diff --git a/kinetic/async-web-server-cpp/default.nix b/kinetic/async-web-server-cpp/default.nix
new file mode 100644
index 0000000000..5953834660
--- /dev/null
+++ b/kinetic/async-web-server-cpp/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, boost, catkin, pythonPackages, rostest, rospy, openssl, roslib }:
+buildRosPackage {
+  pname = "ros-kinetic-async-web-server-cpp";
+  version = "0.0.3";
+
+  src = fetchurl {
+    url = https://github.com/gt-rail-release/async_web_server_cpp-release/archive/release/kinetic/async_web_server_cpp/0.0.3-0.tar.gz;
+    sha256 = "32d6fc632c8c80656899d314fae6ca57e3db01312e82b3735c9ee50bb3f996e7";
+  };
+
+  buildInputs = [ openssl boost ];
+  checkInputs = [ rostest roslib rospy ];
+  propagatedBuildInputs = [ openssl boost pythonPackages.websocket_client ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Asynchronous Web/WebSocket Server in C++'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/behaviortree-cpp-v3/default.nix b/kinetic/behaviortree-cpp-v3/default.nix
new file mode 100644
index 0000000000..b2f8579134
--- /dev/null
+++ b/kinetic/behaviortree-cpp-v3/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, roslib, elfutils, zeromq3 }:
+buildRosPackage {
+  pname = "ros-kinetic-behaviortree-cpp-v3";
+  version = "3.0.7";
+
+  src = fetchurl {
+    url = https://github.com/BehaviorTree/behaviortree_cpp_v3-release/archive/release/kinetic/behaviortree_cpp_v3/3.0.7-0.tar.gz;
+    sha256 = "be5c54dc7ae328f3c0bd6bd1abdbcb073b48eec8ab19e1e6caebfc5c8a34523b";
+  };
+
+  buildInputs = [ roslib zeromq3 elfutils ];
+  propagatedBuildInputs = [ roslib zeromq3 elfutils ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''This package provides the Behavior Trees core library.'';
+    #license = lib.licenses.MIT;
+  };
+}
diff --git a/kinetic/behaviortree-cpp/default.nix b/kinetic/behaviortree-cpp/default.nix
new file mode 100644
index 0000000000..89cde1086a
--- /dev/null
+++ b/kinetic/behaviortree-cpp/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, roslib, zeromq3 }:
+buildRosPackage {
+  pname = "ros-kinetic-behaviortree-cpp";
+  version = "2.5.1";
+
+  src = fetchurl {
+    url = https://github.com/BehaviorTree/behaviortree_cpp-release/archive/release/kinetic/behaviortree_cpp/2.5.1-0.tar.gz;
+    sha256 = "e8732929b0566874fe3b9584fcf40df76c10ec686fcd9fd9affba6e90a8e4e86";
+  };
+
+  buildInputs = [ roslib zeromq3 ];
+  propagatedBuildInputs = [ roslib zeromq3 ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''This package provides a behavior trees core.'';
+    #license = lib.licenses.MIT;
+  };
+}
diff --git a/kinetic/cartographer-ros/default.nix b/kinetic/cartographer-ros/default.nix
new file mode 100644
index 0000000000..6ef6dc0ddb
--- /dev/null
+++ b/kinetic/cartographer-ros/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cartographer, pcl-conversions, geometry-msgs, gflags, pythonPackages, cartographer-ros-msgs, message-runtime, robot-state-publisher, glog, roslaunch, eigen-conversions, roslib, rosbag, catkin, tf2-ros, nav-msgs, urdf, std-msgs, gmock, protobuf, visualization-msgs, roscpp, libyamlcpp, pcl, sensor-msgs, tf2, tf2-eigen, rosunit }:
+buildRosPackage {
+  pname = "ros-kinetic-cartographer-ros";
+  version = "0.2.0";
+
+  src = fetchurl {
+    url = https://github.com/ros-gbp/cartographer_ros-release/archive/release/kinetic/cartographer_ros/0.2.0-0.tar.gz;
+    sha256 = "0ef5e828a66bdcc06a9ba6c9f63e34bea1b4719166dce79a1d578af428bf9763";
+  };
+
+  buildInputs = [ rosbag tf2-ros pythonPackages.sphinx nav-msgs urdf std-msgs cartographer protobuf roscpp pcl-conversions visualization-msgs geometry-msgs gflags libyamlcpp pcl sensor-msgs eigen-conversions cartographer-ros-msgs tf2 message-runtime robot-state-publisher tf2-eigen glog roslaunch roslib gmock ];
+  checkInputs = [ rosunit ];
+  propagatedBuildInputs = [ rosbag tf2-ros nav-msgs urdf std-msgs cartographer roscpp pcl-conversions visualization-msgs geometry-msgs gflags libyamlcpp pcl sensor-msgs eigen-conversions cartographer-ros-msgs tf2 message-runtime robot-state-publisher tf2-eigen glog roslaunch roslib ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Cartographer is a system that provides real-time simultaneous localization
+    and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
+    configurations. This package provides Cartographer's ROS integration.'';
+    #license = lib.licenses.Apache 2.0;
+  };
+}
diff --git a/kinetic/cartographer/default.nix b/kinetic/cartographer/default.nix
new file mode 100644
index 0000000000..f886f3c820
--- /dev/null
+++ b/kinetic/cartographer/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cairo, ceres-solver, libwebp, boost, gflags, lua5, catkin, pythonPackages, glog, eigen, protobuf, gmock }:
+buildRosPackage {
+  pname = "ros-kinetic-cartographer";
+  version = "0.2.0-r2";
+
+  src = fetchurl {
+    url = https://github.com/ros-gbp/cartographer-release/archive/release/kinetic/cartographer/0.2.0-2.tar.gz;
+    sha256 = "83c80c70ec6d580bbd65ab60a08d59470351349e92cacc79c4bc7332becd193b";
+  };
+
+  buildInputs = [ cairo ceres-solver libwebp boost gflags lua5 pythonPackages.sphinx glog eigen protobuf gmock ];
+  propagatedBuildInputs = [ cairo ceres-solver libwebp boost gflags lua5 glog eigen protobuf ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Cartographer is a system that provides real-time simultaneous localization
+    and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
+    configurations.'';
+    #license = lib.licenses.Apache 2.0;
+  };
+}
diff --git a/kinetic/gcloud-speech/default.nix b/kinetic/gcloud-speech/default.nix
new file mode 100644
index 0000000000..6104dca004
--- /dev/null
+++ b/kinetic/gcloud-speech/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, actionlib-msgs, gflags, catkin, grpc, glog, actionlib, gcloud-speech-msgs }:
+buildRosPackage {
+  pname = "ros-kinetic-gcloud-speech";
+  version = "0.0.5";
+
+  src = fetchurl {
+    url = https://github.com/CogRobRelease/gcloud_speech-release/archive/release/kinetic/gcloud_speech/0.0.5-0.tar.gz;
+    sha256 = "b1b722a5ffeb893be63d92de5b8bbb18f567f82971d32195162b347b94f05cc4";
+  };
+
+  buildInputs = [ grpc actionlib glog gflags gcloud-speech-msgs actionlib-msgs ];
+  propagatedBuildInputs = [ grpc actionlib glog gflags gcloud-speech-msgs actionlib-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Google Cloud Speech client.'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/generated.nix b/kinetic/generated.nix
index 5a1051f55b..1af624b1cc 100644
--- a/kinetic/generated.nix
+++ b/kinetic/generated.nix
@@ -116,6 +116,8 @@ self: super: {
 
  async-comm = self.callPackage ./async-comm {};
 
+ async-web-server-cpp = self.callPackage ./async-web-server-cpp {};
+
  ati-ft-sensor = self.callPackage ./ati-ft-sensor {};
 
  audibot = self.callPackage ./audibot {};
@@ -178,6 +180,10 @@ self: super: {
 
  bcap-service-test = self.callPackage ./bcap-service-test {};
 
+ behaviortree-cpp = self.callPackage ./behaviortree-cpp {};
+
+ behaviortree-cpp-v3 = self.callPackage ./behaviortree-cpp-v3 {};
+
  bfl = self.callPackage ./bfl {};
 
  bhand-controller = self.callPackage ./bhand-controller {};
@@ -244,6 +250,10 @@ self: super: {
 
  cartesian-msgs = self.callPackage ./cartesian-msgs {};
 
+ cartographer = self.callPackage ./cartographer {};
+
+ cartographer-ros = self.callPackage ./cartographer-ros {};
+
  cartographer-ros-msgs = self.callPackage ./cartographer-ros-msgs {};
 
  cartographer-rviz = self.callPackage ./cartographer-rviz {};
@@ -1068,6 +1078,8 @@ self: super: {
 
  gazebo-ros-pkgs = self.callPackage ./gazebo-ros-pkgs {};
 
+ gcloud-speech = self.callPackage ./gcloud-speech {};
+
  gcloud-speech-msgs = self.callPackage ./gcloud-speech-msgs {};
 
  gencpp = self.callPackage ./gencpp {};
@@ -1104,6 +1116,8 @@ self: super: {
 
  geometry-tutorials = self.callPackage ./geometry-tutorials {};
 
+ gl-dependency = self.callPackage ./gl-dependency {};
+
  glkh-solver = self.callPackage ./glkh-solver {};
 
  global-planner = self.callPackage ./global-planner {};
@@ -1466,6 +1480,8 @@ self: super: {
 
  ipr-extern = self.callPackage ./ipr-extern {};
 
+ ira-laser-tools = self.callPackage ./ira-laser-tools {};
+
  ivcon = self.callPackage ./ivcon {};
 
  jackal-control = self.callPackage ./jackal-control {};
@@ -1580,6 +1596,8 @@ self: super: {
 
  jsk-recognition-msgs = self.callPackage ./jsk-recognition-msgs {};
 
+ jsk-recognition-utils = self.callPackage ./jsk-recognition-utils {};
+
  jsk-roseus = self.callPackage ./jsk-roseus {};
 
  jsk-rqt-plugins = self.callPackage ./jsk-rqt-plugins {};
@@ -2004,6 +2022,8 @@ self: super: {
 
  mir-description = self.callPackage ./mir-description {};
 
+ mir-driver = self.callPackage ./mir-driver {};
+
  mir-dwb-critics = self.callPackage ./mir-dwb-critics {};
 
  mir-gazebo = self.callPackage ./mir-gazebo {};
@@ -2116,6 +2136,8 @@ self: super: {
 
  mqtt-bridge = self.callPackage ./mqtt-bridge {};
 
+ mrpt1 = self.callPackage ./mrpt1 {};
+
  mrpt-bridge = self.callPackage ./mrpt-bridge {};
 
  mrpt-local-obstacles = self.callPackage ./mrpt-local-obstacles {};
@@ -2176,6 +2198,8 @@ self: super: {
 
  multisense-lib = self.callPackage ./multisense-lib {};
 
+ multisense-ros = self.callPackage ./multisense-ros {};
+
  multiwii = self.callPackage ./multiwii {};
 
  mvsim = self.callPackage ./mvsim {};
@@ -2388,6 +2412,8 @@ self: super: {
 
  octomap-server = self.callPackage ./octomap-server {};
 
+ octovis = self.callPackage ./octovis {};
+
  oculusprime = self.callPackage ./oculusprime {};
 
  odometry-publisher-tutorial = self.callPackage ./odometry-publisher-tutorial {};
@@ -2492,6 +2518,8 @@ self: super: {
 
  open-manipulator-with-tb3-waffle-pi-moveit = self.callPackage ./open-manipulator-with-tb3-waffle-pi-moveit {};
 
+ opencv3 = self.callPackage ./opencv3 {};
+
  opencv-apps = self.callPackage ./opencv-apps {};
 
  opencv-candidate = self.callPackage ./opencv-candidate {};
@@ -2568,6 +2596,8 @@ self: super: {
 
  parameter-pa = self.callPackage ./parameter-pa {};
 
+ parrot-arsdk = self.callPackage ./parrot-arsdk {};
+
  pcdfilter-pa = self.callPackage ./pcdfilter-pa {};
 
  pcl-conversions = self.callPackage ./pcl-conversions {};
@@ -2648,6 +2678,8 @@ self: super: {
 
  pilz-msgs = self.callPackage ./pilz-msgs {};
 
+ pilz-robot-programming = self.callPackage ./pilz-robot-programming {};
+
  pilz-robots = self.callPackage ./pilz-robots {};
 
  pilz-testutils = self.callPackage ./pilz-testutils {};
@@ -2874,6 +2906,8 @@ self: super: {
 
  prosilica-gige-sdk = self.callPackage ./prosilica-gige-sdk {};
 
+ ps3joy = self.callPackage ./ps3joy {};
+
  ps4eye = self.callPackage ./ps4eye {};
 
  puma-motor-driver = self.callPackage ./puma-motor-driver {};
@@ -3038,6 +3072,8 @@ self: super: {
 
  rbcar-sim-bringup = self.callPackage ./rbcar-sim-bringup {};
 
+ rc-cloud-accumulator = self.callPackage ./rc-cloud-accumulator {};
+
  rc-dynamics-api = self.callPackage ./rc-dynamics-api {};
 
  rc-genicam-api = self.callPackage ./rc-genicam-api {};
@@ -3072,6 +3108,8 @@ self: super: {
 
  resource-retriever = self.callPackage ./resource-retriever {};
 
+ respeaker-ros = self.callPackage ./respeaker-ros {};
+
  rfsm = self.callPackage ./rfsm {};
 
  rgbd-launch = self.callPackage ./rgbd-launch {};
@@ -3376,6 +3414,8 @@ self: super: {
 
  rosbridge-msgs = self.callPackage ./rosbridge-msgs {};
 
+ rosbridge-server = self.callPackage ./rosbridge-server {};
+
  rosbridge-suite = self.callPackage ./rosbridge-suite {};
 
  rosbuild = self.callPackage ./rosbuild {};
@@ -3536,6 +3576,8 @@ self: super: {
 
  roswtf = self.callPackage ./roswtf {};
 
+ roswww = self.callPackage ./roswww {};
+
  rotate-recovery = self.callPackage ./rotate-recovery {};
 
  route-network = self.callPackage ./route-network {};
@@ -3594,6 +3636,8 @@ self: super: {
 
  rqt-plot = self.callPackage ./rqt-plot {};
 
+ rqt-pose-view = self.callPackage ./rqt-pose-view {};
+
  rqt-pr2-dashboard = self.callPackage ./rqt-pr2-dashboard {};
 
  rqt-publisher = self.callPackage ./rqt-publisher {};
@@ -3742,6 +3786,8 @@ self: super: {
 
  rviz-recorder-buttons = self.callPackage ./rviz-recorder-buttons {};
 
+ rviz-visual-tools = self.callPackage ./rviz-visual-tools {};
+
  safe-teleop-stage = self.callPackage ./safe-teleop-stage {};
 
  safety-limiter = self.callPackage ./safety-limiter {};
diff --git a/kinetic/gl-dependency/default.nix b/kinetic/gl-dependency/default.nix
new file mode 100644
index 0000000000..bc354017a4
--- /dev/null
+++ b/kinetic/gl-dependency/default.nix
@@ -0,0 +1,22 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, pythonPackages }:
+buildRosPackage {
+  pname = "ros-kinetic-gl-dependency";
+  version = "1.1.0";
+
+  src = fetchurl {
+    url = https://github.com/ros-gbp/gl_dependency-release/archive/release/kinetic/gl_dependency/1.1.0-0.tar.gz;
+    sha256 = "e253a8266d014f00b961a089835ba7e13748096f2e2ff5b056ea094b2d80835e";
+  };
+
+  propagatedBuildInputs = [ pythonPackages.pyqt5 ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''This encapsulates the GL dependency for a specific ROS distribution and its Qt version'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/ira-laser-tools/default.nix b/kinetic/ira-laser-tools/default.nix
new file mode 100644
index 0000000000..b0e626a77e
--- /dev/null
+++ b/kinetic/ira-laser-tools/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, tf, pcl, sensor-msgs, catkin, laser-geometry, vtkWithQt4, std-msgs, roscpp, pcl-ros }:
+buildRosPackage {
+  pname = "ros-kinetic-ira-laser-tools";
+  version = "1.0.2";
+
+  src = fetchurl {
+    url = https://github.com/iralabdisco/ira_laser_tools-release/archive/release/kinetic/ira_laser_tools/1.0.2-0.tar.gz;
+    sha256 = "d1394e4f4f8dc23d9fe38bcc54ba8e04762e58a5e527bf5643ebb1600f38b09b";
+  };
+
+  buildInputs = [ vtkWithQt4 std-msgs pcl sensor-msgs laser-geometry pcl-ros roscpp tf ];
+  propagatedBuildInputs = [ vtkWithQt4 std-msgs pcl sensor-msgs laser-geometry pcl-ros roscpp tf ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The ira_laser_tools package. These nodes are meant to provide some utils for lasers, like listen to different laser scan sources and merge them in a single scan or generate virtual laser scans from a pointcloud.'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/jsk-recognition-utils/default.nix b/kinetic/jsk-recognition-utils/default.nix
new file mode 100644
index 0000000000..604c90fb44
--- /dev/null
+++ b/kinetic/jsk-recognition-utils/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, image-geometry, jsk-tools, pcl-ros, tf-conversions, tf, geometry-msgs, pythonPackages, jsk-topic-tools, message-generation, message-runtime, pcl-msgs, eigen-conversions, catkin, tf2-ros, jsk-recognition-msgs, std-msgs, visualization-msgs, libyamlcpp, sensor-msgs, dynamic-reconfigure }:
+buildRosPackage {
+  pname = "ros-kinetic-jsk-recognition-utils";
+  version = "1.2.9";
+
+  src = fetchurl {
+    url = https://github.com/tork-a/jsk_recognition-release/archive/release/kinetic/jsk_recognition_utils/1.2.9-0.tar.gz;
+    sha256 = "7ec6f134c0afe52f0008c000374cb106cbcb238bc70246430e72e3fd0200b013";
+  };
+
+  buildInputs = [ pythonPackages.cython tf libyamlcpp sensor-msgs jsk-topic-tools pcl-msgs eigen-conversions image-geometry tf2-ros message-generation tf-conversions jsk-recognition-msgs pcl-ros std-msgs dynamic-reconfigure visualization-msgs geometry-msgs ];
+  checkInputs = [ jsk-tools ];
+  propagatedBuildInputs = [ tf libyamlcpp sensor-msgs jsk-topic-tools pcl-msgs eigen-conversions image-geometry tf2-ros pythonPackages.chainer message-runtime jsk-recognition-msgs pcl-ros std-msgs tf-conversions pythonPackages.scikitimage visualization-msgs geometry-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''C++ library about sensor model, geometrical modeling and perception.'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/mir-driver/default.nix b/kinetic/mir-driver/default.nix
new file mode 100644
index 0000000000..70642064f2
--- /dev/null
+++ b/kinetic/mir-driver/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, actionlib-msgs, rospy-message-converter, rosgraph-msgs, rospy, diagnostic-msgs, tf, geometry-msgs, mir-description, pythonPackages, robot-state-publisher, roslaunch, catkin, move-base-msgs, mir-actions, nav-msgs, std-msgs, visualization-msgs, sensor-msgs, dynamic-reconfigure, mir-msgs }:
+buildRosPackage {
+  pname = "ros-kinetic-mir-driver";
+  version = "1.0.3";
+
+  src = fetchurl {
+    url = https://github.com/uos-gbp/mir_robot-release/archive/release/kinetic/mir_driver/1.0.3-0.tar.gz;
+    sha256 = "6077342572cee4c6daed96ea01d6f2b2444159d549080133cd5e40b72bcb3e60";
+  };
+
+  buildInputs = [ actionlib-msgs geometry-msgs mir-msgs sensor-msgs rospy rospy-message-converter rosgraph-msgs move-base-msgs nav-msgs mir-actions visualization-msgs dynamic-reconfigure std-msgs diagnostic-msgs roslaunch tf pythonPackages.websocket_client ];
+  propagatedBuildInputs = [ actionlib-msgs geometry-msgs mir-msgs sensor-msgs mir-description rospy rospy-message-converter rosgraph-msgs move-base-msgs nav-msgs mir-actions robot-state-publisher dynamic-reconfigure std-msgs diagnostic-msgs visualization-msgs tf pythonPackages.websocket_client ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''A reverse ROS bridge for the MiR100 robot'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/mrpt1/default.nix b/kinetic/mrpt1/default.nix
new file mode 100644
index 0000000000..f366d8890d
--- /dev/null
+++ b/kinetic/mrpt1/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, python, wxGTK, suitesparse, boost, libpcap, catkin, pythonPackages, ffmpeg, assimp, libusb1, octomap, libjpeg, eigen, zlib, freeglut, cmake, opencv3, libudev }:
+buildRosPackage {
+  pname = "ros-kinetic-mrpt1";
+  version = "1.5.7-r4";
+
+  src = fetchurl {
+    url = https://github.com/mrpt-ros-pkg-release/mrpt1-release/archive/release/kinetic/mrpt1/1.5.7-4.tar.gz;
+    sha256 = "d1f36282f236ae99970625082b19ae8fac1ed7f333e4712f45526263f664579b";
+  };
+
+  buildInputs = [ python wxGTK pythonPackages.numpy suitesparse boost libpcap assimp ffmpeg libusb1 libjpeg octomap eigen zlib freeglut opencv3 libudev ];
+  propagatedBuildInputs = [ python wxGTK pythonPackages.numpy suitesparse boost libpcap catkin assimp ffmpeg libusb1 libjpeg octomap eigen zlib freeglut opencv3 libudev ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Mobile Robot Programming Toolkit (MRPT) version 1.5.x'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/multisense-ros/default.nix b/kinetic/multisense-ros/default.nix
new file mode 100644
index 0000000000..2f862ed2f7
--- /dev/null
+++ b/kinetic/multisense-ros/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cv-bridge, image-geometry, tf, geometry-msgs, stereo-msgs, image-transport, libjpeg_turbo, message-generation, message-runtime, multisense-lib, angles, genmsg, rosbag, catkin, std-msgs, roscpp, libyamlcpp, sensor-msgs, dynamic-reconfigure }:
+buildRosPackage {
+  pname = "ros-kinetic-multisense-ros";
+  version = "4.0.0";
+
+  src = fetchurl {
+    url = https://github.com/carnegieroboticsllc/multisense_ros-release/archive/release/kinetic/multisense_ros/4.0.0-0.tar.gz;
+    sha256 = "64dbfe1a34999ec414c8caec8f7b9d34baf10c08e74584ace80cab60122ce0d5";
+  };
+
+  buildInputs = [ image-transport rosbag libjpeg_turbo sensor-msgs cv-bridge genmsg roscpp image-geometry message-generation message-runtime multisense-lib dynamic-reconfigure std-msgs angles tf geometry-msgs stereo-msgs ];
+  propagatedBuildInputs = [ image-transport rosbag libjpeg_turbo sensor-msgs cv-bridge genmsg roscpp image-geometry message-generation message-runtime multisense-lib dynamic-reconfigure std-msgs angles tf geometry-msgs stereo-msgs ];
+  nativeBuildInputs = [ libyamlcpp catkin ];
+
+  meta = {
+    description = ''multisense_ros'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/octovis/default.nix b/kinetic/octovis/default.nix
new file mode 100644
index 0000000000..99ff616439
--- /dev/null
+++ b/kinetic/octovis/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, qt4, libqglviewer, catkin, octomap, cmake }:
+buildRosPackage {
+  pname = "ros-kinetic-octovis";
+  version = "1.8.1";
+
+  src = fetchurl {
+    url = https://github.com/ros-gbp/octomap-release/archive/release/kinetic/octovis/1.8.1-0.tar.gz;
+    sha256 = "3c29b6a392cf48985126527130fdc378e60e0987e2cd63c65cdda6e90bbc282b";
+  };
+
+  buildInputs = [ qt4 libqglviewer octomap ];
+  propagatedBuildInputs = [ qt4 catkin libqglviewer octomap ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''octovis is visualization tool for the OctoMap library based on Qt and libQGLViewer. See
+  http://octomap.github.io for details.'';
+    #license = lib.licenses.GPLv2;
+  };
+}
diff --git a/kinetic/opencv3/default.nix b/kinetic/opencv3/default.nix
new file mode 100644
index 0000000000..f66a1786c3
--- /dev/null
+++ b/kinetic/opencv3/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, python, libwebp, catkin, pythonPackages, libtiff, ffmpeg, libv4l, libjpeg, vtkWithQt4, zlib, protobuf, cmake, libpng }:
+buildRosPackage {
+  pname = "ros-kinetic-opencv3";
+  version = "3.3.1-r5";
+
+  src = fetchurl {
+    url = https://github.com/ros-gbp/opencv3-release/archive/release/kinetic/opencv3/3.3.1-5.tar.gz;
+    sha256 = "49a1574305a96dd2d2f940948b53d78244d44529369c205c994ae5f6d529599b";
+  };
+
+  buildInputs = [ python libwebp pythonPackages.numpy libtiff libv4l ffmpeg libjpeg vtkWithQt4 zlib protobuf libpng ];
+  propagatedBuildInputs = [ python libwebp pythonPackages.numpy catkin ffmpeg libjpeg vtkWithQt4 zlib protobuf libpng ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''OpenCV 3.x'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/parrot-arsdk/default.nix b/kinetic/parrot-arsdk/default.nix
new file mode 100644
index 0000000000..7cce775ee6
--- /dev/null
+++ b/kinetic/parrot-arsdk/default.nix
@@ -0,0 +1,22 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, autoconf, catkin, libtool, ffmpeg, automake, unzip, yasm, nasm, curl, zlib, ncurses, avahi }:
+buildRosPackage {
+  pname = "ros-kinetic-parrot-arsdk";
+  version = "3.14.1";
+
+  src = fetchurl {
+    url = https://github.com/AutonomyLab/parrot_arsdk-release/archive/release/kinetic/parrot_arsdk/3.14.1-0.tar.gz;
+    sha256 = "694bb67559e158098d309e3c9dc836642ce456540e047764ef38ea6f092a98b6";
+  };
+
+  buildInputs = [ autoconf libtool ffmpeg automake unzip yasm nasm curl zlib ncurses avahi ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Catkin wrapper for the official ARSDK from Parrot'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/pilz-robot-programming/default.nix b/kinetic/pilz-robot-programming/default.nix
new file mode 100644
index 0000000000..622350c0d0
--- /dev/null
+++ b/kinetic/pilz-robot-programming/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, roslint, prbt-moveit-config, tf, prbt-pg70-support, pythonPackages, catkin, rostest, pilz-industrial-motion-testutils, moveit-commander, rospy, pilz-msgs, pilz-trajectory-generation }:
+buildRosPackage {
+  pname = "ros-kinetic-pilz-robot-programming";
+  version = "0.3.6";
+
+  src = fetchurl {
+    url = https://github.com/PilzDE/pilz_industrial_motion-release/archive/release/kinetic/pilz_robot_programming/0.3.6-0.tar.gz;
+    sha256 = "2284296981b16a72c626703a586b25418fef5b667ffba4b4aa0bcc7749ca5829";
+  };
+
+  buildInputs = [ roslint rospy ];
+  checkInputs = [ rostest pilz-industrial-motion-testutils pythonPackages.coverage prbt-moveit-config pythonPackages.docopt prbt-pg70-support ];
+  propagatedBuildInputs = [ pythonPackages.psutil moveit-commander rospy tf pilz-msgs pilz-trajectory-generation ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''An Easy to use API to execute standard industrial robot commands like Ptp, Lin, Circ and Sequence using Moveit.'';
+    #license = lib.licenses.LGPLv3;
+  };
+}
diff --git a/kinetic/ps3joy/default.nix b/kinetic/ps3joy/default.nix
new file mode 100644
index 0000000000..0774d710ef
--- /dev/null
+++ b/kinetic/ps3joy/default.nix
@@ -0,0 +1,29 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, bluez, sensor-msgs, linuxConsoleTools, pythonPackages, catkin, rosgraph, rospy, diagnostic-msgs, libusb }:
+buildRosPackage {
+  pname = "ros-kinetic-ps3joy";
+  version = "1.12.0";
+
+  src = fetchurl {
+    url = https://github.com/ros-gbp/joystick_drivers-release/archive/release/kinetic/ps3joy/1.12.0-0.tar.gz;
+    sha256 = "7ab034be1a472b3f03fd6301aac20a442c38c77de2d08a72da341cfe4d1c23a4";
+  };
+
+  buildInputs = [ rosgraph pythonPackages.pybluez libusb bluez diagnostic-msgs sensor-msgs linuxConsoleTools rospy ];
+  propagatedBuildInputs = [ rosgraph pythonPackages.pybluez libusb bluez diagnostic-msgs sensor-msgs linuxConsoleTools rospy ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Playstation 3 SIXAXIS or DUAL SHOCK 3 joystick driver.
+    Driver for the Sony PlayStation 3 SIXAXIS or DUAL SHOCK 3
+    joysticks. In its current state, this driver is not compatible
+    with the use of other Bluetooth HID devices. The driver listens
+    for a connection on the HID ports, starts the joystick
+    streaming data, and passes the data to the Linux uinput device
+    so that it shows up as a normal joystick.'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/rc-cloud-accumulator/default.nix b/kinetic/rc-cloud-accumulator/default.nix
new file mode 100644
index 0000000000..b753ba907b
--- /dev/null
+++ b/kinetic/rc-cloud-accumulator/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, std-srvs, tf2-msgs, pcl, catkin, tf2-ros, tf2, nav-msgs, vtkWithQt4, roscpp, pcl-ros, geometry-msgs }:
+buildRosPackage {
+  pname = "ros-kinetic-rc-cloud-accumulator";
+  version = "1.0.4";
+
+  src = fetchurl {
+    url = https://github.com/roboception-gbp/rc_cloud_accumulator-release/archive/release/kinetic/rc_cloud_accumulator/1.0.4-0.tar.gz;
+    sha256 = "9f7218122b8d827536e815a96fb251fbc1c84bca566678eb4bea2b3b2bcbeedd";
+  };
+
+  buildInputs = [ std-srvs tf2-msgs pcl tf2-ros tf2 nav-msgs vtkWithQt4 roscpp pcl-ros geometry-msgs ];
+  propagatedBuildInputs = [ std-srvs tf2-msgs pcl tf2-ros tf2 nav-msgs vtkWithQt4 roscpp pcl-ros geometry-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''A viewer for the SLAM component of roboception based on ROS and PCL'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/respeaker-ros/default.nix b/kinetic/respeaker-ros/default.nix
new file mode 100644
index 0000000000..627d444f21
--- /dev/null
+++ b/kinetic/respeaker-ros/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, pythonPackages, angles, std-msgs, dynamic-reconfigure, tf, audio-common-msgs, geometry-msgs }:
+buildRosPackage {
+  pname = "ros-kinetic-respeaker-ros";
+  version = "2.1.11";
+
+  src = fetchurl {
+    url = https://github.com/tork-a/jsk_3rdparty-release/archive/release/kinetic/respeaker_ros/2.1.11-0.tar.gz;
+    sha256 = "050535e2dbd22482d68b486717caf2c8ff7da20d9dd8556dee0b423a410ef7d8";
+  };
+
+  buildInputs = [ dynamic-reconfigure ];
+  propagatedBuildInputs = [ pythonPackages.numpy pythonPackages.pyaudio dynamic-reconfigure std-msgs angles tf pythonPackages.pyusb audio-common-msgs geometry-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The respeaker_ros package'';
+    #license = lib.licenses.Apache;
+  };
+}
diff --git a/kinetic/rosbridge-server/default.nix b/kinetic/rosbridge-server/default.nix
new file mode 100644
index 0000000000..93a038ea97
--- /dev/null
+++ b/kinetic/rosbridge-server/default.nix
@@ -0,0 +1,22 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, rosapi, catkin, pythonPackages, rosbridge-library, rosauth, rospy, rosbridge-msgs }:
+buildRosPackage {
+  pname = "ros-kinetic-rosbridge-server";
+  version = "0.11.0";
+
+  src = fetchurl {
+    url = https://github.com/RobotWebTools-release/rosbridge_suite-release/archive/release/kinetic/rosbridge_server/0.11.0-0.tar.gz;
+    sha256 = "1bef2abd5fee2c7b6713bc1cf336e776b1bdc22b289f851e8282f91c65effa62";
+  };
+
+  propagatedBuildInputs = [ pythonPackages.backports_ssl_match_hostname rosbridge-library pythonPackages.twisted rosauth rospy rosapi rosbridge-msgs pythonPackages.tornado ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''A WebSocket interface to rosbridge.'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/roswww/default.nix b/kinetic/roswww/default.nix
index e01b87b9b3..aa16b25259 100644
--- a/kinetic/roswww/default.nix
+++ b/kinetic/roswww/default.nix
@@ -2,19 +2,20 @@
 # Copyright 2019 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, rospack, catkin, pythonPackages, rosbridge-server, rostest, rosgraph }:
+{ lib, buildRosPackage, fetchurl, rospack, phantomjs, catkin, pythonPackages, rosbridge-server, rostest, rosgraph }:
 buildRosPackage {
   pname = "ros-kinetic-roswww";
-  version = "0.1.10";
+  version = "0.1.12";
 
   src = fetchurl {
-    url = https://github.com/ros-gbp/roswww-release/archive/release/kinetic/roswww/0.1.10-0.tar.gz;
-    sha256 = "2f161d6a711b33a04c392b79f184998e979c1aac461f92d085d25efddea2afcd";
+    url = https://github.com/ros-gbp/roswww-release/archive/release/kinetic/roswww/0.1.12-0.tar.gz;
+    sha256 = "3e87f6079a79ea103ff5ab7dda875830a5cbc6fbc86d72eef0aa591849d04727";
   };
 
-  checkInputs = [ rostest pythonPackages.requests ];
+  buildInputs = [ pythonPackages.catkin-pkg ];
+  checkInputs = [ rostest phantomjs pythonPackages.selenium ];
   propagatedBuildInputs = [ rospack rosbridge-server rosgraph ];
-  nativeBuildInputs = [ pythonPackages.catkin-pkg catkin ];
+  nativeBuildInputs = [ catkin ];
 
   meta = {
     description = ''Feathery lightweight web server for ROS, that is based on <a href="http://www.tornadoweb.org/en/stable">Tornado</a> web server module.'';
diff --git a/kinetic/rqt-pose-view/default.nix b/kinetic/rqt-pose-view/default.nix
new file mode 100644
index 0000000000..942e7f6bbe
--- /dev/null
+++ b/kinetic/rqt-pose-view/default.nix
@@ -0,0 +1,22 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, rqt-gui-py, gl-dependency, catkin, rqt-gui, pythonPackages, rostopic, rospy, rqt-py-common, tf, python-qt-binding, geometry-msgs }:
+buildRosPackage {
+  pname = "ros-kinetic-rqt-pose-view";
+  version = "0.5.8";
+
+  src = fetchurl {
+    url = https://github.com/ros-gbp/rqt_pose_view-release/archive/release/kinetic/rqt_pose_view/0.5.8-0.tar.gz;
+    sha256 = "edc43dd3e9e64426de3841b197e9980e330b2c6678a12917e50f3a20c9e4d5e9";
+  };
+
+  propagatedBuildInputs = [ rqt-gui-py geometry-msgs pythonPackages.rospkg rqt-gui rostopic pythonPackages.pyopengl rospy rqt-py-common tf python-qt-binding gl-dependency ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''rqt_pose_view provides a GUI plugin for visualizing 3D poses.'';
+    #license = lib.licenses.BSD;
+  };
+}
diff --git a/kinetic/rviz-visual-tools/default.nix b/kinetic/rviz-visual-tools/default.nix
new file mode 100644
index 0000000000..4ba484cee0
--- /dev/null
+++ b/kinetic/rviz-visual-tools/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2019 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, roslint, trajectory-msgs, eigen-stl-containers, catkin, sensor-msgs, roscpp, rostest, std-msgs, rviz, qt5, graph-msgs, tf-conversions, eigen-conversions, visualization-msgs, rosunit, geometry-msgs }:
+buildRosPackage {
+  pname = "ros-kinetic-rviz-visual-tools";
+  version = "3.6.0";
+
+  src = fetchurl {
+    url = https://github.com/davetcoleman/rviz_visual_tools-release/archive/release/kinetic/rviz_visual_tools/3.6.0-0.tar.gz;
+    sha256 = "c31874ae535654e6ef65b52efae8b86799ffcbe0afadf58e13dc22838dd754b6";
+  };
+
+  buildInputs = [ roslint qt5.qtx11extras trajectory-msgs eigen-stl-containers sensor-msgs roscpp std-msgs rviz graph-msgs tf-conversions eigen-conversions visualization-msgs geometry-msgs ];
+  checkInputs = [ rostest rosunit ];
+  propagatedBuildInputs = [ roslint qt5.qtx11extras trajectory-msgs eigen-stl-containers sensor-msgs roscpp std-msgs rviz graph-msgs tf-conversions eigen-conversions visualization-msgs geometry-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Utility functions for displaying and debugging data in Rviz via published markers'';
+    #license = lib.licenses.BSD;
+  };
+}