The basic geometry and math libraries used in ROS.

angles:
Provides a set of simple math utilities to work with angles. The utilities cover
simple things like normalizing an angle and conversion between degrees and
radians, but also functions to calculate things like the shortest angular
distance between two joinst space positions of your robot, with the joint motion
constrained by joint limits.

bullet:
Contains version 2.76 of the Bullet professional free 3D Game Multiphysics
Library. The Bullet library provided by this ROS package is slightly different
from the official Bullet release.

eigen:
This package contains version 2.0.15 of the Eigen C++ template library for
linear algebra.

KDL:
This package contains a recent version of the Kinematics and Dynamics Library
(KDL), distributed by the Orocos Project. For stability reasons, this package
is currently locked to revision 31715, but this revision will be updated on a
regular basis to the latest available KDL trunk.

tf:
tf is a package that lets the user keep track of multiple coordinate frames
over time. tf maintains the relationship between coordinate frames in a tree
structure buffered in time, and lets the user transform points, vectors, etc
between any two coordinate frames at any desired point in time.

WWW: http://www.ros.org/wiki/geometry

17 files changed, 1943 insertions, 0 deletions

diff --git a/math/Makefile b/math/Makefile
index 3c5a60f7997..11b7fcb570f 100644
--- a/math/Makefile
+++ b/math/Makefile
@@ -96,6 +96,7 @@
     SUBDIR += gdcalc
     SUBDIR += geg
     SUBDIR += geogebra-i18n
+    SUBDIR += geometry
     SUBDIR += geonext
     SUBDIR += gexpr
     SUBDIR += ggobi
diff --git a/math/geometry/Makefile b/math/geometry/Makefile
new file mode 100644
index 00000000000..c45a2c772db
--- /dev/null
+++ b/math/geometry/Makefile
@@ -0,0 +1,109 @@
+# New ports collection makefile for: geometry
+# Date created:	2010-11-22
+# Whom: Rene Ladan <rene@FreeBSD.org>
+#
+# $FreeBSD$
+
+PORTNAME=	geometry
+PORTVERSION=	1.2.0
+CATEGORIES=	math
+MASTER_SITES=	ftp://rene-ladan.nl/pub/distfiles/ros/
+DISTFILES=	geometry-${PORTVERSION}.tar.bz2 bullet-2.76-patched2.tar.gz \
+		eigen2-2.0.15.tar.bz2 kdl-31715.tar.gz
+DIST_SUBDIR=	ros
+EXTRACT_ONLY=	geometry-${PORTVERSION}.tar.bz2
+
+MAINTAINER=	rene@FreeBSD.org
+COMMENT=	Robot Operating System - geometric and math libraries
+
+#LICENSE_COMB=	multi
+#LICENSE=	BSD LGPL* Zlib # which LGPL and Zlib not defined yet
+
+WRKSRC=		${WRKDIR}/${PORTNAME}
+
+BUILD_DEPENDS=	rosmake:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs \
+		chrpath:${PORTSDIR}/devel/chrpath \
+		${PYTHON_SITELIBDIR}/sipconfig.py:${PORTSDIR}/devel/py-sip
+RUN_DEPENDS=	roscore:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs
+USE_PYTHON=	yes
+USE_BZIP2=	yes
+USE_LDCONFIG=	yes
+
+# rosmake does its own threading
+MAKE_JOBS_UNSAFE=	yes
+
+CFLAGS+=	-I${LOCALBASE}/include
+MAKE_ENV+=	CPATH=${LOCALBASE}/include \
+		LIBRARY_PATH=${LOCALBASE}/lib \
+		MAKE=${LOCALBASE}/bin/gmake \
+		ROS_ROOT=${LOCALBASE}/ros/ros \
+		ROS_PACKAGE_PATH=${LOCALBASE}/ros/stacks/common_msgs:${WRKDIR} \
+		PYTHONPATH=${LOCALBASE}/ros/ros/core/roslib/src
+
+MAKE_ARGS=	-i --no-rosdep --status-rate=0 --disable-logging
+
+post-extract:
+# move 3rd-party distfiles into place
+	${MKDIR} ${WRKSRC}/bullet/build
+	${CP} ${_DISTDIR}/bullet-2.76-patched2.tar.gz ${WRKSRC}/bullet/build
+	${MKDIR} ${WRKSRC}/eigen/build
+	${CP} ${_DISTDIR}/eigen2-2.0.15.tar.bz2 ${WRKSRC}/eigen/build
+	${MKDIR} ${WRKSRC}/kdl/build
+	${CP} ${_DISTDIR}/kdl-31715.tar.gz ${WRKSRC}/kdl/build
+
+do-build:
+	(cd ${WRKSRC} ; ${MAKE_ENV} ${LOCALBASE}/bin/rosmake ${MAKE_ARGS})
+
+do-install:
+	${MKDIR} ${PREFIX}/ros/stacks/${PORTNAME}
+# update .pc file
+	${REINPLACE_CMD} -E -e "s|${WRKSRC}|${PREFIX}/ros/stacks/${PORTNAME}|" \
+	    ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc
+	${INSTALL_DATA} ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc ${PREFIX}/libdata/pkgconfig
+	${RM} ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc
+# delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
+.for d in angles bullet eigen eigen_conversions kdl tf tf_conversions
+	${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
+	    -or -name .svnignore -type f -or -name .cvsignore -type f \
+	    -or -name \*.orig | ${XARGS} ${RM} -rf
+	(cd ${WRKSRC} ; ${COPYTREE_SHARE} ${d} ${PREFIX}/ros/stacks/${PORTNAME})
+.endfor
+.for f in CMakeLists.txt Makefile stack.xml rosdep.yaml
+	${INSTALL_DATA} ${WRKSRC}/${f} ${PREFIX}/ros/stacks/${PORTNAME}
+.endfor
+
+# strip ELF programs and make them executable
+.for f in tf/bin/change_notifier tf/bin/static_transform_publisher \
+    tf/bin/tf_echo tf/bin/tf_monitor tf/test/btTest tf/test/testBroadcaster \
+    tf/test/testListener tf/test/transform_listener_unittest
+	${STRIP_CMD} ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${LOCALBASE}/bin/chrpath -d ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${CHMOD} 0555 ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+.endfor
+# strip and move ELF libaries
+.for f in bullet/lib/libBulletCollision.so.2.76 \
+    bullet/lib/libBulletDynamics.so.2.76 bullet/lib/libBulletSoftBody.so.2.76 \
+    bullet/lib/libLinearMath.so.2.76 \
+    eigen_conversions/lib/libeigen_conversions.so \
+    kdl/lib/liborocos-kdl.so.1.0.99 kdl/lib/PyKDL.so tf/lib/_tf.so \
+    tf/lib/libtf.so tf_conversions/lib/libtf_conversions.so
+	${STRIP_CMD} ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${LOCALBASE}/bin/chrpath -d ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${MV} ${PREFIX}/ros/stacks/${PORTNAME}/${f} ${PREFIX}/lib
+.endfor
+# move symbolic links
+.for f in bullet/lib/libBulletCollision.so bullet/lib/libBulletDynamics.so \
+    bullet/lib/libBulletSoftBody.so bullet/lib/libLinearMath.so \
+    kdl/lib/liborocos-kdl.so kdl/lib/liborocos-kdl.so.1.0
+	${MV} ${PREFIX}/ros/stacks/${PORTNAME}/${f} ${PREFIX}/lib
+.endfor
+# make scripts executable
+.for f in tf/scripts/python_benchmark.py tf/scripts/reset_time.py \
+    tf/scripts/tf_remap tf/scripts/view_frames tf/src/tf/msg/_tfMessage.py \
+    tf/src/tf/srv/_FrameGraph.py tf/test/test_datatype_conversion.py
+	${CHMOD} 0555 ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+.endfor
+
+.include <bsd.port.mk>
diff --git a/math/geometry/distinfo b/math/geometry/distinfo
new file mode 100644
index 00000000000..48e698b1193
--- /dev/null
+++ b/math/geometry/distinfo
@@ -0,0 +1,8 @@
+SHA256 (ros/geometry-1.2.0.tar.bz2) = 624ad183efc4fdfd76f9e68a93aa9cea749f751165b66d33bc7a5aeb9652678d
+SIZE (ros/geometry-1.2.0.tar.bz2) = 158941
+SHA256 (ros/bullet-2.76-patched2.tar.gz) = 9b687e35e0ca6bc70ec10d24245469e2f667627c097ba1537618bfc34fe41518
+SIZE (ros/bullet-2.76-patched2.tar.gz) = 3519539
+SHA256 (ros/eigen2-2.0.15.tar.bz2) = e9f8991956c9ba60a6575382f6f69f6d8379f010bb9ff4a73d2c93173d8600a8
+SIZE (ros/eigen2-2.0.15.tar.bz2) = 367729
+SHA256 (ros/kdl-31715.tar.gz) = 4f6c1f2bef0c21840c3440b453fcd9d6d117ff8b7c28da52fe6f71f0b8431a48
+SIZE (ros/kdl-31715.tar.gz) = 230731
diff --git a/math/geometry/files/patch-bullet_CMakeLists.txt b/math/geometry/files/patch-bullet_CMakeLists.txt
new file mode 100644
index 00000000000..cba0e2802e7
--- /dev/null
+++ b/math/geometry/files/patch-bullet_CMakeLists.txt
@@ -0,0 +1,11 @@
+--- bullet/CMakeLists.txt.orig	2010-11-22 17:42:02.000000000 +0100
++++ bullet/CMakeLists.txt	2010-11-23 21:38:34.000000000 +0100
+@@ -8,7 +8,7 @@
+ MAKE_DIRECTORY(${PROJECT_SOURCE_DIR}/src/)
+ 
+ # Build Bullet
+-execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} make -f Makefile.bullet
++execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} gmake -f Makefile.bullet
+                 RESULT_VARIABLE _make_failed)
+ if(_make_failed)
+   message(FATAL_ERROR "Build of Bullet failed")
diff --git a/math/geometry/files/patch-bullet_Makefile.bullet b/math/geometry/files/patch-bullet_Makefile.bullet
new file mode 100644
index 00000000000..118d8f32454
--- /dev/null
+++ b/math/geometry/files/patch-bullet_Makefile.bullet
@@ -0,0 +1,70 @@
+--- bullet/Makefile.bullet.orig	2010-11-22 17:42:02.000000000 +0100
++++ bullet/Makefile.bullet	2010-11-24 14:12:05.000000000 +0100
+@@ -5,7 +5,6 @@
+ SVN_PATCH = deprecations.patch quaternion.patch demos.patch no_extras_build.patch getsetRPY.patch gimbal_lock.patch
+ SVN_REVISION=-r2038
+ 
+-include $(shell rospack find mk)/svn_checkout.mk
+ 
+ #TARBALL_NAME = bullet-svn$(SVN_REVISION)
+ TARBALL_NAME = bullet-2.76-patched2
+@@ -23,10 +22,10 @@
+ BULLET_TARGETS = LinearMath BulletCollision BulletDynamics BulletSoftBody
+ 
+ # Poor man's installation procedure setup
+-BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.* \
+-              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.* \
+-              $(SOURCE_DIR)/src/LinearMath/libLinearMath.* \
+-              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.* 
++BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.so.2.76 \
++              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.so.2.76 \
++              $(SOURCE_DIR)/src/LinearMath/libLinearMath.so.2.76 \
++              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.so.2.76
+ 
+ BULLET_INC_DIRS = . \
+ 				  BulletCollision/CollisionShapes \
+@@ -54,27 +53,43 @@
+ 	cd $(SOURCE_DIR) && cmake -DCMAKE_INSTALL_PREFIX=$(CURDIR) -DCMAKE_CXX_FLAGS="-fPIC -DBT_USE_DOUBLE_PRECISION" -D BUILD_SHARED_LIBS=on . 
+ 	# Bullet appears not be parallel-make safe
+ 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) 
++ifneq ($(MAKE),)
++	cd $(SOURCE_DIR) && $(MAKE) $(BULLET_TARGETS) 
++else
+ 	cd $(SOURCE_DIR) && make $(BULLET_TARGETS) 
++endif
+ 	# The 'install' target only works with cmake 2.6 for some reason
+ 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) install
+ 	mkdir -p lib
+ 	cp $(BULLET_LIBS) lib
++	cd lib && ln -s libBulletCollision.so.2.76 libBulletCollision.so
++	cd lib && ln -s libBulletDynamics.so.2.76 libBulletDynamics.so
++	cd lib && ln -s libBulletSoftBody.so.2.76 libBulletSoftBody.so
++	cd lib && ln -s libLinearMath.so.2.76 libLinearMath.so
+ 	mkdir -p include
+ 	$(foreach d,$(BULLET_INC_DIRS), mkdir -p include/$(d) && cp $(SOURCE_DIR)/src/$(d)/*.h include/$(d);)
+ 	touch installed
+ 
+ wiped: Makefile.bullet
++ifneq ($(MAKE),)
++	$(MAKE) -f Makefile.bullet wipe
++else
+ 	make -f Makefile.bullet wipe
++endif
+ 	touch wiped
+ 
+ clean:
+ 	rm -f installed
+ 	rm -fr lib include
++ifneq ($(MAKE),)
++	-$(MAKE) -C $(SVN_DIR) clean
++	-cd $(SOURCE_DIR) && $(MAKE) clean
++else
+ 	-make -C $(SVN_DIR) clean
+ 	-cd $(SOURCE_DIR) && make clean
++endif
+ 
+ wipe: clean
+ 	-rm -f patched
+ 	-rm -rf bullet_svn
+-	-rm -rf build
+ 
diff --git a/math/geometry/files/patch-kdl_Makefile b/math/geometry/files/patch-kdl_Makefile
new file mode 100644
index 00000000000..f0a8b8e0812
--- /dev/null
+++ b/math/geometry/files/patch-kdl_Makefile
@@ -0,0 +1,49 @@
+--- kdl/Makefile.orig	2010-11-22 19:18:28.000000000 +0100
++++ kdl/Makefile	2010-11-22 22:36:47.000000000 +0100
+@@ -14,7 +14,6 @@
+ BOOST_INCLUDE =$(shell rosboost-cfg --include_dirs)
+ EIGEN2_INCLUDE_DIR=`rospack cflags-only-I eigen| cut -d ' ' -f 1`
+ EIGEN2_DEFINE=`rospack cflags-only-other eigen`
+-TINYXML_INCLUDE_DIR=`rospack cflags-only-I tinyxml| cut -d ' ' -f 1`
+ CMAKE_ARGS = -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR)/ \
+ 		-DPYTHON_BINDINGS=ON \
+                 -DCMAKE_CXX_FLAGS=$(EIGEN2_DEFINE) \
+@@ -22,7 +21,6 @@
+ 		-DBUILD_MODELS=OFF \
+ 		-DBOOST:STRING=$(BOOST_INCLUDE)\
+ 		-DEIGEN2_INCLUDE_DIR=$(EIGEN2_INCLUDE_DIR)\
+-		-DTINYXML_INCLUDE_DIR=$(TINYXML_INCLUDE_DIR)\
+ 		-DCMAKE_BUILD_TYPE="Release"
+ 
+ 
+@@ -30,7 +28,11 @@
+ 	cd $(SOURCE_DIR) && patch -p0 < ../../$(PATCH)
+ 	mkdir -p $(SOURCE_DIR)/build
+ 	cd $(SOURCE_DIR)/build && $(CMAKE) $(CMAKE_ARGS) ..
++ifneq ($(MAKE),)
++	cd $(SOURCE_DIR)/build && $(MAKE) $(ROS_PARALLEL_JOBS) && touch src/orocos-kdl.pc && make install
++else
+ 	cd $(SOURCE_DIR)/build && make $(ROS_PARALLEL_JOBS) && touch src/orocos-kdl.pc && make install
++endif
+ 	if [ `uname` = Darwin ]; then \
+ 		install_name_tool -id `rospack find kdl`/kdl/lib/liborocos-kdl.1.0.dylib kdl/lib/liborocos-kdl.1.0.dylib; \
+ 	fi
+@@ -42,14 +44,17 @@
+ 	ln -s $(SOURCE_DIR)/build/doc doc
+ 
+ wiped: Makefile $(PATCH) kdl-31715.tar.gz.md5sum
++ifneq ($(MAKE),)
++	$(MAKE) wipe
++else
+ 	make wipe
++endif
+ 	touch wiped
+ 
+ clean:
+ 	rm -rf lib
+ 	rm -rf include
+ 	rm -rf share
+-	rm -rf build
+ 	rm -rf installed
+ 
+ wipe: 	clean
diff --git a/math/geometry/files/patch-rosdep.yaml b/math/geometry/files/patch-rosdep.yaml
new file mode 100644
index 00000000000..79e9c2f4f79
--- /dev/null
+++ b/math/geometry/files/patch-rosdep.yaml
@@ -0,0 +1,14 @@
+--- rosdep.yaml.orig	2010-11-22 17:42:02.000000000 +0100
++++ rosdep.yaml	2010-11-24 10:46:44.000000000 +0100
+@@ -4,9 +4,11 @@
+   fedora: freeglut-devel
+   arch: freeglut
+   gentoo: freeglut
++  freebsd: libglut
+ python-sip4:
+   ubuntu: python-sip4-dev sip4
+   debian: python-sip4-dev sip4
+   macports: py25-sip
+   gentoo: dev-python/sip
+   arch: sip
++  freebsd: py26-sip
diff --git a/math/geometry/pkg-descr b/math/geometry/pkg-descr
new file mode 100644
index 00000000000..6396d691933
--- /dev/null
+++ b/math/geometry/pkg-descr
@@ -0,0 +1,31 @@
+The basic geometry and math libraries used in ROS.
+
+angles:
+Provides a set of simple math utilities to work with angles. The utilities cover
+simple things like normalizing an angle and conversion between degrees and
+radians, but also functions to calculate things like the shortest angular
+distance between two joinst space positions of your robot, with the joint motion
+constrained by joint limits.
+
+bullet:
+Contains version 2.76 of the Bullet professional free 3D Game Multiphysics
+Library. The Bullet library provided by this ROS package is slightly different
+from the official Bullet release.
+
+eigen:
+This package contains version 2.0.15 of the Eigen C++ template library for
+linear algebra.
+
+KDL:
+This package contains a recent version of the Kinematics and Dynamics Library
+(KDL), distributed by the Orocos Project. For stability reasons, this package
+is currently locked to revision 31715, but this revision will be updated on a
+regular basis to the latest available KDL trunk.
+
+tf:
+tf is a package that lets the user keep track of multiple coordinate frames
+over time. tf maintains the relationship between coordinate frames in a tree
+structure buffered in time, and lets the user transform points, vectors, etc
+between any two coordinate frames at any desired point in time.
+
+WWW: http://www.ros.org/wiki/geometry
diff --git a/math/geometry/pkg-plist b/math/geometry/pkg-plist
new file mode 100644
index 00000000000..6df5ed1df22
--- /dev/null
+++ b/math/geometry/pkg-plist
@@ -0,0 +1,679 @@
+lib/PyKDL.so
+lib/_tf.so
+lib/libBulletCollision.so
+lib/libBulletCollision.so.2.76
+lib/libBulletDynamics.so
+lib/libBulletDynamics.so.2.76
+lib/libBulletSoftBody.so
+lib/libBulletSoftBody.so.2.76
+lib/libLinearMath.so
+lib/libLinearMath.so.2.76
+lib/libeigen_conversions.so
+lib/liborocos-kdl.so
+lib/liborocos-kdl.so.1.0
+lib/liborocos-kdl.so.1.0.99
+lib/libtf.so
+lib/libtf_conversions.so
+libdata/pkgconfig/orocos-kdl.pc
+ros/stacks/geometry/CMakeLists.txt
+ros/stacks/geometry/Makefile
+ros/stacks/geometry/angles/CMakeLists.txt
+ros/stacks/geometry/angles/Makefile
+ros/stacks/geometry/angles/ROS_NOBUILD
+ros/stacks/geometry/angles/doc.dox
+ros/stacks/geometry/angles/include/angles/angles.h
+ros/stacks/geometry/angles/manifest.xml
+ros/stacks/geometry/angles/test/utest.cpp
+ros/stacks/geometry/bullet/CMakeLists.txt
+ros/stacks/geometry/bullet/Makefile
+ros/stacks/geometry/bullet/Makefile.bullet
+ros/stacks/geometry/bullet/ROS_NOBUILD
+ros/stacks/geometry/bullet/bullet-2.76-patched.md5sum
+ros/stacks/geometry/bullet/bullet-2.76-patched2.md5sum
+ros/stacks/geometry/bullet/demos.patch
+ros/stacks/geometry/bullet/deprecations.patch
+ros/stacks/geometry/bullet/euler.patch
+ros/stacks/geometry/bullet/euler_angles_doxygen.patch
+ros/stacks/geometry/bullet/getsetRPY.patch
+ros/stacks/geometry/bullet/gimbal_lock.patch
+ros/stacks/geometry/bullet/include/Bullet-C-Api.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDbvt.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDispatcher.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionObject.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionWorld.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btGhostObject.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btManifoldResult.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btUnionFind.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBox2dShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBoxShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCapsuleShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCollisionMargin.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCollisionShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCompoundShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConcaveShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConeShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvex2dShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexHullShape.h
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+ros/stacks/geometry/kdl/include/kdl/chain.hpp
+ros/stacks/geometry/kdl/include/kdl/chaindynparam.hpp
+ros/stacks/geometry/kdl/include/kdl/chainfksolver.hpp
+ros/stacks/geometry/kdl/include/kdl/chainfksolverpos_recursive.hpp
+ros/stacks/geometry/kdl/include/kdl/chainfksolvervel_recursive.hpp
+ros/stacks/geometry/kdl/include/kdl/chainidsolver.hpp
+ros/stacks/geometry/kdl/include/kdl/chainidsolver_recursive_newton_euler.hpp
+ros/stacks/geometry/kdl/include/kdl/chainiksolver.hpp
+ros/stacks/geometry/kdl/include/kdl/chainiksolverpos_nr.hpp
+ros/stacks/geometry/kdl/include/kdl/chainiksolverpos_nr_jl.hpp
+ros/stacks/geometry/kdl/include/kdl/chainiksolvervel_pinv.hpp
+ros/stacks/geometry/kdl/include/kdl/chainiksolvervel_pinv_givens.hpp
+ros/stacks/geometry/kdl/include/kdl/chainiksolvervel_wdls.hpp
+ros/stacks/geometry/kdl/include/kdl/chainjnttojacsolver.hpp
+ros/stacks/geometry/kdl/include/kdl/frameacc.hpp
+ros/stacks/geometry/kdl/include/kdl/frameacc.inl
+ros/stacks/geometry/kdl/include/kdl/frameacc_io.hpp
+ros/stacks/geometry/kdl/include/kdl/frames.hpp
+ros/stacks/geometry/kdl/include/kdl/frames.inl
+ros/stacks/geometry/kdl/include/kdl/frames_io.hpp
+ros/stacks/geometry/kdl/include/kdl/framevel.hpp
+ros/stacks/geometry/kdl/include/kdl/framevel.inl
+ros/stacks/geometry/kdl/include/kdl/framevel_io.hpp
+ros/stacks/geometry/kdl/include/kdl/jacobian.hpp
+ros/stacks/geometry/kdl/include/kdl/jntarray.hpp
+ros/stacks/geometry/kdl/include/kdl/jntarrayacc.hpp
+ros/stacks/geometry/kdl/include/kdl/jntarrayvel.hpp
+ros/stacks/geometry/kdl/include/kdl/jntspaceinertiamatrix.hpp
+ros/stacks/geometry/kdl/include/kdl/joint.hpp
+ros/stacks/geometry/kdl/include/kdl/kdl.hpp
+ros/stacks/geometry/kdl/include/kdl/kinfam.hpp
+ros/stacks/geometry/kdl/include/kdl/kinfam_io.hpp
+ros/stacks/geometry/kdl/include/kdl/motion.hpp
+ros/stacks/geometry/kdl/include/kdl/path.hpp
+ros/stacks/geometry/kdl/include/kdl/path_circle.hpp
+ros/stacks/geometry/kdl/include/kdl/path_composite.hpp
+ros/stacks/geometry/kdl/include/kdl/path_cyclic_closed.hpp
+ros/stacks/geometry/kdl/include/kdl/path_line.hpp
+ros/stacks/geometry/kdl/include/kdl/path_point.hpp
+ros/stacks/geometry/kdl/include/kdl/path_roundedcomposite.hpp
+ros/stacks/geometry/kdl/include/kdl/rigidbodyinertia.hpp
+ros/stacks/geometry/kdl/include/kdl/rotational_interpolation.hpp
+ros/stacks/geometry/kdl/include/kdl/rotational_interpolation_sa.hpp
+ros/stacks/geometry/kdl/include/kdl/rotationalinertia.hpp
+ros/stacks/geometry/kdl/include/kdl/segment.hpp
+ros/stacks/geometry/kdl/include/kdl/stiffness.hpp
+ros/stacks/geometry/kdl/include/kdl/trajectory.hpp
+ros/stacks/geometry/kdl/include/kdl/trajectory_composite.hpp
+ros/stacks/geometry/kdl/include/kdl/trajectory_segment.hpp
+ros/stacks/geometry/kdl/include/kdl/trajectory_stationary.hpp
+ros/stacks/geometry/kdl/include/kdl/tree.hpp
+ros/stacks/geometry/kdl/include/kdl/treefksolver.hpp
+ros/stacks/geometry/kdl/include/kdl/treefksolverpos_recursive.hpp
+ros/stacks/geometry/kdl/include/kdl/treeiksolver.hpp
+ros/stacks/geometry/kdl/include/kdl/treeiksolverpos_nr_jl.hpp
+ros/stacks/geometry/kdl/include/kdl/treeiksolvervel_wdls.hpp
+ros/stacks/geometry/kdl/include/kdl/treejnttojacsolver.hpp
+ros/stacks/geometry/kdl/include/kdl/utilities/error.h
+ros/stacks/geometry/kdl/include/kdl/utilities/error_stack.h
+ros/stacks/geometry/kdl/include/kdl/utilities/kdl-config.h
+ros/stacks/geometry/kdl/include/kdl/utilities/rall1d.h
+ros/stacks/geometry/kdl/include/kdl/utilities/rall1d_io.h
+ros/stacks/geometry/kdl/include/kdl/utilities/rall2d.h
+ros/stacks/geometry/kdl/include/kdl/utilities/rall2d_io.h
+ros/stacks/geometry/kdl/include/kdl/utilities/rallNd.h
+ros/stacks/geometry/kdl/include/kdl/utilities/svd_HH.hpp
+ros/stacks/geometry/kdl/include/kdl/utilities/svd_eigen_HH.hpp
+ros/stacks/geometry/kdl/include/kdl/utilities/svd_eigen_Macie.hpp
+ros/stacks/geometry/kdl/include/kdl/utilities/traits.h
+ros/stacks/geometry/kdl/include/kdl/utilities/utility.h
+ros/stacks/geometry/kdl/include/kdl/utilities/utility_io.h
+ros/stacks/geometry/kdl/include/kdl/velocityprofile.hpp
+ros/stacks/geometry/kdl/include/kdl/velocityprofile_dirac.hpp
+ros/stacks/geometry/kdl/include/kdl/velocityprofile_rect.hpp
+ros/stacks/geometry/kdl/include/kdl/velocityprofile_trap.hpp
+ros/stacks/geometry/kdl/include/kdl/velocityprofile_traphalf.hpp
+ros/stacks/geometry/kdl/index.rst
+ros/stacks/geometry/kdl/installed
+ros/stacks/geometry/kdl/kdl-31715.tar.gz.md5sum
+ros/stacks/geometry/kdl/kinematic_chains.rst
+ros/stacks/geometry/kdl/kinematic_solvers.rst
+ros/stacks/geometry/kdl/manifest.xml
+ros/stacks/geometry/kdl/rosdoc.yaml
+ros/stacks/geometry/kdl/share/orocos-kdl/orocos-kdl-config.cmake
+ros/stacks/geometry/kdl/total.patch
+ros/stacks/geometry/kdl/wiped
+ros/stacks/geometry/rosdep.yaml
+ros/stacks/geometry/stack.xml
+ros/stacks/geometry/tf/CMakeLists.txt
+ros/stacks/geometry/tf/Makefile
+ros/stacks/geometry/tf/ROS_NOBUILD
+ros/stacks/geometry/tf/bin/change_notifier
+ros/stacks/geometry/tf/bin/static_transform_publisher
+ros/stacks/geometry/tf/bin/tf_echo
+ros/stacks/geometry/tf/bin/tf_monitor
+ros/stacks/geometry/tf/conf.py
+ros/stacks/geometry/tf/doc/bifrucation.gv
+ros/stacks/geometry/tf/doc/bifrucation.pdf
+ros/stacks/geometry/tf/include/tf/exceptions.h
+ros/stacks/geometry/tf/include/tf/message_filter.h
+ros/stacks/geometry/tf/include/tf/tf.h
+ros/stacks/geometry/tf/include/tf/time_cache.h
+ros/stacks/geometry/tf/include/tf/transform_broadcaster.h
+ros/stacks/geometry/tf/include/tf/transform_datatypes.h
+ros/stacks/geometry/tf/include/tf/transform_listener.h
+ros/stacks/geometry/tf/index.rst
+ros/stacks/geometry/tf/mainpage.dox
+ros/stacks/geometry/tf/manifest.xml
+ros/stacks/geometry/tf/msg/lisp/tf/.tfMessage.asd-dep
+ros/stacks/geometry/tf/msg/lisp/tf/_package.lisp
+ros/stacks/geometry/tf/msg/lisp/tf/_package_tfMessage.lisp
+ros/stacks/geometry/tf/msg/lisp/tf/tf-msg.asd
+ros/stacks/geometry/tf/msg/lisp/tf/tfMessage.lisp
+ros/stacks/geometry/tf/msg/tfMessage.msg
+ros/stacks/geometry/tf/msg_gen/cpp/include/tf/tfMessage.h
+ros/stacks/geometry/tf/msg_gen/generated
+ros/stacks/geometry/tf/remap_tf.launch
+ros/stacks/geometry/tf/rosdoc.yaml
+ros/stacks/geometry/tf/scripts/python_benchmark.py
+ros/stacks/geometry/tf/scripts/reset_time.py
+ros/stacks/geometry/tf/scripts/tf_remap
+ros/stacks/geometry/tf/scripts/view_frames
+ros/stacks/geometry/tf/src/cache.cpp
+ros/stacks/geometry/tf/src/change_notifier.cpp
+ros/stacks/geometry/tf/src/pytf.cpp
+ros/stacks/geometry/tf/src/static_transform_publisher.cpp
+ros/stacks/geometry/tf/src/tf.cpp
+ros/stacks/geometry/tf/src/tf/__init__.py
+ros/stacks/geometry/tf/src/tf/broadcaster.py
+ros/stacks/geometry/tf/src/tf/listener.py
+ros/stacks/geometry/tf/src/tf/msg/__init__.py
+ros/stacks/geometry/tf/src/tf/msg/_tfMessage.py
+ros/stacks/geometry/tf/src/tf/srv/_FrameGraph.py
+ros/stacks/geometry/tf/src/tf/srv/__init__.py
+ros/stacks/geometry/tf/src/tf/tfwtf.py
+ros/stacks/geometry/tf/src/tf/transformations.py
+ros/stacks/geometry/tf/src/tf_echo.cpp
+ros/stacks/geometry/tf/src/tf_monitor.cpp
+ros/stacks/geometry/tf/src/transform_broadcaster.cpp
+ros/stacks/geometry/tf/src/transform_listener.cpp
+ros/stacks/geometry/tf/srv/FrameGraph.srv
+ros/stacks/geometry/tf/srv/lisp/tf/.FrameGraph.asd-dep
+ros/stacks/geometry/tf/srv/lisp/tf/FrameGraph.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/_package.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/_package_FrameGraph.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/tf-srv.asd
+ros/stacks/geometry/tf/srv_gen/cpp/include/tf/FrameGraph.h
+ros/stacks/geometry/tf/srv_gen/generated
+ros/stacks/geometry/tf/test/btTest
+ros/stacks/geometry/tf/test/cache_unittest.cpp
+ros/stacks/geometry/tf/test/method_test.py
+ros/stacks/geometry/tf/test/operator_overload.cpp
+ros/stacks/geometry/tf/test/python_debug_test.py
+ros/stacks/geometry/tf/test/quaternion.cpp
+ros/stacks/geometry/tf/test/testBroadcaster
+ros/stacks/geometry/tf/test/testBroadcaster.cpp
+ros/stacks/geometry/tf/test/testListener
+ros/stacks/geometry/tf/test/testListener.cpp
+ros/stacks/geometry/tf/test/testPython.py
+ros/stacks/geometry/tf/test/test_broadcaster.launch
+ros/stacks/geometry/tf/test/test_datatype_conversion.py
+ros/stacks/geometry/tf/test/test_message_filter.cpp
+ros/stacks/geometry/tf/test/test_message_filter.xml
+ros/stacks/geometry/tf/test/test_transform_datatypes.cpp
+ros/stacks/geometry/tf/test/tf_benchmark.cpp
+ros/stacks/geometry/tf/test/tf_unittest.cpp
+ros/stacks/geometry/tf/test/tf_unittest_future.cpp
+ros/stacks/geometry/tf/test/transform_listener_unittest
+ros/stacks/geometry/tf/test/transform_listener_unittest.cpp
+ros/stacks/geometry/tf/test/transform_listener_unittest.launch
+ros/stacks/geometry/tf/test/transform_twist_test.cpp
+ros/stacks/geometry/tf/test/transform_twist_test.launch
+ros/stacks/geometry/tf/test/velocity_test.cpp
+ros/stacks/geometry/tf/tf_python.rst
+ros/stacks/geometry/tf_conversions/CMakeLists.txt
+ros/stacks/geometry/tf_conversions/Makefile
+ros/stacks/geometry/tf_conversions/ROS_NOBUILD
+ros/stacks/geometry/tf_conversions/conf.py
+ros/stacks/geometry/tf_conversions/include/tf_conversions/mainpage.dox
+ros/stacks/geometry/tf_conversions/include/tf_conversions/tf_eigen.h
+ros/stacks/geometry/tf_conversions/include/tf_conversions/tf_kdl.h
+ros/stacks/geometry/tf_conversions/index.rst
+ros/stacks/geometry/tf_conversions/manifest.xml
+ros/stacks/geometry/tf_conversions/rosdoc.yaml
+ros/stacks/geometry/tf_conversions/src/tf_conversions/__init__.py
+ros/stacks/geometry/tf_conversions/src/tf_conversions/posemath.py
+ros/stacks/geometry/tf_conversions/src/tf_eigen.cpp
+ros/stacks/geometry/tf_conversions/src/tf_kdl.cpp
+ros/stacks/geometry/tf_conversions/test/posemath.py
+ros/stacks/geometry/tf_conversions/test/test_eigen_tf.cpp
+@dirrm ros/stacks/geometry/tf_conversions/test
+@dirrm ros/stacks/geometry/tf_conversions/src/tf_conversions
+@dirrm ros/stacks/geometry/tf_conversions/src
+@dirrm ros/stacks/geometry/tf_conversions/lib
+@dirrm ros/stacks/geometry/tf_conversions/include/tf_conversions
+@dirrm ros/stacks/geometry/tf_conversions/include
+@dirrm ros/stacks/geometry/tf_conversions/bin
+@dirrm ros/stacks/geometry/tf_conversions
+@dirrm ros/stacks/geometry/tf/test
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp/include/tf
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp/include
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp
+@dirrm ros/stacks/geometry/tf/srv_gen
+@dirrm ros/stacks/geometry/tf/srv/lisp/tf
+@dirrm ros/stacks/geometry/tf/srv/lisp
+@dirrm ros/stacks/geometry/tf/srv
+@dirrm ros/stacks/geometry/tf/src/tf/srv
+@dirrm ros/stacks/geometry/tf/src/tf/msg
+@dirrm ros/stacks/geometry/tf/src/tf
+@dirrm ros/stacks/geometry/tf/src
+@dirrm ros/stacks/geometry/tf/scripts
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp/include/tf
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp/include
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp
+@dirrm ros/stacks/geometry/tf/msg_gen
+@dirrm ros/stacks/geometry/tf/msg/lisp/tf
+@dirrm ros/stacks/geometry/tf/msg/lisp
+@dirrm ros/stacks/geometry/tf/msg
+@dirrm ros/stacks/geometry/tf/lib
+@dirrm ros/stacks/geometry/tf/include/tf
+@dirrm ros/stacks/geometry/tf/include
+@dirrm ros/stacks/geometry/tf/doc
+@dirrm ros/stacks/geometry/tf/bin
+@dirrm ros/stacks/geometry/tf
+@dirrm ros/stacks/geometry/kdl/share/orocos-kdl
+@dirrm ros/stacks/geometry/kdl/share/doc/liborocos-kdl
+@dirrm ros/stacks/geometry/kdl/share/doc
+@dirrm ros/stacks/geometry/kdl/share
+@dirrm ros/stacks/geometry/kdl/lib/pkgconfig
+@dirrm ros/stacks/geometry/kdl/lib
+@dirrm ros/stacks/geometry/kdl/include/kdl/utilities
+@dirrm ros/stacks/geometry/kdl/include/kdl
+@dirrm ros/stacks/geometry/kdl/include
+@dirrm ros/stacks/geometry/kdl
+@dirrm ros/stacks/geometry/eigen_conversions/src
+@dirrm ros/stacks/geometry/eigen_conversions/lib
+@dirrm ros/stacks/geometry/eigen_conversions/include/eigen_conversions
+@dirrm ros/stacks/geometry/eigen_conversions/include
+@dirrm ros/stacks/geometry/eigen_conversions/bin
+@dirrm ros/stacks/geometry/eigen_conversions
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Sparse
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/SVD
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/QR
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/LeastSquares
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/LU
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Geometry
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/util
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch/SSE
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch/AltiVec
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Cholesky
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Array
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src
+@dirrm ros/stacks/geometry/eigen/include/Eigen
+@dirrm ros/stacks/geometry/eigen/include
+@dirrm ros/stacks/geometry/eigen
+@dirrm ros/stacks/geometry/bullet/test
+@dirrm ros/stacks/geometry/bullet/src
+@dirrm ros/stacks/geometry/bullet/lib
+@dirrm ros/stacks/geometry/bullet/include/LinearMath
+@dirrm ros/stacks/geometry/bullet/include/BulletSoftBody
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Vehicle
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Dynamics
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/ConstraintSolver
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Character
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/Gimpact
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision
+@dirrm ros/stacks/geometry/bullet/include
+@dirrm ros/stacks/geometry/bullet/bin
+@dirrm ros/stacks/geometry/bullet
+@dirrm ros/stacks/geometry/angles/test
+@dirrm ros/stacks/geometry/angles/include/angles
+@dirrm ros/stacks/geometry/angles/include
+@dirrm ros/stacks/geometry/angles/bin
+@dirrm ros/stacks/geometry/angles
+@dirrm ros/stacks/geometry
+@exec mkdir -p %D/ros/stacks/geometry/tf_conversions/lib
+@exec mkdir -p %D/ros/stacks/geometry/tf_conversions/bin
+@exec mkdir -p %D/ros/stacks/geometry/tf/lib
+@exec mkdir -p %D/ros/stacks/geometry/kdl/share/doc/liborocos-kdl
+@exec mkdir -p %D/ros/stacks/geometry/kdl/lib/pkgconfig
+@exec mkdir -p %D/ros/stacks/geometry/eigen_conversions/lib
+@exec mkdir -p %D/ros/stacks/geometry/eigen_conversions/bin
+@exec mkdir -p %D/ros/stacks/geometry/bullet/src
+@exec mkdir -p %D/ros/stacks/geometry/bullet/lib
+@exec mkdir -p %D/ros/stacks/geometry/bullet/bin
+@exec mkdir -p %D/ros/stacks/geometry/angles/bin
diff --git a/math/ros-geometry/Makefile b/math/ros-geometry/Makefile
new file mode 100644
index 00000000000..c45a2c772db
--- /dev/null
+++ b/math/ros-geometry/Makefile
@@ -0,0 +1,109 @@
+# New ports collection makefile for: geometry
+# Date created:	2010-11-22
+# Whom: Rene Ladan <rene@FreeBSD.org>
+#
+# $FreeBSD$
+
+PORTNAME=	geometry
+PORTVERSION=	1.2.0
+CATEGORIES=	math
+MASTER_SITES=	ftp://rene-ladan.nl/pub/distfiles/ros/
+DISTFILES=	geometry-${PORTVERSION}.tar.bz2 bullet-2.76-patched2.tar.gz \
+		eigen2-2.0.15.tar.bz2 kdl-31715.tar.gz
+DIST_SUBDIR=	ros
+EXTRACT_ONLY=	geometry-${PORTVERSION}.tar.bz2
+
+MAINTAINER=	rene@FreeBSD.org
+COMMENT=	Robot Operating System - geometric and math libraries
+
+#LICENSE_COMB=	multi
+#LICENSE=	BSD LGPL* Zlib # which LGPL and Zlib not defined yet
+
+WRKSRC=		${WRKDIR}/${PORTNAME}
+
+BUILD_DEPENDS=	rosmake:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs \
+		chrpath:${PORTSDIR}/devel/chrpath \
+		${PYTHON_SITELIBDIR}/sipconfig.py:${PORTSDIR}/devel/py-sip
+RUN_DEPENDS=	roscore:${PORTSDIR}/devel/ros \
+		${LOCALBASE}/ros/stacks/common_msgs/stack.xml:${PORTSDIR}/devel/common_msgs
+USE_PYTHON=	yes
+USE_BZIP2=	yes
+USE_LDCONFIG=	yes
+
+# rosmake does its own threading
+MAKE_JOBS_UNSAFE=	yes
+
+CFLAGS+=	-I${LOCALBASE}/include
+MAKE_ENV+=	CPATH=${LOCALBASE}/include \
+		LIBRARY_PATH=${LOCALBASE}/lib \
+		MAKE=${LOCALBASE}/bin/gmake \
+		ROS_ROOT=${LOCALBASE}/ros/ros \
+		ROS_PACKAGE_PATH=${LOCALBASE}/ros/stacks/common_msgs:${WRKDIR} \
+		PYTHONPATH=${LOCALBASE}/ros/ros/core/roslib/src
+
+MAKE_ARGS=	-i --no-rosdep --status-rate=0 --disable-logging
+
+post-extract:
+# move 3rd-party distfiles into place
+	${MKDIR} ${WRKSRC}/bullet/build
+	${CP} ${_DISTDIR}/bullet-2.76-patched2.tar.gz ${WRKSRC}/bullet/build
+	${MKDIR} ${WRKSRC}/eigen/build
+	${CP} ${_DISTDIR}/eigen2-2.0.15.tar.bz2 ${WRKSRC}/eigen/build
+	${MKDIR} ${WRKSRC}/kdl/build
+	${CP} ${_DISTDIR}/kdl-31715.tar.gz ${WRKSRC}/kdl/build
+
+do-build:
+	(cd ${WRKSRC} ; ${MAKE_ENV} ${LOCALBASE}/bin/rosmake ${MAKE_ARGS})
+
+do-install:
+	${MKDIR} ${PREFIX}/ros/stacks/${PORTNAME}
+# update .pc file
+	${REINPLACE_CMD} -E -e "s|${WRKSRC}|${PREFIX}/ros/stacks/${PORTNAME}|" \
+	    ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc
+	${INSTALL_DATA} ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc ${PREFIX}/libdata/pkgconfig
+	${RM} ${WRKSRC}/kdl/lib/pkgconfig/orocos-kdl.pc
+# delete files explicitly because negation in find (for COPYTREE_SHARE) is bogus
+.for d in angles bullet eigen eigen_conversions kdl tf tf_conversions
+	${FIND} ${WRKSRC}/${d} -name build -type d -or -name \*.bak -type f \
+	    -or -name .svnignore -type f -or -name .cvsignore -type f \
+	    -or -name \*.orig | ${XARGS} ${RM} -rf
+	(cd ${WRKSRC} ; ${COPYTREE_SHARE} ${d} ${PREFIX}/ros/stacks/${PORTNAME})
+.endfor
+.for f in CMakeLists.txt Makefile stack.xml rosdep.yaml
+	${INSTALL_DATA} ${WRKSRC}/${f} ${PREFIX}/ros/stacks/${PORTNAME}
+.endfor
+
+# strip ELF programs and make them executable
+.for f in tf/bin/change_notifier tf/bin/static_transform_publisher \
+    tf/bin/tf_echo tf/bin/tf_monitor tf/test/btTest tf/test/testBroadcaster \
+    tf/test/testListener tf/test/transform_listener_unittest
+	${STRIP_CMD} ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${LOCALBASE}/bin/chrpath -d ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${CHMOD} 0555 ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+.endfor
+# strip and move ELF libaries
+.for f in bullet/lib/libBulletCollision.so.2.76 \
+    bullet/lib/libBulletDynamics.so.2.76 bullet/lib/libBulletSoftBody.so.2.76 \
+    bullet/lib/libLinearMath.so.2.76 \
+    eigen_conversions/lib/libeigen_conversions.so \
+    kdl/lib/liborocos-kdl.so.1.0.99 kdl/lib/PyKDL.so tf/lib/_tf.so \
+    tf/lib/libtf.so tf_conversions/lib/libtf_conversions.so
+	${STRIP_CMD} ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${LOCALBASE}/bin/chrpath -d ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+	${MV} ${PREFIX}/ros/stacks/${PORTNAME}/${f} ${PREFIX}/lib
+.endfor
+# move symbolic links
+.for f in bullet/lib/libBulletCollision.so bullet/lib/libBulletDynamics.so \
+    bullet/lib/libBulletSoftBody.so bullet/lib/libLinearMath.so \
+    kdl/lib/liborocos-kdl.so kdl/lib/liborocos-kdl.so.1.0
+	${MV} ${PREFIX}/ros/stacks/${PORTNAME}/${f} ${PREFIX}/lib
+.endfor
+# make scripts executable
+.for f in tf/scripts/python_benchmark.py tf/scripts/reset_time.py \
+    tf/scripts/tf_remap tf/scripts/view_frames tf/src/tf/msg/_tfMessage.py \
+    tf/src/tf/srv/_FrameGraph.py tf/test/test_datatype_conversion.py
+	${CHMOD} 0555 ${PREFIX}/ros/stacks/${PORTNAME}/${f}
+.endfor
+
+.include <bsd.port.mk>
diff --git a/math/ros-geometry/distinfo b/math/ros-geometry/distinfo
new file mode 100644
index 00000000000..48e698b1193
--- /dev/null
+++ b/math/ros-geometry/distinfo
@@ -0,0 +1,8 @@
+SHA256 (ros/geometry-1.2.0.tar.bz2) = 624ad183efc4fdfd76f9e68a93aa9cea749f751165b66d33bc7a5aeb9652678d
+SIZE (ros/geometry-1.2.0.tar.bz2) = 158941
+SHA256 (ros/bullet-2.76-patched2.tar.gz) = 9b687e35e0ca6bc70ec10d24245469e2f667627c097ba1537618bfc34fe41518
+SIZE (ros/bullet-2.76-patched2.tar.gz) = 3519539
+SHA256 (ros/eigen2-2.0.15.tar.bz2) = e9f8991956c9ba60a6575382f6f69f6d8379f010bb9ff4a73d2c93173d8600a8
+SIZE (ros/eigen2-2.0.15.tar.bz2) = 367729
+SHA256 (ros/kdl-31715.tar.gz) = 4f6c1f2bef0c21840c3440b453fcd9d6d117ff8b7c28da52fe6f71f0b8431a48
+SIZE (ros/kdl-31715.tar.gz) = 230731
diff --git a/math/ros-geometry/files/patch-bullet_CMakeLists.txt b/math/ros-geometry/files/patch-bullet_CMakeLists.txt
new file mode 100644
index 00000000000..cba0e2802e7
--- /dev/null
+++ b/math/ros-geometry/files/patch-bullet_CMakeLists.txt
@@ -0,0 +1,11 @@
+--- bullet/CMakeLists.txt.orig	2010-11-22 17:42:02.000000000 +0100
++++ bullet/CMakeLists.txt	2010-11-23 21:38:34.000000000 +0100
+@@ -8,7 +8,7 @@
+ MAKE_DIRECTORY(${PROJECT_SOURCE_DIR}/src/)
+ 
+ # Build Bullet
+-execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} make -f Makefile.bullet
++execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} gmake -f Makefile.bullet
+                 RESULT_VARIABLE _make_failed)
+ if(_make_failed)
+   message(FATAL_ERROR "Build of Bullet failed")
diff --git a/math/ros-geometry/files/patch-bullet_Makefile.bullet b/math/ros-geometry/files/patch-bullet_Makefile.bullet
new file mode 100644
index 00000000000..118d8f32454
--- /dev/null
+++ b/math/ros-geometry/files/patch-bullet_Makefile.bullet
@@ -0,0 +1,70 @@
+--- bullet/Makefile.bullet.orig	2010-11-22 17:42:02.000000000 +0100
++++ bullet/Makefile.bullet	2010-11-24 14:12:05.000000000 +0100
+@@ -5,7 +5,6 @@
+ SVN_PATCH = deprecations.patch quaternion.patch demos.patch no_extras_build.patch getsetRPY.patch gimbal_lock.patch
+ SVN_REVISION=-r2038
+ 
+-include $(shell rospack find mk)/svn_checkout.mk
+ 
+ #TARBALL_NAME = bullet-svn$(SVN_REVISION)
+ TARBALL_NAME = bullet-2.76-patched2
+@@ -23,10 +22,10 @@
+ BULLET_TARGETS = LinearMath BulletCollision BulletDynamics BulletSoftBody
+ 
+ # Poor man's installation procedure setup
+-BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.* \
+-              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.* \
+-              $(SOURCE_DIR)/src/LinearMath/libLinearMath.* \
+-              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.* 
++BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.so.2.76 \
++              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.so.2.76 \
++              $(SOURCE_DIR)/src/LinearMath/libLinearMath.so.2.76 \
++              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.so.2.76
+ 
+ BULLET_INC_DIRS = . \
+ 				  BulletCollision/CollisionShapes \
+@@ -54,27 +53,43 @@
+ 	cd $(SOURCE_DIR) && cmake -DCMAKE_INSTALL_PREFIX=$(CURDIR) -DCMAKE_CXX_FLAGS="-fPIC -DBT_USE_DOUBLE_PRECISION" -D BUILD_SHARED_LIBS=on . 
+ 	# Bullet appears not be parallel-make safe
+ 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) 
++ifneq ($(MAKE),)
++	cd $(SOURCE_DIR) && $(MAKE) $(BULLET_TARGETS) 
++else
+ 	cd $(SOURCE_DIR) && make $(BULLET_TARGETS) 
++endif
+ 	# The 'install' target only works with cmake 2.6 for some reason
+ 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) install
+ 	mkdir -p lib
+ 	cp $(BULLET_LIBS) lib
++	cd lib && ln -s libBulletCollision.so.2.76 libBulletCollision.so
++	cd lib && ln -s libBulletDynamics.so.2.76 libBulletDynamics.so
++	cd lib && ln -s libBulletSoftBody.so.2.76 libBulletSoftBody.so
++	cd lib && ln -s libLinearMath.so.2.76 libLinearMath.so
+ 	mkdir -p include
+ 	$(foreach d,$(BULLET_INC_DIRS), mkdir -p include/$(d) && cp $(SOURCE_DIR)/src/$(d)/*.h include/$(d);)
+ 	touch installed
+ 
+ wiped: Makefile.bullet
++ifneq ($(MAKE),)
++	$(MAKE) -f Makefile.bullet wipe
++else
+ 	make -f Makefile.bullet wipe
++endif
+ 	touch wiped
+ 
+ clean:
+ 	rm -f installed
+ 	rm -fr lib include
++ifneq ($(MAKE),)
++	-$(MAKE) -C $(SVN_DIR) clean
++	-cd $(SOURCE_DIR) && $(MAKE) clean
++else
+ 	-make -C $(SVN_DIR) clean
+ 	-cd $(SOURCE_DIR) && make clean
++endif
+ 
+ wipe: clean
+ 	-rm -f patched
+ 	-rm -rf bullet_svn
+-	-rm -rf build
+ 
diff --git a/math/ros-geometry/files/patch-kdl_Makefile b/math/ros-geometry/files/patch-kdl_Makefile
new file mode 100644
index 00000000000..f0a8b8e0812
--- /dev/null
+++ b/math/ros-geometry/files/patch-kdl_Makefile
@@ -0,0 +1,49 @@
+--- kdl/Makefile.orig	2010-11-22 19:18:28.000000000 +0100
++++ kdl/Makefile	2010-11-22 22:36:47.000000000 +0100
+@@ -14,7 +14,6 @@
+ BOOST_INCLUDE =$(shell rosboost-cfg --include_dirs)
+ EIGEN2_INCLUDE_DIR=`rospack cflags-only-I eigen| cut -d ' ' -f 1`
+ EIGEN2_DEFINE=`rospack cflags-only-other eigen`
+-TINYXML_INCLUDE_DIR=`rospack cflags-only-I tinyxml| cut -d ' ' -f 1`
+ CMAKE_ARGS = -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR)/ \
+ 		-DPYTHON_BINDINGS=ON \
+                 -DCMAKE_CXX_FLAGS=$(EIGEN2_DEFINE) \
+@@ -22,7 +21,6 @@
+ 		-DBUILD_MODELS=OFF \
+ 		-DBOOST:STRING=$(BOOST_INCLUDE)\
+ 		-DEIGEN2_INCLUDE_DIR=$(EIGEN2_INCLUDE_DIR)\
+-		-DTINYXML_INCLUDE_DIR=$(TINYXML_INCLUDE_DIR)\
+ 		-DCMAKE_BUILD_TYPE="Release"
+ 
+ 
+@@ -30,7 +28,11 @@
+ 	cd $(SOURCE_DIR) && patch -p0 < ../../$(PATCH)
+ 	mkdir -p $(SOURCE_DIR)/build
+ 	cd $(SOURCE_DIR)/build && $(CMAKE) $(CMAKE_ARGS) ..
++ifneq ($(MAKE),)
++	cd $(SOURCE_DIR)/build && $(MAKE) $(ROS_PARALLEL_JOBS) && touch src/orocos-kdl.pc && make install
++else
+ 	cd $(SOURCE_DIR)/build && make $(ROS_PARALLEL_JOBS) && touch src/orocos-kdl.pc && make install
++endif
+ 	if [ `uname` = Darwin ]; then \
+ 		install_name_tool -id `rospack find kdl`/kdl/lib/liborocos-kdl.1.0.dylib kdl/lib/liborocos-kdl.1.0.dylib; \
+ 	fi
+@@ -42,14 +44,17 @@
+ 	ln -s $(SOURCE_DIR)/build/doc doc
+ 
+ wiped: Makefile $(PATCH) kdl-31715.tar.gz.md5sum
++ifneq ($(MAKE),)
++	$(MAKE) wipe
++else
+ 	make wipe
++endif
+ 	touch wiped
+ 
+ clean:
+ 	rm -rf lib
+ 	rm -rf include
+ 	rm -rf share
+-	rm -rf build
+ 	rm -rf installed
+ 
+ wipe: 	clean
diff --git a/math/ros-geometry/files/patch-rosdep.yaml b/math/ros-geometry/files/patch-rosdep.yaml
new file mode 100644
index 00000000000..79e9c2f4f79
--- /dev/null
+++ b/math/ros-geometry/files/patch-rosdep.yaml
@@ -0,0 +1,14 @@
+--- rosdep.yaml.orig	2010-11-22 17:42:02.000000000 +0100
++++ rosdep.yaml	2010-11-24 10:46:44.000000000 +0100
+@@ -4,9 +4,11 @@
+   fedora: freeglut-devel
+   arch: freeglut
+   gentoo: freeglut
++  freebsd: libglut
+ python-sip4:
+   ubuntu: python-sip4-dev sip4
+   debian: python-sip4-dev sip4
+   macports: py25-sip
+   gentoo: dev-python/sip
+   arch: sip
++  freebsd: py26-sip
diff --git a/math/ros-geometry/pkg-descr b/math/ros-geometry/pkg-descr
new file mode 100644
index 00000000000..6396d691933
--- /dev/null
+++ b/math/ros-geometry/pkg-descr
@@ -0,0 +1,31 @@
+The basic geometry and math libraries used in ROS.
+
+angles:
+Provides a set of simple math utilities to work with angles. The utilities cover
+simple things like normalizing an angle and conversion between degrees and
+radians, but also functions to calculate things like the shortest angular
+distance between two joinst space positions of your robot, with the joint motion
+constrained by joint limits.
+
+bullet:
+Contains version 2.76 of the Bullet professional free 3D Game Multiphysics
+Library. The Bullet library provided by this ROS package is slightly different
+from the official Bullet release.
+
+eigen:
+This package contains version 2.0.15 of the Eigen C++ template library for
+linear algebra.
+
+KDL:
+This package contains a recent version of the Kinematics and Dynamics Library
+(KDL), distributed by the Orocos Project. For stability reasons, this package
+is currently locked to revision 31715, but this revision will be updated on a
+regular basis to the latest available KDL trunk.
+
+tf:
+tf is a package that lets the user keep track of multiple coordinate frames
+over time. tf maintains the relationship between coordinate frames in a tree
+structure buffered in time, and lets the user transform points, vectors, etc
+between any two coordinate frames at any desired point in time.
+
+WWW: http://www.ros.org/wiki/geometry
diff --git a/math/ros-geometry/pkg-plist b/math/ros-geometry/pkg-plist
new file mode 100644
index 00000000000..6df5ed1df22
--- /dev/null
+++ b/math/ros-geometry/pkg-plist
@@ -0,0 +1,679 @@
+lib/PyKDL.so
+lib/_tf.so
+lib/libBulletCollision.so
+lib/libBulletCollision.so.2.76
+lib/libBulletDynamics.so
+lib/libBulletDynamics.so.2.76
+lib/libBulletSoftBody.so
+lib/libBulletSoftBody.so.2.76
+lib/libLinearMath.so
+lib/libLinearMath.so.2.76
+lib/libeigen_conversions.so
+lib/liborocos-kdl.so
+lib/liborocos-kdl.so.1.0
+lib/liborocos-kdl.so.1.0.99
+lib/libtf.so
+lib/libtf_conversions.so
+libdata/pkgconfig/orocos-kdl.pc
+ros/stacks/geometry/CMakeLists.txt
+ros/stacks/geometry/Makefile
+ros/stacks/geometry/angles/CMakeLists.txt
+ros/stacks/geometry/angles/Makefile
+ros/stacks/geometry/angles/ROS_NOBUILD
+ros/stacks/geometry/angles/doc.dox
+ros/stacks/geometry/angles/include/angles/angles.h
+ros/stacks/geometry/angles/manifest.xml
+ros/stacks/geometry/angles/test/utest.cpp
+ros/stacks/geometry/bullet/CMakeLists.txt
+ros/stacks/geometry/bullet/Makefile
+ros/stacks/geometry/bullet/Makefile.bullet
+ros/stacks/geometry/bullet/ROS_NOBUILD
+ros/stacks/geometry/bullet/bullet-2.76-patched.md5sum
+ros/stacks/geometry/bullet/bullet-2.76-patched2.md5sum
+ros/stacks/geometry/bullet/demos.patch
+ros/stacks/geometry/bullet/deprecations.patch
+ros/stacks/geometry/bullet/euler.patch
+ros/stacks/geometry/bullet/euler_angles_doxygen.patch
+ros/stacks/geometry/bullet/getsetRPY.patch
+ros/stacks/geometry/bullet/gimbal_lock.patch
+ros/stacks/geometry/bullet/include/Bullet-C-Api.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btAxisSweep3.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDbvt.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btDispatcher.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btQuantizedBvh.h
+ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/SphereTriangleDetector.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btBoxBoxDetector.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionConfiguration.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionObject.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCollisionWorld.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btGhostObject.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btManifoldResult.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSimulationIslandManager.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch/btUnionFind.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBox2dShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBoxShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCapsuleShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCollisionMargin.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCollisionShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCompoundShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConcaveShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConeShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvex2dShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexHullShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexInternalShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexPointCloudShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btCylinderShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btEmptyShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMaterial.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMinkowskiSumShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMultiSphereShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btOptimizedBvh.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btShapeHull.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btSphereShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btStaticPlaneShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTetrahedronShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleBuffer.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleCallback.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleInfoMap.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleMesh.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleMeshShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btTriangleShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes/btUniformScalingShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btBoxCollision.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btClipPolygon.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btContactProcessing.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGImpactBvh.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGImpactMassUtil.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGImpactQuantizedBvh.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGImpactShape.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGenericPoolAllocator.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btGeometryOperations.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btQuantization.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/btTriangleShapeEx.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_array.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_basic_geometry_operations.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_bitset.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_box_collision.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_box_set.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_clip_polygon.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_contact.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_geom_types.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_geometry.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_hash_table.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_linear_math.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_math.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_memory.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_radixsort.h
+ros/stacks/geometry/bullet/include/BulletCollision/Gimpact/gim_tri_collision.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btConvexCast.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
+ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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+ros/stacks/geometry/kdl/share/orocos-kdl/orocos-kdl-config.cmake
+ros/stacks/geometry/kdl/total.patch
+ros/stacks/geometry/kdl/wiped
+ros/stacks/geometry/rosdep.yaml
+ros/stacks/geometry/stack.xml
+ros/stacks/geometry/tf/CMakeLists.txt
+ros/stacks/geometry/tf/Makefile
+ros/stacks/geometry/tf/ROS_NOBUILD
+ros/stacks/geometry/tf/bin/change_notifier
+ros/stacks/geometry/tf/bin/static_transform_publisher
+ros/stacks/geometry/tf/bin/tf_echo
+ros/stacks/geometry/tf/bin/tf_monitor
+ros/stacks/geometry/tf/conf.py
+ros/stacks/geometry/tf/doc/bifrucation.gv
+ros/stacks/geometry/tf/doc/bifrucation.pdf
+ros/stacks/geometry/tf/include/tf/exceptions.h
+ros/stacks/geometry/tf/include/tf/message_filter.h
+ros/stacks/geometry/tf/include/tf/tf.h
+ros/stacks/geometry/tf/include/tf/time_cache.h
+ros/stacks/geometry/tf/include/tf/transform_broadcaster.h
+ros/stacks/geometry/tf/include/tf/transform_datatypes.h
+ros/stacks/geometry/tf/include/tf/transform_listener.h
+ros/stacks/geometry/tf/index.rst
+ros/stacks/geometry/tf/mainpage.dox
+ros/stacks/geometry/tf/manifest.xml
+ros/stacks/geometry/tf/msg/lisp/tf/.tfMessage.asd-dep
+ros/stacks/geometry/tf/msg/lisp/tf/_package.lisp
+ros/stacks/geometry/tf/msg/lisp/tf/_package_tfMessage.lisp
+ros/stacks/geometry/tf/msg/lisp/tf/tf-msg.asd
+ros/stacks/geometry/tf/msg/lisp/tf/tfMessage.lisp
+ros/stacks/geometry/tf/msg/tfMessage.msg
+ros/stacks/geometry/tf/msg_gen/cpp/include/tf/tfMessage.h
+ros/stacks/geometry/tf/msg_gen/generated
+ros/stacks/geometry/tf/remap_tf.launch
+ros/stacks/geometry/tf/rosdoc.yaml
+ros/stacks/geometry/tf/scripts/python_benchmark.py
+ros/stacks/geometry/tf/scripts/reset_time.py
+ros/stacks/geometry/tf/scripts/tf_remap
+ros/stacks/geometry/tf/scripts/view_frames
+ros/stacks/geometry/tf/src/cache.cpp
+ros/stacks/geometry/tf/src/change_notifier.cpp
+ros/stacks/geometry/tf/src/pytf.cpp
+ros/stacks/geometry/tf/src/static_transform_publisher.cpp
+ros/stacks/geometry/tf/src/tf.cpp
+ros/stacks/geometry/tf/src/tf/__init__.py
+ros/stacks/geometry/tf/src/tf/broadcaster.py
+ros/stacks/geometry/tf/src/tf/listener.py
+ros/stacks/geometry/tf/src/tf/msg/__init__.py
+ros/stacks/geometry/tf/src/tf/msg/_tfMessage.py
+ros/stacks/geometry/tf/src/tf/srv/_FrameGraph.py
+ros/stacks/geometry/tf/src/tf/srv/__init__.py
+ros/stacks/geometry/tf/src/tf/tfwtf.py
+ros/stacks/geometry/tf/src/tf/transformations.py
+ros/stacks/geometry/tf/src/tf_echo.cpp
+ros/stacks/geometry/tf/src/tf_monitor.cpp
+ros/stacks/geometry/tf/src/transform_broadcaster.cpp
+ros/stacks/geometry/tf/src/transform_listener.cpp
+ros/stacks/geometry/tf/srv/FrameGraph.srv
+ros/stacks/geometry/tf/srv/lisp/tf/.FrameGraph.asd-dep
+ros/stacks/geometry/tf/srv/lisp/tf/FrameGraph.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/_package.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/_package_FrameGraph.lisp
+ros/stacks/geometry/tf/srv/lisp/tf/tf-srv.asd
+ros/stacks/geometry/tf/srv_gen/cpp/include/tf/FrameGraph.h
+ros/stacks/geometry/tf/srv_gen/generated
+ros/stacks/geometry/tf/test/btTest
+ros/stacks/geometry/tf/test/cache_unittest.cpp
+ros/stacks/geometry/tf/test/method_test.py
+ros/stacks/geometry/tf/test/operator_overload.cpp
+ros/stacks/geometry/tf/test/python_debug_test.py
+ros/stacks/geometry/tf/test/quaternion.cpp
+ros/stacks/geometry/tf/test/testBroadcaster
+ros/stacks/geometry/tf/test/testBroadcaster.cpp
+ros/stacks/geometry/tf/test/testListener
+ros/stacks/geometry/tf/test/testListener.cpp
+ros/stacks/geometry/tf/test/testPython.py
+ros/stacks/geometry/tf/test/test_broadcaster.launch
+ros/stacks/geometry/tf/test/test_datatype_conversion.py
+ros/stacks/geometry/tf/test/test_message_filter.cpp
+ros/stacks/geometry/tf/test/test_message_filter.xml
+ros/stacks/geometry/tf/test/test_transform_datatypes.cpp
+ros/stacks/geometry/tf/test/tf_benchmark.cpp
+ros/stacks/geometry/tf/test/tf_unittest.cpp
+ros/stacks/geometry/tf/test/tf_unittest_future.cpp
+ros/stacks/geometry/tf/test/transform_listener_unittest
+ros/stacks/geometry/tf/test/transform_listener_unittest.cpp
+ros/stacks/geometry/tf/test/transform_listener_unittest.launch
+ros/stacks/geometry/tf/test/transform_twist_test.cpp
+ros/stacks/geometry/tf/test/transform_twist_test.launch
+ros/stacks/geometry/tf/test/velocity_test.cpp
+ros/stacks/geometry/tf/tf_python.rst
+ros/stacks/geometry/tf_conversions/CMakeLists.txt
+ros/stacks/geometry/tf_conversions/Makefile
+ros/stacks/geometry/tf_conversions/ROS_NOBUILD
+ros/stacks/geometry/tf_conversions/conf.py
+ros/stacks/geometry/tf_conversions/include/tf_conversions/mainpage.dox
+ros/stacks/geometry/tf_conversions/include/tf_conversions/tf_eigen.h
+ros/stacks/geometry/tf_conversions/include/tf_conversions/tf_kdl.h
+ros/stacks/geometry/tf_conversions/index.rst
+ros/stacks/geometry/tf_conversions/manifest.xml
+ros/stacks/geometry/tf_conversions/rosdoc.yaml
+ros/stacks/geometry/tf_conversions/src/tf_conversions/__init__.py
+ros/stacks/geometry/tf_conversions/src/tf_conversions/posemath.py
+ros/stacks/geometry/tf_conversions/src/tf_eigen.cpp
+ros/stacks/geometry/tf_conversions/src/tf_kdl.cpp
+ros/stacks/geometry/tf_conversions/test/posemath.py
+ros/stacks/geometry/tf_conversions/test/test_eigen_tf.cpp
+@dirrm ros/stacks/geometry/tf_conversions/test
+@dirrm ros/stacks/geometry/tf_conversions/src/tf_conversions
+@dirrm ros/stacks/geometry/tf_conversions/src
+@dirrm ros/stacks/geometry/tf_conversions/lib
+@dirrm ros/stacks/geometry/tf_conversions/include/tf_conversions
+@dirrm ros/stacks/geometry/tf_conversions/include
+@dirrm ros/stacks/geometry/tf_conversions/bin
+@dirrm ros/stacks/geometry/tf_conversions
+@dirrm ros/stacks/geometry/tf/test
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp/include/tf
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp/include
+@dirrm ros/stacks/geometry/tf/srv_gen/cpp
+@dirrm ros/stacks/geometry/tf/srv_gen
+@dirrm ros/stacks/geometry/tf/srv/lisp/tf
+@dirrm ros/stacks/geometry/tf/srv/lisp
+@dirrm ros/stacks/geometry/tf/srv
+@dirrm ros/stacks/geometry/tf/src/tf/srv
+@dirrm ros/stacks/geometry/tf/src/tf/msg
+@dirrm ros/stacks/geometry/tf/src/tf
+@dirrm ros/stacks/geometry/tf/src
+@dirrm ros/stacks/geometry/tf/scripts
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp/include/tf
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp/include
+@dirrm ros/stacks/geometry/tf/msg_gen/cpp
+@dirrm ros/stacks/geometry/tf/msg_gen
+@dirrm ros/stacks/geometry/tf/msg/lisp/tf
+@dirrm ros/stacks/geometry/tf/msg/lisp
+@dirrm ros/stacks/geometry/tf/msg
+@dirrm ros/stacks/geometry/tf/lib
+@dirrm ros/stacks/geometry/tf/include/tf
+@dirrm ros/stacks/geometry/tf/include
+@dirrm ros/stacks/geometry/tf/doc
+@dirrm ros/stacks/geometry/tf/bin
+@dirrm ros/stacks/geometry/tf
+@dirrm ros/stacks/geometry/kdl/share/orocos-kdl
+@dirrm ros/stacks/geometry/kdl/share/doc/liborocos-kdl
+@dirrm ros/stacks/geometry/kdl/share/doc
+@dirrm ros/stacks/geometry/kdl/share
+@dirrm ros/stacks/geometry/kdl/lib/pkgconfig
+@dirrm ros/stacks/geometry/kdl/lib
+@dirrm ros/stacks/geometry/kdl/include/kdl/utilities
+@dirrm ros/stacks/geometry/kdl/include/kdl
+@dirrm ros/stacks/geometry/kdl/include
+@dirrm ros/stacks/geometry/kdl
+@dirrm ros/stacks/geometry/eigen_conversions/src
+@dirrm ros/stacks/geometry/eigen_conversions/lib
+@dirrm ros/stacks/geometry/eigen_conversions/include/eigen_conversions
+@dirrm ros/stacks/geometry/eigen_conversions/include
+@dirrm ros/stacks/geometry/eigen_conversions/bin
+@dirrm ros/stacks/geometry/eigen_conversions
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Sparse
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/SVD
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/QR
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/LeastSquares
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/LU
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Geometry
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/util
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch/SSE
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch/AltiVec
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core/arch
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Core
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Cholesky
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src/Array
+@dirrm ros/stacks/geometry/eigen/include/Eigen/src
+@dirrm ros/stacks/geometry/eigen/include/Eigen
+@dirrm ros/stacks/geometry/eigen/include
+@dirrm ros/stacks/geometry/eigen
+@dirrm ros/stacks/geometry/bullet/test
+@dirrm ros/stacks/geometry/bullet/src
+@dirrm ros/stacks/geometry/bullet/lib
+@dirrm ros/stacks/geometry/bullet/include/LinearMath
+@dirrm ros/stacks/geometry/bullet/include/BulletSoftBody
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Vehicle
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Dynamics
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/ConstraintSolver
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics/Character
+@dirrm ros/stacks/geometry/bullet/include/BulletDynamics
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/NarrowPhaseCollision
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/Gimpact
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/CollisionShapes
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/CollisionDispatch
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision/BroadphaseCollision
+@dirrm ros/stacks/geometry/bullet/include/BulletCollision
+@dirrm ros/stacks/geometry/bullet/include
+@dirrm ros/stacks/geometry/bullet/bin
+@dirrm ros/stacks/geometry/bullet
+@dirrm ros/stacks/geometry/angles/test
+@dirrm ros/stacks/geometry/angles/include/angles
+@dirrm ros/stacks/geometry/angles/include
+@dirrm ros/stacks/geometry/angles/bin
+@dirrm ros/stacks/geometry/angles
+@dirrm ros/stacks/geometry
+@exec mkdir -p %D/ros/stacks/geometry/tf_conversions/lib
+@exec mkdir -p %D/ros/stacks/geometry/tf_conversions/bin
+@exec mkdir -p %D/ros/stacks/geometry/tf/lib
+@exec mkdir -p %D/ros/stacks/geometry/kdl/share/doc/liborocos-kdl
+@exec mkdir -p %D/ros/stacks/geometry/kdl/lib/pkgconfig
+@exec mkdir -p %D/ros/stacks/geometry/eigen_conversions/lib
+@exec mkdir -p %D/ros/stacks/geometry/eigen_conversions/bin
+@exec mkdir -p %D/ros/stacks/geometry/bullet/src
+@exec mkdir -p %D/ros/stacks/geometry/bullet/lib
+@exec mkdir -p %D/ros/stacks/geometry/bullet/bin
+@exec mkdir -p %D/ros/stacks/geometry/angles/bin