfdom
-	dev-libs/urdfdom_headers
-	dev-ros/urdf_parser_plugin
-	dev-ros/pluginlib
-	dev-ros/rosconsole_bridge
-	dev-ros/roscpp
-	dev-libs/tinyxml
-"
-DEPEND="${RDEPEND}
-	dev-ros/cmake_modules
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] dev-cpp/gtest )"
diff --git a/dev-ros/urdf/urdf-1.12.2.ebuild b/dev-ros/urdf/urdf-1.12.2.ebuild
deleted file mode 100644
index e406d8de61e2..000000000000
--- a/dev-ros/urdf/urdf-1.12.2.ebuild
+++ /dev/null
@@ -1,30 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-PYTHON_COMPAT=( python2_7 )
-
-inherit ros-catkin
-
-DESCRIPTION="C++ parser for the Unified Robot Description Format (URDF)"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
-	dev-libs/boost:=[threads]
-	dev-libs/urdfdom
-	dev-libs/urdfdom_headers
-	dev-ros/urdf_parser_plugin
-	dev-ros/pluginlib
-	dev-ros/rosconsole_bridge
-	dev-ros/roscpp
-	dev-libs/tinyxml
-"
-DEPEND="${RDEPEND}
-	dev-ros/cmake_modules
-	test? ( dev-ros/rostest[${PYTHON_USEDEP}] dev-cpp/gtest )"
diff --git a/dev-ros/urdf/urdf-1.12.3.ebuild b/dev-ros/urdf/urdf-1.12.3-r1.ebuild
index e6cb39f0afa6..eb2263d99d4d 100644
--- a/dev-ros/urdf/urdf-1.12.3.ebuild
+++ b/dev-ros/urdf/urdf-1.12.3-r1.ebuild
@@ -8,7 +8,7 @@ KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
 PYTHON_COMPAT=( python2_7 )
 
-inherit ros-catkin
+inherit ros-catkin flag-o-matic
 
 DESCRIPTION="C++ parser for the Unified Robot Description Format (URDF)"
 LICENSE="BSD"
@@ -17,9 +17,9 @@ IUSE=""
 
 RDEPEND="
 	dev-libs/boost:=[threads]
-	dev-libs/urdfdom
+	>=dev-libs/urdfdom-1
 	dev-libs/urdfdom_headers
-	dev-ros/urdf_parser_plugin
+	>=dev-ros/urdf_parser_plugin-1.12.3-r1
 	dev-ros/pluginlib
 	dev-ros/rosconsole_bridge
 	dev-ros/roscpp
@@ -28,3 +28,9 @@ RDEPEND="
 DEPEND="${RDEPEND}
 	dev-ros/cmake_modules
 	test? ( dev-ros/rostest[${PYTHON_USEDEP}] dev-cpp/gtest )"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
+
+src_configure() {
+	append-cxxflags -std=c++11
+	ros-catkin_src_configure
+}
diff --git a/dev-ros/urdf_parser_plugin/Manifest b/dev-ros/urdf_parser_plugin/Manifest
index 4943c9c4053e..e1808ab34552 100644
--- a/dev-ros/urdf_parser_plugin/Manifest
+++ b/dev-ros/urdf_parser_plugin/Manifest
@@ -1,6 +1 @@
-DIST robot_model-1.11.10.tar.gz 1292754 SHA256 a43a17e8f19a41fba5660f94eb40e89f2b3fecab81fe8b54f657d430dd936cd4 SHA512 95770807d22de4581a87e7297fc9f9e0e781ad2a8f273a3f4781ac2864f53b73b408dde9c696aa934bab1dada5bac396a8c65d62e4a941884cc9966c680da4a8 WHIRLPOOL c41f637723ac00331abf0d52d9b6d6546205d25e0adc972b4cc793ce4a9351e0246bf42d59a5755532ca54bdc186b6055b2412777601bcbfc09d1399a0b46292
-DIST robot_model-1.11.8.tar.gz 364741 SHA256 781a0510136a820d217862f7491183b3deeadaf18aa0fabeb28d79e365510e12 SHA512 65471bb58c7383987f587a61f9e32fbd991c4eb26f1d5a819db8a5f456def7566ab9d16ab343a885fba73e0a017f5729815501356ef85b6aff0b4f0544a41212 WHIRLPOOL 95a9e654c1e7324593d2671a37b4c16aeee373450d5cb52508435b643c80c72c7263506914459c3c320af47355129dc0e906cdfb30d0e3bda1fd418e016e3a39
-DIST robot_model-1.11.9.tar.gz 1292675 SHA256 145d43c32cb93888f8555bdcbce48ea417515fb17dbd2445fa1ed7ac32e2399b SHA512 10afe675739746ba313d5c3b4758940c9896bd96fbd3b81fb4809d18cf39d49b36e9b24b28af38f700a65c7c2fb572186dc3920ab2cbd190cc79b485c54eb78d WHIRLPOOL cc176a18819258d6c2af33024b1f92e301f656949d0073f90659b22dd7532708b65b1fefaa3d684bf0f425acb66225eb25bc96bf6272bacbd733451e7e549ec5
-DIST robot_model-1.12.0.tar.gz 1292282 SHA256 942edd173fde0efd3c7dab03a30cc1b96b9aa513ed914f00b45f603476ec46fe SHA512 6faf6219788d6cbd6765ff1cb55e7cbc1f3bc414f3f83ac0d46ff7a8617cfe477871104eef846c9a47ffb09c69a948d080e199d455d1269fe043ed11a7d1e335 WHIRLPOOL c487eaea77598b8663d3239142864da9b2dd02d8f6ec321e9beb88ec31fa03d90d77e1fcd7bc0ea7b9afda168a4c46ee4f27b4f8867e70ef9f7ab3d3e00a9e3e
-DIST robot_model-1.12.2.tar.gz 1291779 SHA256 49543ae6f31a2e0f02730e00b926a1a0d3b7e97aa98e1ce27ff3bfd1114806f9 SHA512 39c7c893047ea5e21e9598e3e0b8ca3d2f8a256d1d06ddf419f953bffafb73199f8865f872416ec9c0570cf6cad180d5e1498af13033d1c42b54a640b14e9020 WHIRLPOOL 08b387d4aeca0f97315ad33f2f3efc7ac2323a05ca7ea3cb9e3bd36be858be454882508553a9bd4ad42d0650e43d31fd4e90800fff719877172f5ffc7efd5048
 DIST robot_model-1.12.3.tar.gz 1292139 SHA256 4b2bf070e4d07450fd9977a62c260e8abb40645ff9fcf5f5781f505a8b61b194 SHA512 eae18db87bdd7fc867868493f54f1812358f1a301c88fc7eae611fa75bc2418165b5cb2f5c5839f3cb644d4c1f560f85d84b635ffbecaa631c78a3176d1fb6db WHIRLPOOL c555faee5282942db894866a08aa3a675c6db618fce2acdd1f67d622cf1c0a8e5747f5f9a5217b4fc83997f9bb9125f1c7f2ca6b77e9fd75244f121b48a77f66
diff --git a/dev-ros/urdf_parser_plugin/files/urdfdom1.patch b/dev-ros/urdf_parser_plugin/files/urdfdom1.patch
new file mode 100644
index 000000000000..ce4413d03144
--- /dev/null
+++ b/dev-ros/urdf_parser_plugin/files/urdfdom1.patch
@@ -0,0 +1,13 @@
+Index: urdf_parser_plugin/include/urdf_parser_plugin/parser.h
+===================================================================
+--- urdf_parser_plugin.orig/include/urdf_parser_plugin/parser.h
++++ urdf_parser_plugin/include/urdf_parser_plugin/parser.h
+@@ -54,7 +54,7 @@ public:
+   }
+ 
+   /// \brief Load Model from string
+-  virtual boost::shared_ptr<ModelInterface> parse(const std::string &xml_string) = 0;
++  virtual std::shared_ptr<ModelInterface> parse(const std::string &xml_string) = 0;
+ };
+   
+ }
diff --git a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.11.10.ebuild b/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.11.10.ebuild
deleted file mode 100644
index 3bfb77facbf7..000000000000
--- a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.11.10.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ base class for URDF parsers"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-libs/urdfdom_headers"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.11.8.ebuild b/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.11.8.ebuild
deleted file mode 100644
index 3bfb77facbf7..000000000000
--- a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.11.8.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ base class for URDF parsers"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-libs/urdfdom_headers"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.11.9.ebuild b/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.11.9.ebuild
deleted file mode 100644
index 3bfb77facbf7..000000000000
--- a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.11.9.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ base class for URDF parsers"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-libs/urdfdom_headers"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.12.0.ebuild b/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.12.0.ebuild
deleted file mode 100644
index 3bfb77facbf7..000000000000
--- a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.12.0.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ base class for URDF parsers"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-libs/urdfdom_headers"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.12.2.ebuild b/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.12.2.ebuild
deleted file mode 100644
index 3bfb77facbf7..000000000000
--- a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.12.2.ebuild
+++ /dev/null
@@ -1,18 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros/robot_model"
-KEYWORDS="~amd64 ~arm"
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="C++ base class for URDF parsers"
-LICENSE="BSD"
-SLOT="0"
-IUSE=""
-
-RDEPEND="dev-libs/urdfdom_headers"
-DEPEND="${RDEPEND}"
diff --git a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.12.3.ebuild b/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.12.3-r1.ebuild
index 345ecadb9984..c486b73bc1c4 100644
--- a/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.12.3.ebuild
+++ b/dev-ros/urdf_parser_plugin/urdf_parser_plugin-1.12.3-r1.ebuild
@@ -14,5 +14,6 @@ LICENSE="BSD"
 SLOT="0"
 IUSE=""
 
-RDEPEND="dev-libs/urdfdom_headers"
+RDEPEND=">=dev-libs/urdfdom_headers-1.0"
 DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
diff --git a/media-libs/kvazaar/Manifest b/media-libs/kvazaar/Manifest
index 144b7e6e3daf..10fb437b1b47 100644
--- a/media-libs/kvazaar/Manifest
+++ b/media-libs/kvazaar/Manifest
@@ -1,4 +1 @@
-DIST kvazaar-0.7.1.tar.gz 288339 SHA256 c3693f801f0e717b1dcab3494d3e18a1687861af1a2c33b8878b2f70bcf18164 SHA512 a7d0a68e4b898f7dbb4175ab8a005d88786f522e185c1814a36a48395d34398880fc18e6baeebe4fef0ea97829e937df2ec9f547e05a9a1b2fdb74e260390e2a WHIRLPOOL ad640f5cf4c8238c7fbda3d126e1d7d37b3619a3eb000737eabf75b464fbf37cbc1de11c643725fb8cfbbfe8aa21df12d2c7b7aed0df29f7d8774256e78818a0
-DIST kvazaar-0.7.2.tar.gz 293147 SHA256 623e955d1dbf4f469a57c540537e977f3cead2abcb43d640e2fa0f568168cede SHA512 db06bed953cbe69f2388adfeeecdd150f36a436199e9627a06c26e4fee740255d47757522a3216c2aaca6233fbff0bf64ab5fa6ac6a26cf5af88bfd07c7d78a0 WHIRLPOOL 371379ed6c30c6db3c729e0cfded3f300157a62255b9865f4f45666354f1e2e35cad2e869600de662745251f044f7852dcb8e08e820f4d41f3e7efea13ccb645
-DIST kvazaar-0.8.2.tar.gz 422425 SHA256 1b9354a639ab6c902e974780b39112b5e75477205611f88b54562c895182b945 SHA512 e5089ae28b467c19e854dcf53ac48d14aa01b5f6a72d7a11e66e146c7b9cc11068377a9021f03a697dcf66a66dd42180d2bab24d62c00ee4e2763c5d93754a85 WHIRLPOOL 54c9de8df2b35a2192ba56680d7edc047b1cccc0682875b5a5f6dacec5e67daf8137576d4fc9f86139a54ce82dd29355cfce3fd66589961eb09fe329f64dd15c
 DIST kvazaar-0.8.3.tar.gz 429852 SHA256 a5cebc313bc2edcf631684e67c33227e56d803bfbc940cf8c2f3906b4f543a12 SHA512 7de2c311c75b77d1f9a95f1de79212560b86bd6f8d7ae743240ff33cec52ecb2837be7984f12fe617560445838381ada245196bf1bf67eeb3861f025998fdf60 WHIRLPOOL 1fdcf9835aca8a4d4261c184e957abcc4fa21df5e3d0520a63e95dfc800d086dc6ae5f70fc4110db232a013f84205230f1c5e2043f57db21cc100b33ef504d05
diff --git a/media-libs/kvazaar/files/ppc.patch b/media-libs/kvazaar/files/ppc.patch
new file mode 100644
index 000000000000..9ee9f70e49f1
--- /dev/null
+++ b/media-libs/kvazaar/files/ppc.patch
@@ -0,0 +1,19 @@
+commit 99e37ec23532a247b9e306ef87e9879385c625d8
+Author: Ari Lemmetti <ari.lemmetti@gmail.com>
+Date:   Sat Jan 30 19:33:09 2016 +0200
+
+    Update old pixel type to the current one
+
+diff --git a/src/strategies/altivec/picture-altivec.c b/src/strategies/altivec/picture-altivec.c
+index 7c9d1fb..28e86e8 100644
+--- a/src/strategies/altivec/picture-altivec.c
++++ b/src/strategies/altivec/picture-altivec.c
+@@ -28,7 +28,7 @@
+ #include <stdlib.h>
+ 
+ 
+-static unsigned reg_sad_altivec(const pixel * const data1, const pixel * const data2,
++static unsigned reg_sad_altivec(const kvz_pixel * const data1, const kvz_pixel * const data2,
+                         const int width, const int height, const unsigned stride1, const unsigned stride2)
+ {
+   vector unsigned int vsad = {0,0,0,0}, vzero = {0,0,0,0}; 
diff --git a/media-libs/kvazaar/kvazaar-0.7.1.ebuild b/media-libs/kvazaar/kvazaar-0.7.1.ebuild
deleted file mode 100644
index 50c477d2aec0..000000000000
--- a/media-libs/kvazaar/kvazaar-0.7.1.ebuild
+++ /dev/null
@@ -1,62 +0,0 @@
-# Copyright 1999-2015 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-
-SCM=""
-
-if [ "${PV#9999}" != "${PV}" ] ; then
-	SCM="git-r3"
-	EGIT_REPO_URI="https://github.com/ultravideo/kvazaar"
-fi
-
-inherit multilib multilib-minimal ${SCM}
-
-DESCRIPTION="An open-source HEVC encoder"
-HOMEPAGE="http://ultravideo.cs.tut.fi/ https://github.com/ultravideo/kvazaar"
-
-if [ "${PV#9999}" = "${PV}" ] ; then
-	SRC_URI="https://github.com/ultravideo/kvazaar/archive/v${PV}.tar.gz -> ${P}.tar.gz"
-	KEYWORDS="~amd64"
-fi
-
-LICENSE="LGPL-2.1"
-SLOT="0"
-IUSE="cpu_flags_x86_avx2 static-libs"
-
-DEPEND=""
-RDEPEND="${DEPEND}"
-S="${WORKDIR}/${P}/src"
-
-ASM_DEP=">=dev-lang/yasm-1.2.0"
-DEPEND="${DEPEND}
-	abi_x86_32? ( ${ASM_DEP} )
-	abi_x86_64? ( ${ASM_DEP} )"
-
-src_prepare() {
-	multilib_copy_sources
-}
-
-multilib_src_compile() {
-	emake \
-		ARCH="${CHOST%%-*}" \
-		$(usex cpu_flags_x86_avx2 "" "KVZ_DISABLE_AVX2=true") \
-		lib-shared \
-		$(usex static-libs "lib-static" "") \
-		$(multilib_is_native_abi && echo cli)
-}
-
-multilib_src_install() {
-	emake \
-		DESTDIR="${D}" \
-		PREFIX="${EPREFIX}/usr" \
-		LIBDIR="${EPREFIX}/usr/$(get_libdir)" \
-		install-pc install-lib \
-		$(usex static-libs "install-static" "") \
-		$(multilib_is_native_abi && echo install-prog)
-}
-
-multilib_src_install_all() {
-	dodoc "${WORKDIR}/${P}/README.md" "${WORKDIR}/${P}/CREDITS" "${WORKDIR}/${P}/doc/"*.txt
-}
diff --git a/media-libs/kvazaar/kvazaar-0.7.2.ebuild b/media-libs/kvazaar/kvazaar-0.7.2.ebuild
deleted file mode 100644
index 425dd69fffc9..000000000000
--- a/media-libs/kvazaar/kvazaar-0.7.2.ebuild
+++ /dev/null
@@ -1,63 +0,0 @@
-# Copyright 1999-2015 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-
-SCM=""
-
-if [ "${PV#9999}" != "${PV}" ] ; then
-	SCM="git-r3"
-	EGIT_REPO_URI="https://github.com/ultravideo/kvazaar"
-fi
-
-inherit multilib multilib-minimal toolchain-funcs ${SCM}
-
-DESCRIPTION="An open-source HEVC encoder"
-HOMEPAGE="http://ultravideo.cs.tut.fi/ https://github.com/ultravideo/kvazaar"
-
-if [ "${PV#9999}" = "${PV}" ] ; then
-	SRC_URI="https://github.com/ultravideo/kvazaar/archive/v${PV}.tar.gz -> ${P}.tar.gz"
-	KEYWORDS="~amd64"
-fi
-
-LICENSE="LGPL-2.1"
-SLOT="0"
-IUSE="cpu_flags_x86_avx2 static-libs"
-
-DEPEND=""
-RDEPEND="${DEPEND}"
-S="${WORKDIR}/${P}/src"
-
-ASM_DEP=">=dev-lang/yasm-1.2.0"
-DEPEND="${DEPEND}
-	abi_x86_32? ( ${ASM_DEP} )
-	abi_x86_64? ( ${ASM_DEP} )"
-
-src_prepare() {
-	multilib_copy_sources
-}
-
-multilib_src_compile() {
-	tc-export CC
-	emake \
-		ARCH="${CHOST%%-*}" \
-		$(usex cpu_flags_x86_avx2 "" "KVZ_DISABLE_AVX2=true") \
-		lib-shared \
-		$(usex static-libs "lib-static" "") \
-		$(multilib_is_native_abi && echo cli)
-}
-
-multilib_src_install() {
-	emake \
-		DESTDIR="${D}" \
-		PREFIX="${EPREFIX}/usr" \
-		LIBDIR="${EPREFIX}/usr/$(get_libdir)" \
-		install-pc install-lib \
-		$(usex static-libs "install-static" "") \
-		$(multilib_is_native_abi && echo install-prog)
-}
-
-multilib_src_install_all() {
-	dodoc "${WORKDIR}/${P}/README.md" "${WORKDIR}/${P}/CREDITS" "${WORKDIR}/${P}/doc/"*.txt
-}
diff --git a/media-libs/kvazaar/kvazaar-0.8.2.ebuild b/media-libs/kvazaar/kvazaar-0.8.2.ebuild
deleted file mode 100644
index 972f429e423d..000000000000
--- a/media-libs/kvazaar/kvazaar-0.8.2.ebuild
+++ /dev/null
@@ -1,51 +0,0 @@
-# Copyright 1999-2015 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-
-SCM=""
-
-if [ "${PV#9999}" != "${PV}" ] ; then
-	SCM="git-r3"
-	EGIT_REPO_URI="https://github.com/ultravideo/kvazaar"
-fi
-
-inherit multilib autotools multilib-minimal toolchain-funcs ${SCM}
-
-DESCRIPTION="An open-source HEVC encoder"
-HOMEPAGE="http://ultravideo.cs.tut.fi/ https://github.com/ultravideo/kvazaar"
-
-if [ "${PV#9999}" = "${PV}" ] ; then
-	SRC_URI="https://github.com/ultravideo/kvazaar/archive/v${PV}.tar.gz -> ${P}.tar.gz"
-	KEYWORDS="~amd64"
-fi
-
-LICENSE="LGPL-2.1"
-# subslot = libkvazaar major
-SLOT="0/3"
-IUSE="cpu_flags_x86_avx2 static-libs"
-
-DEPEND=""
-RDEPEND="${DEPEND}"
-
-ASM_DEP=">=dev-lang/yasm-1.2.0"
-DEPEND="${DEPEND}
-	abi_x86_32? ( ${ASM_DEP} )
-	abi_x86_64? ( ${ASM_DEP} )"
-
-src_prepare() {
-	eautoreconf
-}
-
-multilib_src_compile() {
-	ECONF_SOURCE="${S}" \
-		econf \
-			--docdir "/usr/share/doc/${PF}" \
-			$(use_enable static-libs static) \
-			$(use_enable cpu_flags_x86_avx2 asm)
-}
-
-multilib_src_install_all() {
-	find "${ED}" -name '*.la' -delete
-}
diff --git a/media-libs/kvazaar/kvazaar-0.8.3.ebuild b/media-libs/kvazaar/kvazaar-0.8.3.ebuild
index 972f429e423d..f61e9fe1c750 100644
--- a/media-libs/kvazaar/kvazaar-0.8.3.ebuild
+++ b/media-libs/kvazaar/kvazaar-0.8.3.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2015 Gentoo Foundation
+# Copyright 1999-2016 Gentoo Foundation
 # Distributed under the terms of the GNU General Public License v2
 # $Id$
 
@@ -11,7 +11,7 @@ if [ "${PV#9999}" != "${PV}" ] ; then
 	EGIT_REPO_URI="https://github.com/ultravideo/kvazaar"
 fi
 
-inherit multilib autotools multilib-minimal toolchain-funcs ${SCM}
+inherit eutils multilib autotools multilib-minimal toolchain-funcs ${SCM}
 
 DESCRIPTION="An open-source HEVC encoder"
 HOMEPAGE="http://ultravideo.cs.tut.fi/ https://github.com/ultravideo/kvazaar"
@@ -35,6 +35,7 @@ DEPEND="${DEPEND}
 	abi_x86_64? ( ${ASM_DEP} )"
 
 src_prepare() {
+	epatch "${FILESDIR}/ppc.patch"
 	eautoreconf
 }