diff --git a/distros/foxy/generated.nix b/distros/foxy/generated.nix
index 8f0b96613e..45b84987fc 100644
--- a/distros/foxy/generated.nix
+++ b/distros/foxy/generated.nix
@@ -246,6 +246,8 @@ self: super: {
 
  foonathan-memory-vendor = self.callPackage ./foonathan-memory-vendor {};
 
+ geodesy = self.callPackage ./geodesy {};
+
  geographic-info = self.callPackage ./geographic-info {};
 
  geographic-msgs = self.callPackage ./geographic-msgs {};
diff --git a/distros/foxy/geodesy/default.nix b/distros/foxy/geodesy/default.nix
new file mode 100644
index 0000000000..606ed7aa86
--- /dev/null
+++ b/distros/foxy/geodesy/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2020 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, angles, geographic-msgs, geometry-msgs, python3Packages, sensor-msgs, unique-identifier-msgs }:
+buildRosPackage {
+  pname = "ros-foxy-geodesy";
+  version = "1.0.4-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-geographic-info/geographic_info-release/archive/release/foxy/geodesy/1.0.4-1.tar.gz";
+    name = "1.0.4-1.tar.gz";
+    sha256 = "9b6d0e18310a4aa8c3b43eb11c29c74440c13322fbc049d8eab7506cbfa53864";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ python3Packages.catkin-pkg ];
+  propagatedBuildInputs = [ angles geographic-msgs geometry-msgs python3Packages.pyproj sensor-msgs unique-identifier-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Python and C++ interfaces for manipulating geodetic coordinates.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/catkin/default.nix b/distros/noetic/catkin/default.nix
index e7471a2ef8..825cd6cca6 100644
--- a/distros/noetic/catkin/default.nix
+++ b/distros/noetic/catkin/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2020 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, gmock, gtest, python, pythonPackages }:
+{ lib, buildRosPackage, fetchurl, cmake, gmock, gtest, python3Packages }:
 buildRosPackage {
   pname = "ros-noetic-catkin";
   version = "0.8.6-r1";
@@ -14,9 +14,9 @@ buildRosPackage {
   };
 
   buildType = "catkin";
-  checkInputs = [ pythonPackages.mock pythonPackages.nose ];
-  propagatedBuildInputs = [ cmake gmock gtest python pythonPackages.catkin-pkg pythonPackages.empy pythonPackages.nose ];
-  nativeBuildInputs = [ cmake pythonPackages.setuptools ];
+  checkInputs = [ python3Packages.mock python3Packages.nose ];
+  propagatedBuildInputs = [ cmake gmock gtest python3Packages.catkin-pkg python3Packages.empy python3Packages.nose python3Packages.setuptools ];
+  nativeBuildInputs = [ cmake python3Packages.setuptools ];
 
   meta = {
     description = ''Low-level build system macros and infrastructure for ROS.'';
diff --git a/distros/noetic/generated.nix b/distros/noetic/generated.nix
index 4dd8277614..037b8c8767 100644
--- a/distros/noetic/generated.nix
+++ b/distros/noetic/generated.nix
@@ -62,6 +62,8 @@ self: super: {
 
  catch-ros = self.callPackage ./catch-ros {};
 
+ catkin = self.callPackage ./catkin {};
+
  class-loader = self.callPackage ./class-loader {};
 
  clear-costmap-recovery = self.callPackage ./clear-costmap-recovery {};
@@ -528,6 +530,8 @@ self: super: {
 
  openni2-camera = self.callPackage ./openni2-camera {};
 
+ openni2-launch = self.callPackage ./openni2-launch {};
+
  openslam-gmapping = self.callPackage ./openslam-gmapping {};
 
  pcl-conversions = self.callPackage ./pcl-conversions {};
@@ -630,6 +634,8 @@ self: super: {
 
  robot = self.callPackage ./robot {};
 
+ robot-localization = self.callPackage ./robot-localization {};
+
  robot-navigation = self.callPackage ./robot-navigation {};
 
  ros = self.callPackage ./ros {};
@@ -768,6 +774,8 @@ self: super: {
 
  rqt-dep = self.callPackage ./rqt-dep {};
 
+ rqt-ez-publisher = self.callPackage ./rqt-ez-publisher {};
+
  rqt-graph = self.callPackage ./rqt-graph {};
 
  rqt-gui = self.callPackage ./rqt-gui {};
diff --git a/distros/noetic/openni2-launch/default.nix b/distros/noetic/openni2-launch/default.nix
index f7c84ab163..7343ac31d1 100644
--- a/distros/noetic/openni2-launch/default.nix
+++ b/distros/noetic/openni2-launch/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2020 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, catkin, depth-image-proc, image-proc, nodelet, openni2-camera, pythonPackages, rgbd-launch, roslaunch, rospy, roswtf, tf, usbutils }:
+{ lib, buildRosPackage, fetchurl, catkin, depth-image-proc, image-proc, nodelet, openni2-camera, python3Packages, rgbd-launch, roslaunch, rospy, roswtf, tf, usbutils }:
 buildRosPackage {
   pname = "ros-noetic-openni2-launch";
   version = "1.4.2-r1";
@@ -15,7 +15,7 @@ buildRosPackage {
 
   buildType = "catkin";
   buildInputs = [ roslaunch ];
-  propagatedBuildInputs = [ depth-image-proc image-proc nodelet openni2-camera pythonPackages.catkin-pkg rgbd-launch rospy roswtf tf usbutils ];
+  propagatedBuildInputs = [ depth-image-proc image-proc nodelet openni2-camera python3Packages.catkin-pkg rgbd-launch rospy roswtf tf usbutils ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/noetic/robot-localization/default.nix b/distros/noetic/robot-localization/default.nix
index 13d6833e3c..35a9ff3410 100644
--- a/distros/noetic/robot-localization/default.nix
+++ b/distros/noetic/robot-localization/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2020 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, catkin, cmake-modules, diagnostic-msgs, diagnostic-updater, eigen, eigen-conversions, geographic-msgs, geometry-msgs, libyamlcpp, message-filters, message-generation, message-runtime, nav-msgs, nodelet, pythonPackages, rosbag, roscpp, roslint, rostest, rosunit, sensor-msgs, std-msgs, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, xmlrpcpp }:
+{ lib, buildRosPackage, fetchurl, catkin, cmake-modules, diagnostic-msgs, diagnostic-updater, eigen, eigen-conversions, geographic-msgs, geometry-msgs, libyamlcpp, message-filters, message-generation, message-runtime, nav-msgs, nodelet, python3Packages, rosbag, roscpp, roslint, rostest, rosunit, sensor-msgs, std-msgs, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, xmlrpcpp }:
 buildRosPackage {
   pname = "ros-noetic-robot-localization";
   version = "2.6.8-r2";
@@ -14,7 +14,7 @@ buildRosPackage {
   };
 
   buildType = "catkin";
-  buildInputs = [ message-generation pythonPackages.catkin-pkg roslint ];
+  buildInputs = [ message-generation python3Packages.catkin-pkg roslint ];
   checkInputs = [ rosbag rostest rosunit ];
   propagatedBuildInputs = [ cmake-modules diagnostic-msgs diagnostic-updater eigen eigen-conversions geographic-msgs geometry-msgs libyamlcpp message-filters message-runtime nav-msgs nodelet roscpp sensor-msgs std-msgs std-srvs tf2 tf2-geometry-msgs tf2-ros xmlrpcpp ];
   nativeBuildInputs = [ catkin ];
diff --git a/distros/noetic/rqt-ez-publisher/default.nix b/distros/noetic/rqt-ez-publisher/default.nix
new file mode 100644
index 0000000000..d4335429e9
--- /dev/null
+++ b/distros/noetic/rqt-ez-publisher/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2020 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, geometry-msgs, python3Packages, rospy, rostest, rqt-gui, rqt-gui-py, rqt-py-common, sensor-msgs, tf, tf2-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-rqt-ez-publisher";
+  version = "0.6.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/OTL/rqt_ez_publisher-release/archive/release/noetic/rqt_ez_publisher/0.6.1-1.tar.gz";
+    name = "0.6.1-1.tar.gz";
+    sha256 = "98dc5d29814595ff0c787d0de226df7a6a5e28ffb818669c8b8b550cd67252a9";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ python3Packages.catkin-pkg rostest ];
+  checkInputs = [ sensor-msgs ];
+  propagatedBuildInputs = [ geometry-msgs rospy rqt-gui rqt-gui-py rqt-py-common tf tf2-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The rqt_ez_publisher package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}