diff --git a/distros/foxy/eigenpy/default.nix b/distros/foxy/eigenpy/default.nix
index 3cbdd7cf02..fb392f6e53 100644
--- a/distros/foxy/eigenpy/default.nix
+++ b/distros/foxy/eigenpy/default.nix
@@ -10,7 +10,7 @@ buildRosPackage {
   src = fetchurl {
     url = "https://github.com/ipab-slmc/eigenpy_catkin-release/archive/release/foxy/eigenpy/2.5.0-1.tar.gz";
     name = "2.5.0-1.tar.gz";
-    sha256 = "003a4af776f2fc24b0b26badf132debcb2d3bced66d26afe87b3ff334302207b";
+    sha256 = "f0a68dd33a86dcaefdea50269f6153d84bde5d8d14a1f1333be4fafa644158d4";
   };
 
   buildType = "cmake";
diff --git a/distros/foxy/espeak-interfaces/default.nix b/distros/foxy/espeak-interfaces/default.nix
index cc497c8c80..5d38f9152b 100644
--- a/distros/foxy/espeak-interfaces/default.nix
+++ b/distros/foxy/espeak-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-foxy-espeak-interfaces";
-  version = "0.1.0-r6";
+  version = "1.0.0-r1";
 
   src = fetchurl {
-    url = "https://gitlab.com/espeak-ros2/espeak-ros2-release/-/archive/release/foxy/espeak_interfaces/0.1.0-6/espeak-ros2-release-release-foxy-espeak_interfaces-0.1.0-6.tar.gz";
-    name = "espeak-ros2-release-release-foxy-espeak_interfaces-0.1.0-6.tar.gz";
-    sha256 = "aa16feb6e81655747a0d031860ace96e3622d84daac6685e98015e23b21860d6";
+    url = "https://gitlab.com/espeak-ros2/espeak-ros2-release/-/archive/release/foxy/espeak_interfaces/1.0.0-1/espeak-ros2-release-release-foxy-espeak_interfaces-1.0.0-1.tar.gz";
+    name = "espeak-ros2-release-release-foxy-espeak_interfaces-1.0.0-1.tar.gz";
+    sha256 = "9fac62992b1ae3f6de3aded1216811a042f6a0389e8764fc8666bb8a9248e3fb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/espeak-ros/default.nix b/distros/foxy/espeak-ros/default.nix
index f828fec626..ff7dfc6450 100644
--- a/distros/foxy/espeak-ros/default.nix
+++ b/distros/foxy/espeak-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-mypy, ament-pep257, espeak, espeak-interfaces, pythonPackages }:
 buildRosPackage {
   pname = "ros-foxy-espeak-ros";
-  version = "0.1.0-r6";
+  version = "1.0.0-r1";
 
   src = fetchurl {
-    url = "https://gitlab.com/espeak-ros2/espeak-ros2-release/-/archive/release/foxy/espeak_ros/0.1.0-6/espeak-ros2-release-release-foxy-espeak_ros-0.1.0-6.tar.gz";
-    name = "espeak-ros2-release-release-foxy-espeak_ros-0.1.0-6.tar.gz";
-    sha256 = "9be64de8d00cc217a13aaa3eceab87f09ef4bbfe23b2356540720f5d0df84ced";
+    url = "https://gitlab.com/espeak-ros2/espeak-ros2-release/-/archive/release/foxy/espeak_ros/1.0.0-1/espeak-ros2-release-release-foxy-espeak_ros-1.0.0-1.tar.gz";
+    name = "espeak-ros2-release-release-foxy-espeak_ros-1.0.0-1.tar.gz";
+    sha256 = "bbefb7e80bc3dbdfbf467050cabd658a12ca4a8216fb9122e2785e68960a8e6e";
   };
 
   buildType = "ament_python";
diff --git a/distros/foxy/ruckig/default.nix b/distros/foxy/ruckig/default.nix
index 3f77d804ad..16a498955c 100644
--- a/distros/foxy/ruckig/default.nix
+++ b/distros/foxy/ruckig/default.nix
@@ -5,19 +5,19 @@
 { lib, buildRosPackage, fetchurl, cmake }:
 buildRosPackage {
   pname = "ros-foxy-ruckig";
-  version = "0.3.3-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/pantor/ruckig-release/archive/release/foxy/ruckig/0.3.3-1.tar.gz";
-    name = "0.3.3-1.tar.gz";
-    sha256 = "4a5a860fca44dcda382e07f9e935f9b1e0682637c11478731c89f6a677cb1cd9";
+    url = "https://github.com/pantor/ruckig-release/archive/release/foxy/ruckig/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "785ba394167c525a80bae9f9df613c7f3f1d3eda0579e09341bd07ae46088bc3";
   };
 
   buildType = "cmake";
   nativeBuildInputs = [ cmake ];
 
   meta = {
-    description = ''Online Trajectory Generation. Real-time. Time-optimal. Jerk-constrained.'';
+    description = ''Online Trajectory Generation. Real-time. Jerk-constrained. Time-optimal.'';
     license = with lib.licenses; [ mit ];
   };
 }
diff --git a/distros/galactic/generated.nix b/distros/galactic/generated.nix
index 9aa343205a..8afea15234 100644
--- a/distros/galactic/generated.nix
+++ b/distros/galactic/generated.nix
@@ -1284,6 +1284,16 @@ self: super: {
 
  v4l2-camera = self.callPackage ./v4l2-camera {};
 
+ velodyne = self.callPackage ./velodyne {};
+
+ velodyne-driver = self.callPackage ./velodyne-driver {};
+
+ velodyne-laserscan = self.callPackage ./velodyne-laserscan {};
+
+ velodyne-msgs = self.callPackage ./velodyne-msgs {};
+
+ velodyne-pointcloud = self.callPackage ./velodyne-pointcloud {};
+
  vision-msgs = self.callPackage ./vision-msgs {};
 
  vision-opencv = self.callPackage ./vision-opencv {};
diff --git a/distros/galactic/rosapi/default.nix b/distros/galactic/rosapi/default.nix
index 42aa9984fc..1542390d0c 100644
--- a/distros/galactic/rosapi/default.nix
+++ b/distros/galactic/rosapi/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake-nose, ament-cmake-ros, builtin-interfaces, rcl-interfaces, rclpy, ros2node, ros2param, ros2pkg, ros2service, ros2topic, rosbridge-library, rosidl-default-generators, rosidl-default-runtime }:
+{ lib, buildRosPackage, fetchurl, ament-cmake-pytest, ament-cmake-ros, builtin-interfaces, geometry-msgs, rcl-interfaces, rclpy, rmw-dds-common, ros2node, ros2param, ros2pkg, ros2service, ros2topic, rosbridge-library, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, shape-msgs }:
 buildRosPackage {
   pname = "ros-galactic-rosapi";
-  version = "1.0.7-r1";
+  version = "1.0.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbridge_suite-release/archive/release/galactic/rosapi/1.0.7-1.tar.gz";
-    name = "1.0.7-1.tar.gz";
-    sha256 = "cdb0b9c9f89153a3d2112e34073e3c97e5288b5e981aee7a0e5bc95d975b1ad4";
+    url = "https://github.com/ros2-gbp/rosbridge_suite-release/archive/release/galactic/rosapi/1.0.8-1.tar.gz";
+    name = "1.0.8-1.tar.gz";
+    sha256 = "7bbf4256c6e5bbe6a68b024bca1ab31e93076fe63895009cb422fc570ffdcbcc";
   };
 
   buildType = "ament_cmake";
-  checkInputs = [ ament-cmake-nose ];
+  checkInputs = [ ament-cmake-pytest geometry-msgs rmw-dds-common sensor-msgs shape-msgs ];
   propagatedBuildInputs = [ builtin-interfaces rcl-interfaces rclpy ros2node ros2param ros2pkg ros2service ros2topic rosbridge-library rosidl-default-runtime ];
   nativeBuildInputs = [ ament-cmake-ros rosidl-default-generators ];
 
diff --git a/distros/galactic/rosbridge-library/default.nix b/distros/galactic/rosbridge-library/default.nix
index f7979f9fa1..83c799a1f1 100644
--- a/distros/galactic/rosbridge-library/default.nix
+++ b/distros/galactic/rosbridge-library/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, geometry-msgs, python3Packages, rclpy, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-galactic-rosbridge-library";
-  version = "1.0.7-r1";
+  version = "1.0.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbridge_suite-release/archive/release/galactic/rosbridge_library/1.0.7-1.tar.gz";
-    name = "1.0.7-1.tar.gz";
-    sha256 = "b2cb789e1ecf387653305c8be19710f6e244a2b5195b3a5ce7b6b4af573fdd2b";
+    url = "https://github.com/ros2-gbp/rosbridge_suite-release/archive/release/galactic/rosbridge_library/1.0.8-1.tar.gz";
+    name = "1.0.8-1.tar.gz";
+    sha256 = "53679a860c6811c2eebda3526ae774314a82c85678d7c2bce3ac96be7ae66e72";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/galactic/rosbridge-msgs/default.nix b/distros/galactic/rosbridge-msgs/default.nix
index db8f7e64bf..ab33590bfb 100644
--- a/distros/galactic/rosbridge-msgs/default.nix
+++ b/distros/galactic/rosbridge-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-ros, builtin-interfaces, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-galactic-rosbridge-msgs";
-  version = "1.0.7-r1";
+  version = "1.0.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbridge_suite-release/archive/release/galactic/rosbridge_msgs/1.0.7-1.tar.gz";
-    name = "1.0.7-1.tar.gz";
-    sha256 = "d3cb1eea4b713080dfbea2fed49301f2c1f27ee21290c7633151280cc4f66f1d";
+    url = "https://github.com/ros2-gbp/rosbridge_suite-release/archive/release/galactic/rosbridge_msgs/1.0.8-1.tar.gz";
+    name = "1.0.8-1.tar.gz";
+    sha256 = "57435d01185c26b228cacc31f231920472cad72abdaac8cce8d7c77f1900eda4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/galactic/rosbridge-server/default.nix b/distros/galactic/rosbridge-server/default.nix
index 75ae04aece..97fd88c098 100644
--- a/distros/galactic/rosbridge-server/default.nix
+++ b/distros/galactic/rosbridge-server/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, launch, launch-ros, launch-testing, launch-testing-ament-cmake, launch-testing-ros, python3Packages, rclpy, rosapi, rosbridge-library, rosbridge-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-ros, launch, launch-ros, launch-testing, launch-testing-ament-cmake, launch-testing-ros, python3Packages, rclpy, rosapi, rosbridge-library, rosbridge-msgs }:
 buildRosPackage {
   pname = "ros-galactic-rosbridge-server";
-  version = "1.0.7-r1";
+  version = "1.0.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbridge_suite-release/archive/release/galactic/rosbridge_server/1.0.7-1.tar.gz";
-    name = "1.0.7-1.tar.gz";
-    sha256 = "a91031cb897968629ff86918ce2220354b47ba78f1447877bd98130f1916034b";
+    url = "https://github.com/ros2-gbp/rosbridge_suite-release/archive/release/galactic/rosbridge_server/1.0.8-1.tar.gz";
+    name = "1.0.8-1.tar.gz";
+    sha256 = "f481d7c537fbd6185730a88815a99469bfb67b13535db08617e4c9aaef8ffd9b";
   };
 
   buildType = "ament_cmake";
   checkInputs = [ launch launch-ros launch-testing launch-testing-ament-cmake launch-testing-ros python3Packages.autobahn ];
   propagatedBuildInputs = [ python3Packages.tornado python3Packages.twisted rclpy rosapi rosbridge-library rosbridge-msgs ];
-  nativeBuildInputs = [ ament-cmake ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-ros ];
 
   meta = {
     description = ''A WebSocket interface to rosbridge.'';
diff --git a/distros/galactic/rosbridge-suite/default.nix b/distros/galactic/rosbridge-suite/default.nix
index 8728ebc1d0..2066f19c3b 100644
--- a/distros/galactic/rosbridge-suite/default.nix
+++ b/distros/galactic/rosbridge-suite/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, rosapi, rosbridge-library, rosbridge-server }:
 buildRosPackage {
   pname = "ros-galactic-rosbridge-suite";
-  version = "1.0.7-r1";
+  version = "1.0.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbridge_suite-release/archive/release/galactic/rosbridge_suite/1.0.7-1.tar.gz";
-    name = "1.0.7-1.tar.gz";
-    sha256 = "495a51c091799e929395369df0711d51f7eb0f3f278beeeebd7457a0153f3d6c";
+    url = "https://github.com/ros2-gbp/rosbridge_suite-release/archive/release/galactic/rosbridge_suite/1.0.8-1.tar.gz";
+    name = "1.0.8-1.tar.gz";
+    sha256 = "cf9eb9e026e286c2c0eef53275fd3b8c79c6a2b0da7e76c41ca1c80950fcc15a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/galactic/ruckig/default.nix b/distros/galactic/ruckig/default.nix
index bcb7a5d020..eba74b6f74 100644
--- a/distros/galactic/ruckig/default.nix
+++ b/distros/galactic/ruckig/default.nix
@@ -5,19 +5,19 @@
 { lib, buildRosPackage, fetchurl, cmake }:
 buildRosPackage {
   pname = "ros-galactic-ruckig";
-  version = "0.3.3-r3";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/pantor/ruckig-release/archive/release/galactic/ruckig/0.3.3-3.tar.gz";
-    name = "0.3.3-3.tar.gz";
-    sha256 = "875050f81bdef946ec8e2698bba4f5c9e4558b0f058ce9c4eb51d47647ddd5f1";
+    url = "https://github.com/pantor/ruckig-release/archive/release/galactic/ruckig/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "32c85422bd3c65121de820ae9ae7a3ae717442a8a67439f83fe73817052e21d6";
   };
 
   buildType = "cmake";
   nativeBuildInputs = [ cmake ];
 
   meta = {
-    description = ''Online Trajectory Generation. Real-time. Time-optimal. Jerk-constrained.'';
+    description = ''Online Trajectory Generation. Real-time. Jerk-constrained. Time-optimal.'';
     license = with lib.licenses; [ mit ];
   };
 }
diff --git a/distros/galactic/velodyne-driver/default.nix b/distros/galactic/velodyne-driver/default.nix
new file mode 100644
index 0000000000..b3bd74b4dd
--- /dev/null
+++ b/distros/galactic/velodyne-driver/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, diagnostic-msgs, diagnostic-updater, libpcap, rclcpp, rclcpp-components, tf2-ros, velodyne-msgs }:
+buildRosPackage {
+  pname = "ros-galactic-velodyne-driver";
+  version = "2.1.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-drivers-gbp/velodyne-release/archive/release/galactic/velodyne_driver/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "f076ca69cdc5a951e016691768f0e961d2d6216151738c2678fee52a1e271fb4";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ diagnostic-msgs diagnostic-updater libpcap rclcpp rclcpp-components tf2-ros velodyne-msgs ];
+  nativeBuildInputs = [ ament-cmake-ros ];
+
+  meta = {
+    description = ''ROS device driver for Velodyne 3D LIDARs.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/velodyne-laserscan/default.nix b/distros/galactic/velodyne-laserscan/default.nix
new file mode 100644
index 0000000000..62d475b58b
--- /dev/null
+++ b/distros/galactic/velodyne-laserscan/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake-ros, ament-lint-auto, ament-lint-common, rclcpp, rclcpp-components, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-galactic-velodyne-laserscan";
+  version = "2.1.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-drivers-gbp/velodyne-release/archive/release/galactic/velodyne_laserscan/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "dab2fb0400e42d4ce1a9c08b3beb93daf44212371188c74a73944ed1212957b1";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ rclcpp rclcpp-components sensor-msgs ];
+  nativeBuildInputs = [ ament-cmake-ros ];
+
+  meta = {
+    description = ''Extract a single ring of a Velodyne PointCloud2 and publish it as a LaserScan message'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/velodyne-msgs/default.nix b/distros/galactic/velodyne-msgs/default.nix
new file mode 100644
index 0000000000..57ea925418
--- /dev/null
+++ b/distros/galactic/velodyne-msgs/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
+buildRosPackage {
+  pname = "ros-galactic-velodyne-msgs";
+  version = "2.1.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-drivers-gbp/velodyne-release/archive/release/galactic/velodyne_msgs/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "6c664a7b2844c8cfd7685b84d7ef94b0c9513c13777674fc2efa5c8698a32c9e";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ rosidl-default-generators ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ builtin-interfaces rosidl-default-runtime std-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''ROS message definitions for Velodyne 3D LIDARs.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/velodyne-pointcloud/default.nix b/distros/galactic/velodyne-pointcloud/default.nix
new file mode 100644
index 0000000000..f8513ec770
--- /dev/null
+++ b/distros/galactic/velodyne-pointcloud/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, angles, diagnostic-updater, geometry-msgs, libyamlcpp, message-filters, pcl, rclcpp, rclcpp-components, sensor-msgs, tf2, tf2-ros, velodyne-msgs }:
+buildRosPackage {
+  pname = "ros-galactic-velodyne-pointcloud";
+  version = "2.1.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-drivers-gbp/velodyne-release/archive/release/galactic/velodyne_pointcloud/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "60a7aba44a966cb66d6498fe548d5424b1de5ad9b66427a6a502afcc03374b47";
+  };
+
+  buildType = "ament_cmake";
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ angles diagnostic-updater geometry-msgs libyamlcpp message-filters pcl rclcpp rclcpp-components sensor-msgs tf2 tf2-ros velodyne-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Point cloud conversions for Velodyne 3D LIDARs.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/galactic/velodyne/default.nix b/distros/galactic/velodyne/default.nix
new file mode 100644
index 0000000000..db40aa9399
--- /dev/null
+++ b/distros/galactic/velodyne/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, velodyne-driver, velodyne-laserscan, velodyne-msgs, velodyne-pointcloud }:
+buildRosPackage {
+  pname = "ros-galactic-velodyne";
+  version = "2.1.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-drivers-gbp/velodyne-release/archive/release/galactic/velodyne/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "0894c9018ba5d821f173eefb55e18138fb5f872aaf3213b148e7c791ac938f1e";
+  };
+
+  buildType = "ament_cmake";
+  propagatedBuildInputs = [ velodyne-driver velodyne-laserscan velodyne-msgs velodyne-pointcloud ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Basic ROS support for the Velodyne 3D LIDARs.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/dynamic-graph-python/default.nix b/distros/melodic/dynamic-graph-python/default.nix
index ccc0a565be..6c4878f9a8 100644
--- a/distros/melodic/dynamic-graph-python/default.nix
+++ b/distros/melodic/dynamic-graph-python/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, cmake, doxygen, dynamic-graph, eigenpy, git }:
 buildRosPackage {
   pname = "ros-melodic-dynamic-graph-python";
-  version = "4.0.3-r1";
+  version = "4.0.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/stack-of-tasks/dynamic-graph-python-ros-release/archive/release/melodic/dynamic-graph-python/4.0.3-1.tar.gz";
-    name = "4.0.3-1.tar.gz";
-    sha256 = "434872a6e2b6d482095a5bf4d12ab4dd3712e36e4d39d28dcd284ff57bc6a67f";
+    url = "https://github.com/stack-of-tasks/dynamic-graph-python-ros-release/archive/release/melodic/dynamic-graph-python/4.0.4-1.tar.gz";
+    name = "4.0.4-1.tar.gz";
+    sha256 = "14ff1387e5d26054597d0f7d09515315ebc513ad86dfbc64ca69978a6b56386e";
   };
 
   buildType = "cmake";
diff --git a/distros/melodic/dynamic-graph/default.nix b/distros/melodic/dynamic-graph/default.nix
index c6fb20814c..68110bf3fd 100644
--- a/distros/melodic/dynamic-graph/default.nix
+++ b/distros/melodic/dynamic-graph/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, cmake, doxygen, eigen, git, graphviz }:
 buildRosPackage {
   pname = "ros-melodic-dynamic-graph";
-  version = "4.3.4-r1";
+  version = "4.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/stack-of-tasks/dynamic-graph-ros-release/archive/release/melodic/dynamic-graph/4.3.4-1.tar.gz";
-    name = "4.3.4-1.tar.gz";
-    sha256 = "621521f87a4002ffae23a5a7555d17d637b68b77c5dd1d5cdf4d181b8f71e720";
+    url = "https://github.com/stack-of-tasks/dynamic-graph-ros-release/archive/release/melodic/dynamic-graph/4.4.0-1.tar.gz";
+    name = "4.4.0-1.tar.gz";
+    sha256 = "595d95e92da27ce03d6c82999fb73b40f1fd8f50cdd72a4f7af5d6261a8a4ae9";
   };
 
   buildType = "cmake";
diff --git a/distros/melodic/eigenpy/default.nix b/distros/melodic/eigenpy/default.nix
index 832ce8dc85..2cbf37583f 100644
--- a/distros/melodic/eigenpy/default.nix
+++ b/distros/melodic/eigenpy/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, cmake, doxygen, eigen, git, python, pythonPackages }:
 buildRosPackage {
   pname = "ros-melodic-eigenpy";
-  version = "2.6.4-r1";
+  version = "2.6.7-r2";
 
   src = fetchurl {
-    url = "https://github.com/ipab-slmc/eigenpy_catkin-release/archive/release/melodic/eigenpy/2.6.4-1.tar.gz";
-    name = "2.6.4-1.tar.gz";
-    sha256 = "db963ed527277699a130c90763aec349a7f8f270cc820dc3fb9ec3993a43f186";
+    url = "https://github.com/ipab-slmc/eigenpy_catkin-release/archive/release/melodic/eigenpy/2.6.7-2.tar.gz";
+    name = "2.6.7-2.tar.gz";
+    sha256 = "fe22787a846c08efaa4ff95b7987ed86715486577dad4fe88ee25521f8e9d5f9";
   };
 
   buildType = "cmake";
diff --git a/distros/melodic/floam/default.nix b/distros/melodic/floam/default.nix
new file mode 100644
index 0000000000..8ad5322d1c
--- /dev/null
+++ b/distros/melodic/floam/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, ceres-solver, eigen, eigen-conversions, geometry-msgs, hector-trajectory-server, nav-msgs, nodelet, pcl, pcl-ros, rosbag, roscpp, rospy, sensor-msgs, std-msgs, tf2, tf2-geometry-msgs }:
+buildRosPackage {
+  pname = "ros-melodic-floam";
+  version = "0.1.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/flynneva/floam-release/archive/release/melodic/floam/0.1.0-1.tar.gz";
+    name = "0.1.0-1.tar.gz";
+    sha256 = "beb288940b811899fc7dc80cc3d6b6c673c76fa6d68616179ca82660971bb097";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ ceres-solver eigen eigen-conversions geometry-msgs hector-trajectory-server nav-msgs nodelet pcl pcl-ros rosbag roscpp rospy sensor-msgs std-msgs tf2 tf2-geometry-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''A generic Lidar SLAM package based on FLOAM which was based on ALOAM by HKUST and LOAM by CMU'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/generated.nix b/distros/melodic/generated.nix
index b4afa7a39c..d09bbed18c 100644
--- a/distros/melodic/generated.nix
+++ b/distros/melodic/generated.nix
@@ -1108,6 +1108,8 @@ self: super: {
 
  flir-ptu-viz = self.callPackage ./flir-ptu-viz {};
 
+ floam = self.callPackage ./floam {};
+
  fmi-adapter = self.callPackage ./fmi-adapter {};
 
  fmi-adapter-examples = self.callPackage ./fmi-adapter-examples {};
diff --git a/distros/melodic/hpp-fcl/default.nix b/distros/melodic/hpp-fcl/default.nix
index 55c816d1c1..2a5dc1ae10 100644
--- a/distros/melodic/hpp-fcl/default.nix
+++ b/distros/melodic/hpp-fcl/default.nix
@@ -10,7 +10,7 @@ buildRosPackage {
   src = fetchurl {
     url = "https://github.com/ipab-slmc/hpp-fcl_catkin-release/archive/release/melodic/hpp-fcl/1.0.1-2.tar.gz";
     name = "1.0.1-2.tar.gz";
-    sha256 = "f6c9669e0b2cf9cbc04bfc89014ae8a82b0895e65eec29d65ca557ca6d375a41";
+    sha256 = "2fdf0400d19ccdc82b6788b4715d5adf11af7e3159f8cd87f5a401ddd3fb53f5";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/pinocchio/default.nix b/distros/melodic/pinocchio/default.nix
index 7339f055cc..5621a3cbdc 100644
--- a/distros/melodic/pinocchio/default.nix
+++ b/distros/melodic/pinocchio/default.nix
@@ -10,7 +10,7 @@ buildRosPackage {
   src = fetchurl {
     url = "https://github.com/ipab-slmc/pinocchio_catkin-release/archive/release/melodic/pinocchio/2.6.3-1.tar.gz";
     name = "2.6.3-1.tar.gz";
-    sha256 = "a2a4f78cec9aebbb7284b51ed82afcabe1e98b082cbfc97eb4e2a4ce56cff404";
+    sha256 = "1ba8c67025587c618522040b7cb3e881185a89cb42a5578774f5a8ac304e43dd";
   };
 
   buildType = "cmake";
diff --git a/distros/melodic/quanergy-client-ros/default.nix b/distros/melodic/quanergy-client-ros/default.nix
index 753b5fd22f..cc9b65c362 100644
--- a/distros/melodic/quanergy-client-ros/default.nix
+++ b/distros/melodic/quanergy-client-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, pcl-ros, quanergy-client, roscpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-melodic-quanergy-client-ros";
-  version = "4.0.0-r2";
+  version = "4.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/QuanergySystems/quanergy_client_ros-release/archive/release/melodic/quanergy_client_ros/4.0.0-2.tar.gz";
-    name = "4.0.0-2.tar.gz";
-    sha256 = "5553613a8d80533a3f3ee1fa87c85b428ce55e6b683dd58154792cc0d15b188a";
+    url = "https://github.com/QuanergySystems/quanergy_client_ros-release/archive/release/melodic/quanergy_client_ros/4.0.1-1.tar.gz";
+    name = "4.0.1-1.tar.gz";
+    sha256 = "e93e0ae57bbbc6819454155c86e139d73706ea44e0f1ef9af6cb39416fe8e9b4";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/robot-body-filter/default.nix b/distros/melodic/robot-body-filter/default.nix
index c1ae45a025..b89351210b 100644
--- a/distros/melodic/robot-body-filter/default.nix
+++ b/distros/melodic/robot-body-filter/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, dynamic-reconfigure, fcl, filters, geometric-shapes, geometry-msgs, laser-geometry, message-generation, message-runtime, moveit-core, moveit-ros-perception, pcl, pcl-conversions, pkg-config, roscpp, rostest, sensor-msgs, std-msgs, tf2, tf2-eigen, tf2-ros, tf2-sensor-msgs, urdf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-melodic-robot-body-filter";
-  version = "1.2.1-r1";
+  version = "1.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/peci1/robot_body_filter-release/archive/release/melodic/robot_body_filter/1.2.1-1.tar.gz";
-    name = "1.2.1-1.tar.gz";
-    sha256 = "dd2aa42f62dde98a757abc10e7e7f60192342028cdf7a15de4d674670bd2a6ee";
+    url = "https://github.com/peci1/robot_body_filter-release/archive/release/melodic/robot_body_filter/1.2.2-1.tar.gz";
+    name = "1.2.2-1.tar.gz";
+    sha256 = "8522c45afb9acfc59b1f6a247d3d458dba2a2ff1fd6d0bcf70c48868abd33915";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/ruckig/default.nix b/distros/melodic/ruckig/default.nix
index 2d978b65d2..05eca747ec 100644
--- a/distros/melodic/ruckig/default.nix
+++ b/distros/melodic/ruckig/default.nix
@@ -5,19 +5,19 @@
 { lib, buildRosPackage, fetchurl, cmake }:
 buildRosPackage {
   pname = "ros-melodic-ruckig";
-  version = "0.3.3-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/pantor/ruckig-release/archive/release/melodic/ruckig/0.3.3-1.tar.gz";
-    name = "0.3.3-1.tar.gz";
-    sha256 = "feafef442d6c1310e07876e09b570b2f78c096278a1cb6c42e2587e6256abf77";
+    url = "https://github.com/pantor/ruckig-release/archive/release/melodic/ruckig/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "ef894534f065eb3832045a52182ea5c6332629ea4aa95a70cabde82e97922117";
   };
 
   buildType = "cmake";
   nativeBuildInputs = [ cmake ];
 
   meta = {
-    description = ''Online Trajectory Generation. Real-time. Time-optimal. Jerk-constrained.'';
+    description = ''Online Trajectory Generation. Real-time. Jerk-constrained. Time-optimal.'';
     license = with lib.licenses; [ mit ];
   };
 }
diff --git a/distros/melodic/rviz/default.nix b/distros/melodic/rviz/default.nix
index 92964b55c0..0d8331e94b 100644
--- a/distros/melodic/rviz/default.nix
+++ b/distros/melodic/rviz/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, catkin, cmake-modules, eigen, geometry-msgs, image-transport, interactive-markers, laser-geometry, libGL, libGLU, libyamlcpp, map-msgs, media-export, message-filters, message-generation, message-runtime, nav-msgs, ogre1_9, pluginlib, python-qt-binding, qt5, resource-retriever, rosbag, rosconsole, roscpp, roslib, rospy, rostest, rosunit, sensor-msgs, std-msgs, std-srvs, tf, tinyxml-2, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
 buildRosPackage {
   pname = "ros-melodic-rviz";
-  version = "1.13.18-r1";
+  version = "1.13.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/rviz-release/archive/release/melodic/rviz/1.13.18-1.tar.gz";
-    name = "1.13.18-1.tar.gz";
-    sha256 = "9a4abeea819218a692718889d4a960baefea947c818e9f12abbbb1974e1c95c6";
+    url = "https://github.com/ros-gbp/rviz-release/archive/release/melodic/rviz/1.13.19-1.tar.gz";
+    name = "1.13.19-1.tar.gz";
+    sha256 = "a65767d5f5329ad27ce497b0a018378f5fedf2382b846a5faf9c773a6efcede6";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/urg-stamped/default.nix b/distros/melodic/urg-stamped/default.nix
index ae8af0179f..99458a1ec3 100644
--- a/distros/melodic/urg-stamped/default.nix
+++ b/distros/melodic/urg-stamped/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, roscpp, roslint, rostest, rosunit, sensor-msgs }:
 buildRosPackage {
   pname = "ros-melodic-urg-stamped";
-  version = "0.0.13-r2";
+  version = "0.0.14-r2";
 
   src = fetchurl {
-    url = "https://github.com/seqsense/urg_stamped-release/archive/release/melodic/urg_stamped/0.0.13-2.tar.gz";
-    name = "0.0.13-2.tar.gz";
-    sha256 = "0969129fafb1507491bb61d4c2f7f03fd77d0073288ede3412f6af02157c59cd";
+    url = "https://github.com/seqsense/urg_stamped-release/archive/release/melodic/urg_stamped/0.0.14-2.tar.gz";
+    name = "0.0.14-2.tar.gz";
+    sha256 = "410fd767349ad407102987a508df0e0af8a513d785e34b78bc7daf9936bfe822";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/catch-ros/default.nix b/distros/noetic/catch-ros/default.nix
index 87577ea523..45ea4cb4eb 100644
--- a/distros/noetic/catch-ros/default.nix
+++ b/distros/noetic/catch-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, roscpp }:
 buildRosPackage {
   pname = "ros-noetic-catch-ros";
-  version = "0.4.0-r1";
+  version = "0.5.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/AIS-Bonn/catch_ros-release/archive/release/noetic/catch_ros/0.4.0-1.tar.gz";
-    name = "0.4.0-1.tar.gz";
-    sha256 = "90889dd3dc2c5b6d0065ee5db36dc7d6540bf14e7d3b219db5a34824155d12af";
+    url = "https://github.com/AIS-Bonn/catch_ros-release/archive/release/noetic/catch_ros/0.5.0-2.tar.gz";
+    name = "0.5.0-2.tar.gz";
+    sha256 = "27b522f2d7b6237b97deae26ce18b14d3e1d65af14ba1ff1fd3fab1822f657e5";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/dynamic-graph-python/default.nix b/distros/noetic/dynamic-graph-python/default.nix
index 385ecba1c8..9cb8d507be 100644
--- a/distros/noetic/dynamic-graph-python/default.nix
+++ b/distros/noetic/dynamic-graph-python/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, cmake, doxygen, dynamic-graph, eigenpy, git }:
 buildRosPackage {
   pname = "ros-noetic-dynamic-graph-python";
-  version = "4.0.3-r1";
+  version = "4.0.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/stack-of-tasks/dynamic-graph-python-ros-release/archive/release/noetic/dynamic-graph-python/4.0.3-1.tar.gz";
-    name = "4.0.3-1.tar.gz";
-    sha256 = "766f29edb9e7ddd38135f18f92dfb551786d94272989fc7ed8fe23acbb1c99ba";
+    url = "https://github.com/stack-of-tasks/dynamic-graph-python-ros-release/archive/release/noetic/dynamic-graph-python/4.0.4-1.tar.gz";
+    name = "4.0.4-1.tar.gz";
+    sha256 = "3847b2fff930a9a3779617b11002f9793445d40d2b0f540a781bbfda0dddab9a";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/dynamic-graph/default.nix b/distros/noetic/dynamic-graph/default.nix
index ffbe205006..1db8641ba7 100644
--- a/distros/noetic/dynamic-graph/default.nix
+++ b/distros/noetic/dynamic-graph/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, cmake, doxygen, eigen, git, graphviz }:
 buildRosPackage {
   pname = "ros-noetic-dynamic-graph";
-  version = "4.3.4-r1";
+  version = "4.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/stack-of-tasks/dynamic-graph-ros-release/archive/release/noetic/dynamic-graph/4.3.4-1.tar.gz";
-    name = "4.3.4-1.tar.gz";
-    sha256 = "7c7e7d4acdfdd35814e7271e14345bb2064cd869a1127bb066f770634e59cdc7";
+    url = "https://github.com/stack-of-tasks/dynamic-graph-ros-release/archive/release/noetic/dynamic-graph/4.4.0-1.tar.gz";
+    name = "4.4.0-1.tar.gz";
+    sha256 = "0d32c5689296c82f14583c1014aad47e40968fb846aeb5ba790473c85cbc12cd";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/eigenpy/default.nix b/distros/noetic/eigenpy/default.nix
index c3b50a167a..8d2c8d016f 100644
--- a/distros/noetic/eigenpy/default.nix
+++ b/distros/noetic/eigenpy/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, cmake, doxygen, eigen, git, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-noetic-eigenpy";
-  version = "2.6.4-r1";
+  version = "2.6.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipab-slmc/eigenpy_catkin-release/archive/release/noetic/eigenpy/2.6.4-1.tar.gz";
-    name = "2.6.4-1.tar.gz";
-    sha256 = "3a02bde46c4f537996ed9082bc82b3291a21de8365e32722c95aa863f4986c39";
+    url = "https://github.com/ipab-slmc/eigenpy_catkin-release/archive/release/noetic/eigenpy/2.6.7-1.tar.gz";
+    name = "2.6.7-1.tar.gz";
+    sha256 = "6ad50a889cd4115dde546a74c1cdc4c328175eea1e7ea4e3b3b2b54b49bda1f7";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/floam/default.nix b/distros/noetic/floam/default.nix
new file mode 100644
index 0000000000..f585d9f5d9
--- /dev/null
+++ b/distros/noetic/floam/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, ceres-solver, eigen, eigen-conversions, geometry-msgs, hector-trajectory-server, nav-msgs, nodelet, pcl, pcl-ros, rosbag, roscpp, rospy, sensor-msgs, std-msgs, tf2, tf2-geometry-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-floam";
+  version = "0.1.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/flynneva/floam-release/archive/release/noetic/floam/0.1.0-1.tar.gz";
+    name = "0.1.0-1.tar.gz";
+    sha256 = "305b0761f138eba420f2f8c1c028fc3146099954a1a7d2854bf59437cd6784b5";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ ceres-solver eigen eigen-conversions geometry-msgs hector-trajectory-server nav-msgs nodelet pcl pcl-ros rosbag roscpp rospy sensor-msgs std-msgs tf2 tf2-geometry-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''A generic Lidar SLAM package based on FLOAM which was based on ALOAM by HKUST and LOAM by CMU'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/gazebo-video-monitor-msgs/default.nix b/distros/noetic/gazebo-video-monitor-msgs/default.nix
index b7f28f82c3..fd892d0263 100644
--- a/distros/noetic/gazebo-video-monitor-msgs/default.nix
+++ b/distros/noetic/gazebo-video-monitor-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, std-srvs }:
 buildRosPackage {
   pname = "ros-noetic-gazebo-video-monitor-msgs";
-  version = "0.6.0-r1";
+  version = "0.7.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/nlamprian/gazebo_video_monitors-release/archive/release/noetic/gazebo_video_monitor_msgs/0.6.0-1.tar.gz";
-    name = "0.6.0-1.tar.gz";
-    sha256 = "5440a5c82432425e3d8789d7ed6c9154f5e1e39cd503719d07ecb8a27207cc80";
+    url = "https://github.com/nlamprian/gazebo_video_monitors-release/archive/release/noetic/gazebo_video_monitor_msgs/0.7.0-1.tar.gz";
+    name = "0.7.0-1.tar.gz";
+    sha256 = "fb83f6679b5bca82292f7f0795c1d10487b89f50aa1512b00265b6850b118a7a";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/gazebo-video-monitor-plugins/default.nix b/distros/noetic/gazebo-video-monitor-plugins/default.nix
index 36928824b5..2499207d4f 100644
--- a/distros/noetic/gazebo-video-monitor-plugins/default.nix
+++ b/distros/noetic/gazebo-video-monitor-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gazebo-ros, gazebo-video-monitor-msgs, libyamlcpp, opencv3, roscpp, std-srvs }:
 buildRosPackage {
   pname = "ros-noetic-gazebo-video-monitor-plugins";
-  version = "0.6.0-r1";
+  version = "0.7.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/nlamprian/gazebo_video_monitors-release/archive/release/noetic/gazebo_video_monitor_plugins/0.6.0-1.tar.gz";
-    name = "0.6.0-1.tar.gz";
-    sha256 = "74f3cdc15f5ab7b959fd00b7f4ff96c4d2c0009f31e82be900a1279fbbb4a3f2";
+    url = "https://github.com/nlamprian/gazebo_video_monitors-release/archive/release/noetic/gazebo_video_monitor_plugins/0.7.0-1.tar.gz";
+    name = "0.7.0-1.tar.gz";
+    sha256 = "75f65f76f92d6da2545a63a2fa23d93e55923cc576c973f11efdb2a5480a71ed";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/gazebo-video-monitor-utils/default.nix b/distros/noetic/gazebo-video-monitor-utils/default.nix
new file mode 100644
index 0000000000..5994dd8dac
--- /dev/null
+++ b/distros/noetic/gazebo-video-monitor-utils/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, gazebo-msgs, rospy, std-srvs }:
+buildRosPackage {
+  pname = "ros-noetic-gazebo-video-monitor-utils";
+  version = "0.7.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/nlamprian/gazebo_video_monitors-release/archive/release/noetic/gazebo_video_monitor_utils/0.7.0-1.tar.gz";
+    name = "0.7.0-1.tar.gz";
+    sha256 = "6bde91c72bbd0a92a53a00ca2108ea313523e78789c0b989e35a1709dfbcf604";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ gazebo-msgs rospy std-srvs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''gazebo_video_monitor_utils contains utility scripts that are meant to interact with the gazebo video monitor plugins.'';
+    license = with lib.licenses; [ gpl3 ];
+  };
+}
diff --git a/distros/noetic/gazebo-video-monitors/default.nix b/distros/noetic/gazebo-video-monitors/default.nix
index 8cb3593325..246f4d7d11 100644
--- a/distros/noetic/gazebo-video-monitors/default.nix
+++ b/distros/noetic/gazebo-video-monitors/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gazebo-video-monitor-msgs, gazebo-video-monitor-plugins }:
 buildRosPackage {
   pname = "ros-noetic-gazebo-video-monitors";
-  version = "0.6.0-r1";
+  version = "0.7.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/nlamprian/gazebo_video_monitors-release/archive/release/noetic/gazebo_video_monitors/0.6.0-1.tar.gz";
-    name = "0.6.0-1.tar.gz";
-    sha256 = "c17e276b5c9809cb7dc705b0785892e69e73d20c27b17e2e8c91712f9b538f25";
+    url = "https://github.com/nlamprian/gazebo_video_monitors-release/archive/release/noetic/gazebo_video_monitors/0.7.0-1.tar.gz";
+    name = "0.7.0-1.tar.gz";
+    sha256 = "3f826e78f7e83116edc3d110bd2df6ab8f2109e9447590e59d13325259a448a5";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/generated.nix b/distros/noetic/generated.nix
index c8f3b450a1..8e1d503019 100644
--- a/distros/noetic/generated.nix
+++ b/distros/noetic/generated.nix
@@ -818,6 +818,8 @@ self: super: {
 
  flexbe-widget = self.callPackage ./flexbe-widget {};
 
+ floam = self.callPackage ./floam {};
+
  fmi-adapter = self.callPackage ./fmi-adapter {};
 
  fmi-adapter-examples = self.callPackage ./fmi-adapter-examples {};
@@ -888,6 +890,8 @@ self: super: {
 
  gazebo-video-monitor-plugins = self.callPackage ./gazebo-video-monitor-plugins {};
 
+ gazebo-video-monitor-utils = self.callPackage ./gazebo-video-monitor-utils {};
+
  gazebo-video-monitors = self.callPackage ./gazebo-video-monitors {};
 
  gencpp = self.callPackage ./gencpp {};
@@ -2074,6 +2078,8 @@ self: super: {
 
  rgbd-launch = self.callPackage ./rgbd-launch {};
 
+ rm-controllers = self.callPackage ./rm-controllers {};
+
  robot = self.callPackage ./robot {};
 
  robot-body-filter = self.callPackage ./robot-body-filter {};
diff --git a/distros/noetic/overrides.nix b/distros/noetic/overrides.nix
index a779027060..ba07934395 100644
--- a/distros/noetic/overrides.nix
+++ b/distros/noetic/overrides.nix
@@ -3,13 +3,8 @@ self:
 # Distro package set
 rosSelf: rosSuper: with rosSelf.lib; {
   eigenpy = rosSuper.eigenpy.overrideAttrs ({
-    patches ? [], cmakeFlags ? [], ...
+    cmakeFlags ? [], ...
   }: {
-    # Allow hardcoded Python path to be overridden
-    patches = patches ++ [ (self.fetchpatch {
-      url = "https://github.com/ipab-slmc/eigenpy_catkin-release/commit/5cb1b98b598670be41b2e9eefed58da7335ea93d.patch";
-      sha256 = "1bliaamiajbw36s8jqs5ksj96w0cm26gy1dirr6i7vhk2grksxfx";
-    }) ];
     cmakeFlags = cmakeFlags ++ [ "-DPYTHON_EXECUTABLE=${rosSelf.python.interpreter}" ];
   });
 
diff --git a/distros/noetic/pinocchio/default.nix b/distros/noetic/pinocchio/default.nix
index a5698194ec..5d51642faa 100644
--- a/distros/noetic/pinocchio/default.nix
+++ b/distros/noetic/pinocchio/default.nix
@@ -10,7 +10,7 @@ buildRosPackage {
   src = fetchurl {
     url = "https://github.com/ipab-slmc/pinocchio_catkin-release/archive/release/noetic/pinocchio/2.6.3-1.tar.gz";
     name = "2.6.3-1.tar.gz";
-    sha256 = "6af15f1ded6714909c0a7999b73016b1646f32dfa7ff93ab11e98384d0147121";
+    sha256 = "565952f21af20330a30741b884dad3234faa303e8cebc602e06db48f9fca38d1";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/quanergy-client-ros/default.nix b/distros/noetic/quanergy-client-ros/default.nix
index b4ed41c130..bef59c23b9 100644
--- a/distros/noetic/quanergy-client-ros/default.nix
+++ b/distros/noetic/quanergy-client-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, pcl-ros, quanergy-client, roscpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-noetic-quanergy-client-ros";
-  version = "4.0.0-r2";
+  version = "4.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/QuanergySystems/quanergy_client_ros-release/archive/release/noetic/quanergy_client_ros/4.0.0-2.tar.gz";
-    name = "4.0.0-2.tar.gz";
-    sha256 = "737d653907cd30df6587b0d844d82a1af35b6bbb843474b2dee9ce429cd3dd43";
+    url = "https://github.com/QuanergySystems/quanergy_client_ros-release/archive/release/noetic/quanergy_client_ros/4.0.1-1.tar.gz";
+    name = "4.0.1-1.tar.gz";
+    sha256 = "0dd116d91350f9ce02e640e07165cf032e155c5a88917d9f6f78b47c6ce8380b";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/rm-controllers/default.nix b/distros/noetic/rm-controllers/default.nix
new file mode 100644
index 0000000000..3b9e6b2ed9
--- /dev/null
+++ b/distros/noetic/rm-controllers/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, robot-state-controller }:
+buildRosPackage {
+  pname = "ros-noetic-rm-controllers";
+  version = "0.1.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/rm-controls/rm_controllers-release/archive/release/noetic/rm_controllers/0.1.1-1.tar.gz";
+    name = "0.1.1-1.tar.gz";
+    sha256 = "3af46e86f087d38dbf5bffa07f8238d879e28cb19c1770418a55ce63dffafa27";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ robot-state-controller ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Meta package that contains package for RoboMaster.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/robot-body-filter/default.nix b/distros/noetic/robot-body-filter/default.nix
index e2df6641d2..d8881d036f 100644
--- a/distros/noetic/robot-body-filter/default.nix
+++ b/distros/noetic/robot-body-filter/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, dynamic-reconfigure, fcl, filters, geometric-shapes, geometry-msgs, laser-geometry, message-generation, message-runtime, moveit-core, moveit-ros-perception, pcl, pcl-conversions, pkg-config, roscpp, rostest, sensor-msgs, std-msgs, tf2, tf2-eigen, tf2-ros, tf2-sensor-msgs, urdf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-noetic-robot-body-filter";
-  version = "1.2.1-r1";
+  version = "1.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/peci1/robot_body_filter-release/archive/release/noetic/robot_body_filter/1.2.1-1.tar.gz";
-    name = "1.2.1-1.tar.gz";
-    sha256 = "b485d2a710308fb3b5284f6b0afc908159ac3175f33907879ad5a3774fa62ee9";
+    url = "https://github.com/peci1/robot_body_filter-release/archive/release/noetic/robot_body_filter/1.2.2-1.tar.gz";
+    name = "1.2.2-1.tar.gz";
+    sha256 = "ffe794904da49c0f07f1e535350c2c7d6fbb69b44263014ba337dd009878cea6";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/ruckig/default.nix b/distros/noetic/ruckig/default.nix
index c9b1444435..f8154ffc74 100644
--- a/distros/noetic/ruckig/default.nix
+++ b/distros/noetic/ruckig/default.nix
@@ -5,19 +5,19 @@
 { lib, buildRosPackage, fetchurl, cmake }:
 buildRosPackage {
   pname = "ros-noetic-ruckig";
-  version = "0.3.3-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/pantor/ruckig-release/archive/release/noetic/ruckig/0.3.3-1.tar.gz";
-    name = "0.3.3-1.tar.gz";
-    sha256 = "cea3b5576bd9c749f3336703ee6990e24e76859b36fbbab05ed3cd73be5ea852";
+    url = "https://github.com/pantor/ruckig-release/archive/release/noetic/ruckig/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "697d2d3be36b7421c946fd48384c72ffdb9d3af191975bccdc5a09b6be9d2ba8";
   };
 
   buildType = "cmake";
   nativeBuildInputs = [ cmake ];
 
   meta = {
-    description = ''Online Trajectory Generation. Real-time. Time-optimal. Jerk-constrained.'';
+    description = ''Online Trajectory Generation. Real-time. Jerk-constrained. Time-optimal.'';
     license = with lib.licenses; [ mit ];
   };
 }
diff --git a/distros/noetic/rviz/default.nix b/distros/noetic/rviz/default.nix
index 2fba5e0148..686396ed69 100644
--- a/distros/noetic/rviz/default.nix
+++ b/distros/noetic/rviz/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, assimp, catkin, cmake-modules, eigen, geometry-msgs, image-transport, interactive-markers, laser-geometry, libGL, libGLU, libyamlcpp, map-msgs, media-export, message-filters, message-generation, message-runtime, nav-msgs, ogre1_9, pluginlib, python-qt-binding, qt5, resource-retriever, rosbag, rosconsole, roscpp, roslib, rospy, rostest, rosunit, sensor-msgs, std-msgs, std-srvs, tf2-geometry-msgs, tf2-ros, tinyxml-2, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
+{ lib, buildRosPackage, fetchurl, assimp, catkin, cmake-modules, eigen, geometry-msgs, image-transport, interactive-markers, laser-geometry, libGL, libGLU, libyamlcpp, map-msgs, media-export, message-filters, message-generation, message-runtime, nav-msgs, ogre1_9, pluginlib, python-qt-binding, qt5, resource-retriever, rosbag, rosconsole, roscpp, roslib, rospy, rostest, rosunit, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-geometry-msgs, tf2-ros, tinyxml-2, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
 buildRosPackage {
   pname = "ros-noetic-rviz";
-  version = "1.14.8-r1";
+  version = "1.14.9-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/rviz-release/archive/release/noetic/rviz/1.14.8-1.tar.gz";
-    name = "1.14.8-1.tar.gz";
-    sha256 = "49d3a8402f365b9c81e0dc0e8cd544cdabe25e0a04651dc9b646e8707e8f9e06";
+    url = "https://github.com/ros-gbp/rviz-release/archive/release/noetic/rviz/1.14.9-2.tar.gz";
+    name = "1.14.9-2.tar.gz";
+    sha256 = "612a7d4a5dedc61354a8d0db0b19447e1e64f401feb2a9b3a826fb644826343f";
   };
 
   buildType = "catkin";
   buildInputs = [ cmake-modules eigen message-generation urdfdom urdfdom-headers ];
   checkInputs = [ rostest rosunit ];
-  propagatedBuildInputs = [ assimp geometry-msgs image-transport interactive-markers laser-geometry libGL libGLU libyamlcpp map-msgs media-export message-filters message-runtime nav-msgs ogre1_9 pluginlib python-qt-binding qt5.qtbase resource-retriever rosbag rosconsole roscpp roslib rospy sensor-msgs std-msgs std-srvs tf2-geometry-msgs tf2-ros tinyxml-2 urdf visualization-msgs ];
+  propagatedBuildInputs = [ assimp geometry-msgs image-transport interactive-markers laser-geometry libGL libGLU libyamlcpp map-msgs media-export message-filters message-runtime nav-msgs ogre1_9 pluginlib python-qt-binding qt5.qtbase resource-retriever rosbag rosconsole roscpp roslib rospy sensor-msgs std-msgs std-srvs tf2-eigen tf2-geometry-msgs tf2-ros tinyxml-2 urdf visualization-msgs ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/noetic/urg-stamped/default.nix b/distros/noetic/urg-stamped/default.nix
index 8947db2e95..cb6b72e878 100644
--- a/distros/noetic/urg-stamped/default.nix
+++ b/distros/noetic/urg-stamped/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, roscpp, roslint, rostest, rosunit, sensor-msgs }:
 buildRosPackage {
   pname = "ros-noetic-urg-stamped";
-  version = "0.0.13-r1";
+  version = "0.0.14-r1";
 
   src = fetchurl {
-    url = "https://github.com/seqsense/urg_stamped-release/archive/release/noetic/urg_stamped/0.0.13-1.tar.gz";
-    name = "0.0.13-1.tar.gz";
-    sha256 = "92a8eab582f48cb48f158799d03177970021ba56b038a51b9cd955ad389efc71";
+    url = "https://github.com/seqsense/urg_stamped-release/archive/release/noetic/urg_stamped/0.0.14-1.tar.gz";
+    name = "0.0.14-1.tar.gz";
+    sha256 = "f3241db7ead4efa4f0e91b80481ad0eb37bd3fff0fe36f3ae32c2d02b43e6f8f";
   };
 
   buildType = "catkin";
diff --git a/pkgs/gazebo/default.nix b/pkgs/gazebo/default.nix
index 4caba558d9..1135a92883 100644
--- a/pkgs/gazebo/default.nix
+++ b/pkgs/gazebo/default.nix
@@ -20,12 +20,18 @@ mkDerivation rec {
     sha256 = srcSha256;
   };
 
-  # Fix compatibility with qwt headers not in subdirectory
-  # https://github.com/osrf/gazebo/pull/2887
-  patches = lib.optional (lib.versionOlder version "11.3.0") (fetchpatch {
-    url = "https://github.com/osrf/gazebo/commit/25d3381c083a9eeafcee34ef648339a83e192676.patch";
-    sha256 = "1qixrz2jiqdc37mgcsnv562m7mzr6w0rd67fmkr5710n6dnky4y7";
-  });
+  patches =
+    # Fix compatibility with qwt headers not in subdirectory
+    # https://github.com/osrf/gazebo/pull/2887
+    lib.optional (lib.versionOlder version "11.3.0") (fetchpatch {
+      url = "https://github.com/osrf/gazebo/commit/25d3381c083a9eeafcee34ef648339a83e192676.patch";
+      sha256 = "1qixrz2jiqdc37mgcsnv562m7mzr6w0rd67fmkr5710n6dnky4y7";
+    }) ++
+    # Fix pkgconfig prefix path
+    lib.optional (lib.versionAtLeast version "11.4.0") (fetchpatch {
+      url = "https://github.com/osrf/gazebo/commit/a7e6e1c1de46c3eb7eecab0de1263f7360ef9f42.patch";
+      sha256 = "09y5ggx74mc70np7x1cj8p936jqkx4f6nvly0qscsjrv7x6gsb6j";
+    });
 
   enableParallelBuilding = true;