diff --git a/distros/dashing/cartographer-ros-msgs/default.nix b/distros/dashing/cartographer-ros-msgs/default.nix
index 718fd1f1be..abff13ba66 100644
--- a/distros/dashing/cartographer-ros-msgs/default.nix
+++ b/distros/dashing/cartographer-ros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-dashing-cartographer-ros-msgs";
-  version = "1.0.9000-r1";
+  version = "1.0.9003-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/cartographer_ros-release/archive/release/dashing/cartographer_ros_msgs/1.0.9000-1.tar.gz";
-    name = "1.0.9000-1.tar.gz";
-    sha256 = "156d2fb8639bc2045309ac183bf2a03898fd0f955afc95aeba7369ae924e0fbb";
+    url = "https://github.com/ros2-gbp/cartographer_ros-release/archive/release/dashing/cartographer_ros_msgs/1.0.9003-1.tar.gz";
+    name = "1.0.9003-1.tar.gz";
+    sha256 = "e13398ca404d358c0a4c0326a4bc37aa9d844698f105ae095f7cf065b3720d92";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/dashing/cartographer-ros/default.nix b/distros/dashing/cartographer-ros/default.nix
index d334dd8a49..4113db8730 100644
--- a/distros/dashing/cartographer-ros/default.nix
+++ b/distros/dashing/cartographer-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, cartographer, cartographer-ros-msgs, eigen, libyamlcpp, lua5, nav-msgs, pcl, pcl-conversions, rclcpp, sensor-msgs, tf2, tf2-eigen, tf2-msgs, tf2-ros, urdfdom-headers, visualization-msgs }:
 buildRosPackage {
   pname = "ros-dashing-cartographer-ros";
-  version = "1.0.9000-r1";
+  version = "1.0.9003-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/cartographer_ros-release/archive/release/dashing/cartographer_ros/1.0.9000-1.tar.gz";
-    name = "1.0.9000-1.tar.gz";
-    sha256 = "bd296ee946e767b374ebd4488c1d06e4e6cca7ac37de7ef883e754b156a2e84e";
+    url = "https://github.com/ros2-gbp/cartographer_ros-release/archive/release/dashing/cartographer_ros/1.0.9003-1.tar.gz";
+    name = "1.0.9003-1.tar.gz";
+    sha256 = "361be20513b88a4aa2f2aa262a7cb64e029e035e2301305d374cb7abaede4fb1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/dashing/laser-proc/default.nix b/distros/dashing/laser-proc/default.nix
index 318d97fe9f..9636ddcafd 100644
--- a/distros/dashing/laser-proc/default.nix
+++ b/distros/dashing/laser-proc/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, class-loader, rclcpp, rclcpp-components, sensor-msgs }:
 buildRosPackage {
   pname = "ros-dashing-laser-proc";
-  version = "1.0.1-r1";
+  version = "1.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/laser_proc-release/archive/release/dashing/laser_proc/1.0.1-1.tar.gz";
-    name = "1.0.1-1.tar.gz";
-    sha256 = "f3702c1645541e03da789f04d4a3b81f87f00215ec946a642f8d3e2eb2e6b00a";
+    url = "https://github.com/ros2-gbp/laser_proc-release/archive/release/dashing/laser_proc/1.0.2-1.tar.gz";
+    name = "1.0.2-1.tar.gz";
+    sha256 = "6b6d1a325d8bc7920389e386327fec57d8f8a3423e7870aa41773b7cc48a75e5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/ament-cmake-ros/default.nix b/distros/foxy/ament-cmake-ros/default.nix
index 5ddc8b473a..528da11b09 100644
--- a/distros/foxy/ament-cmake-ros/default.nix
+++ b/distros/foxy/ament-cmake-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, domain-coordinator }:
 buildRosPackage {
   pname = "ros-foxy-ament-cmake-ros";
-  version = "0.9.0-r1";
+  version = "0.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake_ros-release/archive/release/foxy/ament_cmake_ros/0.9.0-1.tar.gz";
-    name = "0.9.0-1.tar.gz";
-    sha256 = "36c0112e464925fad61e855f13518209376135d898456dc0b4c1516e0e8f6fe6";
+    url = "https://github.com/ros2-gbp/ament_cmake_ros-release/archive/release/foxy/ament_cmake_ros/0.9.1-1.tar.gz";
+    name = "0.9.1-1.tar.gz";
+    sha256 = "9fc0c46e7be8f40ddf5938ed7cf3657b8f591111b9134ece9d1a703a2666961f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/ament-index-cpp/default.nix b/distros/foxy/ament-index-cpp/default.nix
index 53dfc78ced..a0e2964ddd 100644
--- a/distros/foxy/ament-index-cpp/default.nix
+++ b/distros/foxy/ament-index-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common }:
 buildRosPackage {
   pname = "ros-foxy-ament-index-cpp";
-  version = "1.0.1-r1";
+  version = "1.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/foxy/ament_index_cpp/1.0.1-1.tar.gz";
-    name = "1.0.1-1.tar.gz";
-    sha256 = "2599a4693285fe34beb3026dada280d06da38b968ae87848c2f428e7cf042997";
+    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/foxy/ament_index_cpp/1.0.2-1.tar.gz";
+    name = "1.0.2-1.tar.gz";
+    sha256 = "5df0a4d5b914c42e92419ca120ea2647622d1b614069d639411fdbbb96ffbd65";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/ament-index-python/default.nix b/distros/foxy/ament-index-python/default.nix
index 2d0caaa1ce..ca2f59e65b 100644
--- a/distros/foxy/ament-index-python/default.nix
+++ b/distros/foxy/ament-index-python/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, pythonPackages }:
 buildRosPackage {
   pname = "ros-foxy-ament-index-python";
-  version = "1.0.1-r1";
+  version = "1.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/foxy/ament_index_python/1.0.1-1.tar.gz";
-    name = "1.0.1-1.tar.gz";
-    sha256 = "e10be3bd22652636b47c97f29f741952a024ba3d0c23d73c6c0a80b9e2b11643";
+    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/foxy/ament_index_python/1.0.2-1.tar.gz";
+    name = "1.0.2-1.tar.gz";
+    sha256 = "75164565cdd37e714af887bcf276df352427e0db3a89a51e78f950f2b5a383fe";
   };
 
   buildType = "ament_python";
diff --git a/distros/foxy/behaviortree-cpp-v3/default.nix b/distros/foxy/behaviortree-cpp-v3/default.nix
index c2ef5e4e0d..4870f7e8a1 100644
--- a/distros/foxy/behaviortree-cpp-v3/default.nix
+++ b/distros/foxy/behaviortree-cpp-v3/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, cppzmq, ncurses, rclcpp }:
 buildRosPackage {
   pname = "ros-foxy-behaviortree-cpp-v3";
-  version = "3.5.3-r1";
+  version = "3.5.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/BehaviorTree/behaviortree_cpp-release/archive/release/foxy/behaviortree_cpp_v3/3.5.3-1.tar.gz";
-    name = "3.5.3-1.tar.gz";
-    sha256 = "0ee1e9ea2e67b8a769d45cad54798d4f6fae0fbb6dba49dd273993263dcd18c8";
+    url = "https://github.com/BehaviorTree/behaviortree_cpp-release/archive/release/foxy/behaviortree_cpp_v3/3.5.6-1.tar.gz";
+    name = "3.5.6-1.tar.gz";
+    sha256 = "5d5753c234516f08e81defd1b08af59b9f38279d46c32dc4578fc70e6f172975";
   };
 
   buildType = "catkin";
diff --git a/distros/foxy/cartographer-ros-msgs/default.nix b/distros/foxy/cartographer-ros-msgs/default.nix
index b0efdc70ac..6302e48559 100644
--- a/distros/foxy/cartographer-ros-msgs/default.nix
+++ b/distros/foxy/cartographer-ros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-foxy-cartographer-ros-msgs";
-  version = "1.0.9002-r1";
+  version = "1.0.9003-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/cartographer_ros-release/archive/release/foxy/cartographer_ros_msgs/1.0.9002-1.tar.gz";
-    name = "1.0.9002-1.tar.gz";
-    sha256 = "33e58b9796bdb026afb0acb4a2cbaded6604e729a46ce3eae1a41a953058beab";
+    url = "https://github.com/ros2-gbp/cartographer_ros-release/archive/release/foxy/cartographer_ros_msgs/1.0.9003-1.tar.gz";
+    name = "1.0.9003-1.tar.gz";
+    sha256 = "69a4899d3415f634ba49083b94ae568bac2b87daea5613e2ae8a3aece5dd9761";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/cartographer-ros/default.nix b/distros/foxy/cartographer-ros/default.nix
index 5e5db0fd32..9fb490f380 100644
--- a/distros/foxy/cartographer-ros/default.nix
+++ b/distros/foxy/cartographer-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, cartographer, cartographer-ros-msgs, eigen, libyamlcpp, lua5, nav-msgs, pcl, pcl-conversions, rclcpp, sensor-msgs, tf2, tf2-eigen, tf2-msgs, tf2-ros, urdfdom-headers, visualization-msgs }:
 buildRosPackage {
   pname = "ros-foxy-cartographer-ros";
-  version = "1.0.9002-r1";
+  version = "1.0.9003-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/cartographer_ros-release/archive/release/foxy/cartographer_ros/1.0.9002-1.tar.gz";
-    name = "1.0.9002-1.tar.gz";
-    sha256 = "cb23d500a2659e1661b8d0c6f7f1a3e2c5d2434416f34ae68068bf31169fa708";
+    url = "https://github.com/ros2-gbp/cartographer_ros-release/archive/release/foxy/cartographer_ros/1.0.9003-1.tar.gz";
+    name = "1.0.9003-1.tar.gz";
+    sha256 = "5df4a0442de6bba62724fd2b1bcf9e0d11fd98c448240af3b9b52c1dffce932a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/control-msgs/default.nix b/distros/foxy/control-msgs/default.nix
index d83dc0d3bd..734b0ce6b6 100644
--- a/distros/foxy/control-msgs/default.nix
+++ b/distros/foxy/control-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-foxy-control-msgs";
-  version = "2.4.1-r1";
+  version = "2.5.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/control_msgs-release/archive/release/foxy/control_msgs/2.4.1-1.tar.gz";
-    name = "2.4.1-1.tar.gz";
-    sha256 = "e9b01671cf82c2e6367c14055fcd3c531b4924782384faf7092e0b32690942df";
+    url = "https://github.com/ros-gbp/control_msgs-release/archive/release/foxy/control_msgs/2.5.0-1.tar.gz";
+    name = "2.5.0-1.tar.gz";
+    sha256 = "ab7f17a39e21c928f7e22268de920281d2115c5b64e50e88cea92dd2390acac8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/controller-interface/default.nix b/distros/foxy/controller-interface/default.nix
index ced634c593..67f639b332 100644
--- a/distros/foxy/controller-interface/default.nix
+++ b/distros/foxy/controller-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, hardware-interface, rclcpp-lifecycle }:
 buildRosPackage {
   pname = "ros-foxy-controller-interface";
-  version = "0.1.3-r1";
+  version = "0.1.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/controller_interface/0.1.3-1.tar.gz";
-    name = "0.1.3-1.tar.gz";
-    sha256 = "100e52f0b2c977b438b8d46a1c3a343fe1794f5ab45891ffecac71dc1656992f";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/controller_interface/0.1.5-1.tar.gz";
+    name = "0.1.5-1.tar.gz";
+    sha256 = "645427e320558727ad744eb6a5545f68be410244833dc9007ec17d453098ff40";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/controller-manager-msgs/default.nix b/distros/foxy/controller-manager-msgs/default.nix
index 48acb37bd4..97e869ba05 100644
--- a/distros/foxy/controller-manager-msgs/default.nix
+++ b/distros/foxy/controller-manager-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-foxy-controller-manager-msgs";
-  version = "0.1.3-r1";
+  version = "0.1.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/controller_manager_msgs/0.1.3-1.tar.gz";
-    name = "0.1.3-1.tar.gz";
-    sha256 = "258184e8d78b166daa00564cd9b28aca9e130d8f46a4d868d6686685641e3030";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/controller_manager_msgs/0.1.5-1.tar.gz";
+    name = "0.1.5-1.tar.gz";
+    sha256 = "a0e669d34f1aa9bf2813e7987f1de022e968c93e697ebf55e99d79a1723c91ff";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/controller-manager/default.nix b/distros/foxy/controller-manager/default.nix
index e498d9aa00..e4f9528835 100644
--- a/distros/foxy/controller-manager/default.nix
+++ b/distros/foxy/controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, controller-interface, controller-manager-msgs, hardware-interface, pluginlib, rclcpp, rcpputils }:
 buildRosPackage {
   pname = "ros-foxy-controller-manager";
-  version = "0.1.3-r1";
+  version = "0.1.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/controller_manager/0.1.3-1.tar.gz";
-    name = "0.1.3-1.tar.gz";
-    sha256 = "e699330ae7cc168abe948ebedbd15e7bea3f893b9f91a7a277ad46f15eb98e06";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/controller_manager/0.1.5-1.tar.gz";
+    name = "0.1.5-1.tar.gz";
+    sha256 = "e57ce131218a3d95df32205f418c4e7d8c49381cff62647c432d41723407dc81";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/diagnostic-aggregator/default.nix b/distros/foxy/diagnostic-aggregator/default.nix
index 4cac9475e4..8910dee38e 100644
--- a/distros/foxy/diagnostic-aggregator/default.nix
+++ b/distros/foxy/diagnostic-aggregator/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-cmake-python, ament-lint-auto, ament-lint-common, diagnostic-msgs, launch-testing-ament-cmake, launch-testing-ros, pluginlib, rclcpp, rclpy, std-msgs }:
 buildRosPackage {
   pname = "ros-foxy-diagnostic-aggregator";
-  version = "2.0.5-r1";
+  version = "2.0.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/foxy/diagnostic_aggregator/2.0.5-1.tar.gz";
-    name = "2.0.5-1.tar.gz";
-    sha256 = "cafee26d9cc58ab71f5b2e30837658870ffaaf87a86f6e4c833b34cf098f52d7";
+    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/foxy/diagnostic_aggregator/2.0.6-1.tar.gz";
+    name = "2.0.6-1.tar.gz";
+    sha256 = "6c492b0fc6be6791546eaf9a84278867db28ffebc189bdce6bef28c0880e6cbc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/diagnostic-updater/default.nix b/distros/foxy/diagnostic-updater/default.nix
index 770a6ee769..be0d4a6732 100644
--- a/distros/foxy/diagnostic-updater/default.nix
+++ b/distros/foxy/diagnostic-updater/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-cmake-python, ament-lint-auto, ament-lint-common, diagnostic-msgs, rclcpp, rclcpp-lifecycle, rclpy, std-msgs }:
 buildRosPackage {
   pname = "ros-foxy-diagnostic-updater";
-  version = "2.0.5-r1";
+  version = "2.0.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/foxy/diagnostic_updater/2.0.5-1.tar.gz";
-    name = "2.0.5-1.tar.gz";
-    sha256 = "a0f5fb17c0d5183e175cdc4116c608736c1bc8b595ffa66f60741b336ea04f8d";
+    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/foxy/diagnostic_updater/2.0.6-1.tar.gz";
+    name = "2.0.6-1.tar.gz";
+    sha256 = "7c949bd3da3e4ae19176f42a448dee2a28453c0f10a5ac56e7783db72307e531";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/domain-coordinator/default.nix b/distros/foxy/domain-coordinator/default.nix
index a1e3dc3f3c..0ad7039f51 100644
--- a/distros/foxy/domain-coordinator/default.nix
+++ b/distros/foxy/domain-coordinator/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, pythonPackages }:
 buildRosPackage {
   pname = "ros-foxy-domain-coordinator";
-  version = "0.9.0-r1";
+  version = "0.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake_ros-release/archive/release/foxy/domain_coordinator/0.9.0-1.tar.gz";
-    name = "0.9.0-1.tar.gz";
-    sha256 = "efeccebd28642b468e619386391c2fec3a9c30b2a531402310ef26d38010f715";
+    url = "https://github.com/ros2-gbp/ament_cmake_ros-release/archive/release/foxy/domain_coordinator/0.9.1-1.tar.gz";
+    name = "0.9.1-1.tar.gz";
+    sha256 = "af7d7476efae55600ff613e1899a5ec47687ab7922e5bf0a7182bb0df3834344";
   };
 
   buildType = "ament_python";
diff --git a/distros/foxy/generated.nix b/distros/foxy/generated.nix
index d092fa95bd..3861bf9857 100644
--- a/distros/foxy/generated.nix
+++ b/distros/foxy/generated.nix
@@ -344,8 +344,6 @@ self: super: {
 
  ecl-utilities = self.callPackage ./ecl-utilities {};
 
- effort-controllers = self.callPackage ./effort-controllers {};
-
  eigen3-cmake-module = self.callPackage ./eigen3-cmake-module {};
 
  eigen-stl-containers = self.callPackage ./eigen-stl-containers {};
@@ -488,8 +486,6 @@ self: super: {
 
  joint-state-publisher-gui = self.callPackage ./joint-state-publisher-gui {};
 
- joint-trajectory-controller = self.callPackage ./joint-trajectory-controller {};
-
  joy = self.callPackage ./joy {};
 
  joy-linux = self.callPackage ./joy-linux {};
@@ -812,6 +808,8 @@ self: super: {
 
  py-trees-ros-interfaces = self.callPackage ./py-trees-ros-interfaces {};
 
+ pybind11-vendor = self.callPackage ./pybind11-vendor {};
+
  python-cmake-module = self.callPackage ./python-cmake-module {};
 
  python-qt-binding = self.callPackage ./python-qt-binding {};
@@ -944,6 +942,8 @@ self: super: {
 
  ros2-control = self.callPackage ./ros2-control {};
 
+ ros2-control-test-assets = self.callPackage ./ros2-control-test-assets {};
+
  ros2-controllers = self.callPackage ./ros2-controllers {};
 
  ros2-ouster = self.callPackage ./ros2-ouster {};
@@ -1266,8 +1266,6 @@ self: super: {
 
  test-osrf-testing-tools-cpp = self.callPackage ./test-osrf-testing-tools-cpp {};
 
- test-robot-hardware = self.callPackage ./test-robot-hardware {};
-
  tf2 = self.callPackage ./tf2 {};
 
  tf2-bullet = self.callPackage ./tf2-bullet {};
@@ -1342,6 +1340,8 @@ self: super: {
 
  tvm-vendor = self.callPackage ./tvm-vendor {};
 
+ twist-stamper = self.callPackage ./twist-stamper {};
+
  ublox = self.callPackage ./ublox {};
 
  ublox-gps = self.callPackage ./ublox-gps {};
diff --git a/distros/foxy/hardware-interface/default.nix b/distros/foxy/hardware-interface/default.nix
index e651b35f90..5d61f298e9 100644
--- a/distros/foxy/hardware-interface/default.nix
+++ b/distros/foxy/hardware-interface/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, ament-cmake-gmock, ament-lint-auto, ament-lint-common, control-msgs, pluginlib, rcpputils, rcutils, tinyxml2-vendor }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, control-msgs, pluginlib, rcpputils, rcutils, ros2-control-test-assets, tinyxml2-vendor }:
 buildRosPackage {
   pname = "ros-foxy-hardware-interface";
-  version = "0.1.3-r1";
+  version = "0.1.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/hardware_interface/0.1.3-1.tar.gz";
-    name = "0.1.3-1.tar.gz";
-    sha256 = "c13a0d23d778e2600fc5f10c55ca5b12e039f874fa8317b47a0a440e78d9def8";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/hardware_interface/0.1.5-1.tar.gz";
+    name = "0.1.5-1.tar.gz";
+    sha256 = "ebfbcea1955f6157944412e5c7f30f27539700b34c2058e1d36b9d9ca8b01f21";
   };
 
   buildType = "ament_cmake";
-  checkInputs = [ ament-cmake-gmock ament-lint-auto ament-lint-common ];
+  checkInputs = [ ament-cmake-gmock ament-lint-auto ament-lint-common ros2-control-test-assets ];
   propagatedBuildInputs = [ control-msgs pluginlib rcpputils rcutils tinyxml2-vendor ];
   nativeBuildInputs = [ ament-cmake ];
 
diff --git a/distros/foxy/laser-proc/default.nix b/distros/foxy/laser-proc/default.nix
index 7be2706842..39bb89ba21 100644
--- a/distros/foxy/laser-proc/default.nix
+++ b/distros/foxy/laser-proc/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, class-loader, rclcpp, rclcpp-components, sensor-msgs }:
 buildRosPackage {
   pname = "ros-foxy-laser-proc";
-  version = "1.0.1-r1";
+  version = "1.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/laser_proc-release/archive/release/foxy/laser_proc/1.0.1-1.tar.gz";
-    name = "1.0.1-1.tar.gz";
-    sha256 = "c04e3e3edaa464a64d316b602bae4355333def02679918cdc2171d11c5adfee9";
+    url = "https://github.com/ros2-gbp/laser_proc-release/archive/release/foxy/laser_proc/1.0.2-1.tar.gz";
+    name = "1.0.2-1.tar.gz";
+    sha256 = "03c68a7d9b9cef1c049da4b6314cd86514f4f571e3ca02f004aaf92eb97514d4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/librealsense2/default.nix b/distros/foxy/librealsense2/default.nix
index 1640d712e8..5d05a962a6 100644
--- a/distros/foxy/librealsense2/default.nix
+++ b/distros/foxy/librealsense2/default.nix
@@ -2,20 +2,19 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, glfw3, gtk3, libGL, libGLU, libusb1, linuxHeaders, openssl, pkg-config, udev }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, libusb1, openssl, pkg-config, udev }:
 buildRosPackage {
   pname = "ros-foxy-librealsense2";
-  version = "2.34.0-r3";
+  version = "2.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/librealsense-release/archive/release/foxy/librealsense2/2.34.0-3.tar.gz";
-    name = "2.34.0-3.tar.gz";
-    sha256 = "3fb5217dd0bdbecce6dfd3db2bbcce25b843280cf7fc3b6ef2479d9222591d07";
+    url = "https://github.com/IntelRealSense/librealsense2-release/archive/release/foxy/librealsense2/2.41.0-1.tar.gz";
+    name = "2.41.0-1.tar.gz";
+    sha256 = "68a97494e0d6ea89366c6ceebc27306bc3bf2b0b163360ade505a8f918b1c0d3";
   };
 
   buildType = "ament_cmake";
-  buildInputs = [ pkg-config ];
-  propagatedBuildInputs = [ glfw3 gtk3 libGL libGLU libusb1 linuxHeaders openssl udev ];
+  buildInputs = [ libusb1 openssl pkg-config udev ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/foxy/libyaml-vendor/default.nix b/distros/foxy/libyaml-vendor/default.nix
index 9513782e4d..1b4d401610 100644
--- a/distros/foxy/libyaml-vendor/default.nix
+++ b/distros/foxy/libyaml-vendor/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, ament-lint-auto, ament-lint-common }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, performance-test-fixture, rcpputils }:
 buildRosPackage {
   pname = "ros-foxy-libyaml-vendor";
-  version = "1.0.2-r1";
+  version = "1.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/libyaml_vendor-release/archive/release/foxy/libyaml_vendor/1.0.2-1.tar.gz";
-    name = "1.0.2-1.tar.gz";
-    sha256 = "2d9d6e4a32ac17bf0617218b0caecf892a837cfb23835a55a072e13363e48bf0";
+    url = "https://github.com/ros2-gbp/libyaml_vendor-release/archive/release/foxy/libyaml_vendor/1.0.3-1.tar.gz";
+    name = "1.0.3-1.tar.gz";
+    sha256 = "f16180e3aded15087e9e41e9f7acb34062ab01439f0e3f7b298a4cd5e4559040";
   };
 
   buildType = "ament_cmake";
-  checkInputs = [ ament-lint-auto ament-lint-common ];
+  checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common performance-test-fixture rcpputils ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/foxy/map-transformer/default.nix b/distros/foxy/map-transformer/default.nix
index 60d1c2c3d6..a08787fc3c 100644
--- a/distros/foxy/map-transformer/default.nix
+++ b/distros/foxy/map-transformer/default.nix
@@ -2,19 +2,20 @@
 # 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 }:
+{ lib, buildRosPackage, fetchurl, ament-cmake-ros, ament-lint-auto, ament-lint-common, opencv3, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-foxy-map-transformer";
-  version = "1.0.0-r1";
+  version = "1.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/map_transformer-release/archive/release/foxy/map_transformer/1.0.0-1.tar.gz";
-    name = "1.0.0-1.tar.gz";
-    sha256 = "eddb4d0a104dc199e614fd490355515e26c6575152ad5b1ed6b55834693c7be4";
+    url = "https://github.com/ros-gbp/map_transformer-release/archive/release/foxy/map_transformer/1.0.3-1.tar.gz";
+    name = "1.0.3-1.tar.gz";
+    sha256 = "d9f8ccf5a5879fa8965b65fa6f65b1d33503deb694b910eba3cd5ded46bff5ad";
   };
 
   buildType = "ament_cmake";
   checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ opencv3 yaml-cpp-vendor ];
   nativeBuildInputs = [ ament-cmake-ros ];
 
   meta = {
diff --git a/distros/foxy/mavlink/default.nix b/distros/foxy/mavlink/default.nix
index 5963474a4e..7a61dee66b 100644
--- a/distros/foxy/mavlink/default.nix
+++ b/distros/foxy/mavlink/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, cmake, python3, python3Packages, ros-environment }:
 buildRosPackage {
   pname = "ros-foxy-mavlink";
-  version = "2021.1.4-r1";
+  version = "2021.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavlink-gbp-release/archive/release/foxy/mavlink/2021.1.4-1.tar.gz";
-    name = "2021.1.4-1.tar.gz";
-    sha256 = "4786e85ecb66cc3a3a3e2aee42d9973adf570b09ed0db1517a6c4e4d27473430";
+    url = "https://github.com/mavlink/mavlink-gbp-release/archive/release/foxy/mavlink/2021.2.2-1.tar.gz";
+    name = "2021.2.2-1.tar.gz";
+    sha256 = "ac3424248eb63e6e02649d8ce2ac51b6500e67006e60f3599ea83ac7e791d3fd";
   };
 
   buildType = "cmake";
diff --git a/distros/foxy/orocos-kdl/default.nix b/distros/foxy/orocos-kdl/default.nix
index 61059f4cb8..68a47ca8a6 100644
--- a/distros/foxy/orocos-kdl/default.nix
+++ b/distros/foxy/orocos-kdl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, cppunit, eigen, eigen3-cmake-module, pkg-config }:
 buildRosPackage {
   pname = "ros-foxy-orocos-kdl";
-  version = "3.3.1-r1";
+  version = "3.3.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/orocos_kinematics_dynamics-release/archive/release/foxy/orocos_kdl/3.3.1-1.tar.gz";
-    name = "3.3.1-1.tar.gz";
-    sha256 = "a76f67c07a0e87df041957dcd9bdf0c27f665038f597e0dd0b62ea3df8b575e4";
+    url = "https://github.com/ros2-gbp/orocos_kinematics_dynamics-release/archive/release/foxy/orocos_kdl/3.3.2-1.tar.gz";
+    name = "3.3.2-1.tar.gz";
+    sha256 = "98db0b3f2f98694048993f760461db36c01c9ee1cb2cf413ab061dd3882aa5cd";
   };
 
   buildType = "cmake";
diff --git a/distros/foxy/plotjuggler-ros/default.nix b/distros/foxy/plotjuggler-ros/default.nix
index 9df28d528b..51ba862f89 100644
--- a/distros/foxy/plotjuggler-ros/default.nix
+++ b/distros/foxy/plotjuggler-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, binutils, boost, diagnostic-msgs, fastcdr, geometry-msgs, nav-msgs, plotjuggler, plotjuggler-msgs, qt5, rclcpp, rcpputils, rosbag2, rosbag2-transport, sensor-msgs, tf2-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-foxy-plotjuggler-ros";
-  version = "1.0.2-r1";
+  version = "1.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/PlotJuggler/plotjuggler-ros-plugins-release/archive/release/foxy/plotjuggler_ros/1.0.2-1.tar.gz";
-    name = "1.0.2-1.tar.gz";
-    sha256 = "afd698702b2f279c5c1c62b6f65b225532cb6d8f759c73254ca46a30888ed73e";
+    url = "https://github.com/PlotJuggler/plotjuggler-ros-plugins-release/archive/release/foxy/plotjuggler_ros/1.1.0-1.tar.gz";
+    name = "1.1.0-1.tar.gz";
+    sha256 = "f12c4a9f50465f101258c9687e0855678c18cca181cd5fb13e4e2da997497b94";
   };
 
   buildType = "catkin";
diff --git a/distros/foxy/plotjuggler/default.nix b/distros/foxy/plotjuggler/default.nix
index 0b31d60864..22ad23017a 100644
--- a/distros/foxy/plotjuggler/default.nix
+++ b/distros/foxy/plotjuggler/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-index-cpp, binutils, boost, cppzmq, qt5 }:
 buildRosPackage {
   pname = "ros-foxy-plotjuggler";
-  version = "3.0.7-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/facontidavide/plotjuggler-release/archive/release/foxy/plotjuggler/3.0.7-1.tar.gz";
-    name = "3.0.7-1.tar.gz";
-    sha256 = "da9b752c1dffdb1399aca9447286f0c0c37298a2e5049aba6f167df42b98cc28";
+    url = "https://github.com/facontidavide/plotjuggler-release/archive/release/foxy/plotjuggler/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "064cdd789f8c3b8da8208a7428abbde3e88876d263a4636127d5dd46e74518eb";
   };
 
   buildType = "catkin";
diff --git a/distros/foxy/pybind11-vendor/default.nix b/distros/foxy/pybind11-vendor/default.nix
new file mode 100644
index 0000000000..7250019a48
--- /dev/null
+++ b/distros/foxy/pybind11-vendor/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake }:
+buildRosPackage {
+  pname = "ros-foxy-pybind11-vendor";
+  version = "2.2.6-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/pybind11_vendor-release/archive/release/foxy/pybind11_vendor/2.2.6-1.tar.gz";
+    name = "2.2.6-1.tar.gz";
+    sha256 = "e9e10cba2cb324dd3aea00d5dc83f4b75779e9d4bdb42b9512baa31678e6fa50";
+  };
+
+  buildType = "ament_cmake";
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Wrapper around pybind11.'';
+    license = with lib.licenses; [ asl20 bsdOriginal ];
+  };
+}
diff --git a/distros/foxy/rc-genicam-driver/default.nix b/distros/foxy/rc-genicam-driver/default.nix
index f22cfe90a4..912ba4543e 100644
--- a/distros/foxy/rc-genicam-driver/default.nix
+++ b/distros/foxy/rc-genicam-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-cppcheck, ament-cmake-xmllint, ament-lint-auto, diagnostic-updater, image-transport, rc-common-msgs, rc-genicam-api, rclcpp, rclcpp-components, sensor-msgs, stereo-msgs }:
 buildRosPackage {
   pname = "ros-foxy-rc-genicam-driver";
-  version = "0.1.1-r1";
+  version = "0.1.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/roboception-gbp/rc_genicam_driver_ros2-release/archive/release/foxy/rc_genicam_driver/0.1.1-1.tar.gz";
-    name = "0.1.1-1.tar.gz";
-    sha256 = "4f99abacf894ce6f2d8bfc715e45f4fafb625acc58e20d895d2bc4e078131d0c";
+    url = "https://github.com/roboception-gbp/rc_genicam_driver_ros2-release/archive/release/foxy/rc_genicam_driver/0.1.2-1.tar.gz";
+    name = "0.1.2-1.tar.gz";
+    sha256 = "20794b66cd597e94c850f0bf264d43a425a9db7f67910e7b7ca918a7f406d734";
   };
 
   buildType = "ament_cmake";
@@ -19,7 +19,7 @@ buildRosPackage {
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
-    description = ''Driver for rc_visard sensor from Roboception GmbH'';
+    description = ''Driver for rc_visard and rc_cube from Roboception GmbH'';
     license = with lib.licenses; [ bsdOriginal ];
   };
 }
diff --git a/distros/foxy/robot-state-publisher/default.nix b/distros/foxy/robot-state-publisher/default.nix
index 503bf6aef9..55b90117e2 100644
--- a/distros/foxy/robot-state-publisher/default.nix
+++ b/distros/foxy/robot-state-publisher/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, kdl-parser, launch-ros, launch-testing-ament-cmake, orocos-kdl, rclcpp, rclcpp-components, sensor-msgs, std-msgs, tf2-ros, urdf, urdfdom-headers }:
 buildRosPackage {
   pname = "ros-foxy-robot-state-publisher";
-  version = "2.4.1-r1";
+  version = "2.4.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/robot_state_publisher-release/archive/release/foxy/robot_state_publisher/2.4.1-1.tar.gz";
-    name = "2.4.1-1.tar.gz";
-    sha256 = "9ddc81f216689e36e8b5cb0814fdd05b9e6fa5f67e4422a02dd8ef64f065f544";
+    url = "https://github.com/ros2-gbp/robot_state_publisher-release/archive/release/foxy/robot_state_publisher/2.4.2-1.tar.gz";
+    name = "2.4.2-1.tar.gz";
+    sha256 = "59f69893fc4e810209db9c569c6d0826a230428a936690303884c03d61f7aba7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/ros2-control-test-assets/default.nix b/distros/foxy/ros2-control-test-assets/default.nix
new file mode 100644
index 0000000000..2b36f029e0
--- /dev/null
+++ b/distros/foxy/ros2-control-test-assets/default.nix
@@ -0,0 +1,23 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake }:
+buildRosPackage {
+  pname = "ros-foxy-ros2-control-test-assets";
+  version = "0.1.5-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/ros2_control_test_assets/0.1.5-1.tar.gz";
+    name = "0.1.5-1.tar.gz";
+    sha256 = "6941f7128b9564cbe333a9e1995c6ca0d06c7b0b0e97d165328aad1d21459b8a";
+  };
+
+  buildType = "ament_cmake";
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''The package provides shared test resources for ros2_control stack'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/foxy/ros2-control/default.nix b/distros/foxy/ros2-control/default.nix
index 15c9ad17c5..65f5fef9d2 100644
--- a/distros/foxy/ros2-control/default.nix
+++ b/distros/foxy/ros2-control/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, controller-interface, controller-manager, hardware-interface, ros2controlcli }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, controller-interface, controller-manager, hardware-interface, ros2-control-test-assets, ros2controlcli }:
 buildRosPackage {
   pname = "ros-foxy-ros2-control";
-  version = "0.1.3-r1";
+  version = "0.1.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/ros2_control/0.1.3-1.tar.gz";
-    name = "0.1.3-1.tar.gz";
-    sha256 = "5fdef2e8972ab9a69f5a2c2ef5984b3052a60b36d2d7ae6b1051b5c7351dd6fd";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/ros2_control/0.1.5-1.tar.gz";
+    name = "0.1.5-1.tar.gz";
+    sha256 = "974ac3bdf210ffd2e22b2272fbd4931b5e7c3c587453671f603020f181f56c2e";
   };
 
   buildType = "ament_cmake";
-  propagatedBuildInputs = [ controller-interface controller-manager hardware-interface ros2controlcli ];
+  propagatedBuildInputs = [ controller-interface controller-manager hardware-interface ros2-control-test-assets ros2controlcli ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/foxy/ros2controlcli/default.nix b/distros/foxy/ros2controlcli/default.nix
index e6d3623f06..188ae02668 100644
--- a/distros/foxy/ros2controlcli/default.nix
+++ b/distros/foxy/ros2controlcli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, controller-manager-msgs, rclpy, ros2cli, ros2node, ros2param, rosidl-runtime-py }:
 buildRosPackage {
   pname = "ros-foxy-ros2controlcli";
-  version = "0.1.3-r1";
+  version = "0.1.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/ros2controlcli/0.1.3-1.tar.gz";
-    name = "0.1.3-1.tar.gz";
-    sha256 = "e3101a5f1cdf4626813fef4187d8ea430f7e7b61da879e919b89b695641f6512";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/ros2controlcli/0.1.5-1.tar.gz";
+    name = "0.1.5-1.tar.gz";
+    sha256 = "323b6fbda8991264ddfa7b2273bc3e70cda42aa12aaee27484b0c5d90a30996f";
   };
 
   buildType = "ament_python";
diff --git a/distros/foxy/self-test/default.nix b/distros/foxy/self-test/default.nix
index 36083d42cf..d40104d4c5 100644
--- a/distros/foxy/self-test/default.nix
+++ b/distros/foxy/self-test/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, diagnostic-msgs, diagnostic-updater, rclcpp }:
 buildRosPackage {
   pname = "ros-foxy-self-test";
-  version = "2.0.5-r1";
+  version = "2.0.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/foxy/self_test/2.0.5-1.tar.gz";
-    name = "2.0.5-1.tar.gz";
-    sha256 = "5969afe2ed15294b1018683d0594b1d323e8276295a11ca0517d513c11b07b71";
+    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/foxy/self_test/2.0.6-1.tar.gz";
+    name = "2.0.6-1.tar.gz";
+    sha256 = "800861e2dafa8762833a4cb1fa1cb56b3045c458e30182528b6cf1f5179baca8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/transmission-interface/default.nix b/distros/foxy/transmission-interface/default.nix
index 7d8c3b71ba..a165c2aa3e 100644
--- a/distros/foxy/transmission-interface/default.nix
+++ b/distros/foxy/transmission-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, hardware-interface, tinyxml2-vendor }:
 buildRosPackage {
   pname = "ros-foxy-transmission-interface";
-  version = "0.1.3-r1";
+  version = "0.1.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/transmission_interface/0.1.3-1.tar.gz";
-    name = "0.1.3-1.tar.gz";
-    sha256 = "bda19ee934d33894bf47d647a898730419c25d4fb920beb51ecc924d1de27500";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/foxy/transmission_interface/0.1.5-1.tar.gz";
+    name = "0.1.5-1.tar.gz";
+    sha256 = "7a444b9341480d6b69efc16c0bd5246a0752e37d61aa26b8581d07c7472346ba";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/foxy/twist-stamper/default.nix b/distros/foxy/twist-stamper/default.nix
new file mode 100644
index 0000000000..e8bbfe6b35
--- /dev/null
+++ b/distros/foxy/twist-stamper/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, geometry-msgs, pythonPackages, rclpy, std-msgs }:
+buildRosPackage {
+  pname = "ros-foxy-twist-stamper";
+  version = "0.0.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/joshnewans/twist_stamper-release/archive/release/foxy/twist_stamper/0.0.2-1.tar.gz";
+    name = "0.0.2-1.tar.gz";
+    sha256 = "4c68a9fb424153e26bd39a6caedcad9a9659781a6b97ef005b28adb1c2b16ef8";
+  };
+
+  buildType = "ament_python";
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ];
+  propagatedBuildInputs = [ geometry-msgs rclpy std-msgs ];
+
+  meta = {
+    description = ''ROS2 package for converting between Twist and TwistStamped messages'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/foxy/v4l2-camera/default.nix b/distros/foxy/v4l2-camera/default.nix
index 58e67eb547..05157c390a 100644
--- a/distros/foxy/v4l2-camera/default.nix
+++ b/distros/foxy/v4l2-camera/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-ros, ament-lint-auto, ament-lint-common, camera-info-manager, image-transport, rclcpp, rclcpp-components, sensor-msgs }:
 buildRosPackage {
   pname = "ros-foxy-v4l2-camera";
-  version = "0.3.1-r1";
+  version = "0.4.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_v4l2_camera-release/archive/release/foxy/v4l2_camera/0.3.1-1.tar.gz";
-    name = "0.3.1-1.tar.gz";
-    sha256 = "2ec6457368c1c8b639539737d165fe796505c2045d9240fae3173fe451252816";
+    url = "https://github.com/ros2-gbp/ros2_v4l2_camera-release/archive/release/foxy/v4l2_camera/0.4.0-1.tar.gz";
+    name = "0.4.0-1.tar.gz";
+    sha256 = "08d6b00b59353d626745974898c115a49160396fd4282e50881d8fe9b528c330";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kinetic/async-comm/default.nix b/distros/kinetic/async-comm/default.nix
index f0e1986b1b..9aa8a6c47d 100644
--- a/distros/kinetic/async-comm/default.nix
+++ b/distros/kinetic/async-comm/default.nix
@@ -2,19 +2,20 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, boost }:
+{ lib, buildRosPackage, fetchurl, boost, cmake }:
 buildRosPackage {
   pname = "ros-kinetic-async-comm";
-  version = "0.2.1-r3";
+  version = "0.2.1-r4";
 
   src = fetchurl {
-    url = "https://github.com/dpkoch/async_comm-release/archive/release/kinetic/async_comm/0.2.1-3.tar.gz";
-    name = "0.2.1-3.tar.gz";
-    sha256 = "0b3fc077144c8f24707843c9383e4269443ec931bd56133fe6b7545be70f98fd";
+    url = "https://github.com/dpkoch/async_comm-release/archive/release/kinetic/async_comm/0.2.1-4.tar.gz";
+    name = "0.2.1-4.tar.gz";
+    sha256 = "bbe8a4aac77772754cdf131152179bee94aba9bed87755614eb34725835d9e0d";
   };
 
   buildType = "cmake";
   propagatedBuildInputs = [ boost ];
+  nativeBuildInputs = [ cmake ];
 
   meta = {
     description = ''A C++ library for asynchronous serial communication'';
diff --git a/distros/kinetic/cob-command-gui/default.nix b/distros/kinetic/cob-command-gui/default.nix
index ea90fe499e..e25d2239fa 100644
--- a/distros/kinetic/cob-command-gui/default.nix
+++ b/distros/kinetic/cob-command-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cob-msgs, cob-script-server, pythonPackages, roslib, rospy }:
 buildRosPackage {
   pname = "ros-kinetic-cob-command-gui";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_command_gui/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "453c7ef2e80d2c49cbb54cf6341ee3cd31d69b74d21db469e6dc0b4d566e50d3";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_command_gui/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "a36fa7061c30fe0860bdb53743db533748dc07f1529b6c3dad74a005e5a565d4";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/cob-command-tools/default.nix b/distros/kinetic/cob-command-tools/default.nix
index 2c3ffef4a5..f78fd100f3 100644
--- a/distros/kinetic/cob-command-tools/default.nix
+++ b/distros/kinetic/cob-command-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cob-command-gui, cob-dashboard, cob-helper-tools, cob-interactive-teleop, cob-monitoring, cob-script-server, cob-teleop }:
 buildRosPackage {
   pname = "ros-kinetic-cob-command-tools";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_command_tools/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "2c1e58a39a59f75e108b8fdc3f2cc66eb78403b01c1be43355698504b30b1fc6";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_command_tools/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "28478871c5aa1cc1764c613889b6bb793086c7ebeb17d0486ef62177c65d41fc";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/cob-dashboard/default.nix b/distros/kinetic/cob-dashboard/default.nix
index 1ca80da339..0c11bce58f 100644
--- a/distros/kinetic/cob-dashboard/default.nix
+++ b/distros/kinetic/cob-dashboard/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cob-msgs, pythonPackages, roslib, rospy, rqt-gui, rqt-robot-dashboard }:
 buildRosPackage {
   pname = "ros-kinetic-cob-dashboard";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_dashboard/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "bb71e8daa0ab499a91ba61e4cc6be8579003cfa6b5f6e97d2138181e0b535706";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_dashboard/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "3a5f12795d29c4c1023dccf5cb905bdc4e2a76ea4c209b19f6bb68139d5dba2a";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/cob-helper-tools/default.nix b/distros/kinetic/cob-helper-tools/default.nix
index 99359b2698..9c2dd5467a 100644
--- a/distros/kinetic/cob-helper-tools/default.nix
+++ b/distros/kinetic/cob-helper-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cob-msgs, cob-script-server, diagnostic-msgs, dynamic-reconfigure, message-generation, message-runtime, rospy, std-srvs, tf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-cob-helper-tools";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_helper_tools/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "8c549a8ad775ab7bb889ffc565adbfd3b72e681680b573e7da0eae8ec3fb35b5";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_helper_tools/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "afd5ec55f8b271472a2fcd18f0fd55684d3f62cf984536ea79cc7c03d7aa13d0";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/cob-interactive-teleop/default.nix b/distros/kinetic/cob-interactive-teleop/default.nix
index 23f7c8fc67..6347b2df51 100644
--- a/distros/kinetic/cob-interactive-teleop/default.nix
+++ b/distros/kinetic/cob-interactive-teleop/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, interactive-markers, roscpp, rviz, std-msgs, tf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-cob-interactive-teleop";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_interactive_teleop/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "8661c830a22d7a94e6605e040e305531166c75ea3262af547970f826a8e2b87f";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_interactive_teleop/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "d7645c860bf43f86914489eb700f5e78f25648ef320330d021a07a19a9722a1a";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/cob-monitoring/default.nix b/distros/kinetic/cob-monitoring/default.nix
index 9a700a4b6c..563553eb45 100644
--- a/distros/kinetic/cob-monitoring/default.nix
+++ b/distros/kinetic/cob-monitoring/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, actionlib, catkin, cob-light, cob-msgs, cob-script-server, diagnostic-msgs, diagnostic-updater, ifstat-legacy, ipmitool, ntp, pythonPackages, roscpp, rospy, rostopic, sensor-msgs, std-msgs, sysstat, topic-tools }:
 buildRosPackage {
   pname = "ros-kinetic-cob-monitoring";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_monitoring/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "744ecaaad6db561f3d676b4d233ade76727995fb1695e89c23b9503c90e19df9";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_monitoring/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "a67838208e55816345a4967af611f9cdc896dea707b1ebf01d8e8022d28d2b99";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/cob-script-server/default.nix b/distros/kinetic/cob-script-server/default.nix
index 55e0080802..d371237329 100644
--- a/distros/kinetic/cob-script-server/default.nix
+++ b/distros/kinetic/cob-script-server/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, actionlib, actionlib-msgs, catkin, cob-actions, cob-light, cob-mimic, cob-sound, control-msgs, geometry-msgs, message-generation, message-runtime, move-base-msgs, pythonPackages, rospy, rostest, std-msgs, std-srvs, tf, trajectory-msgs, urdfdom-py }:
 buildRosPackage {
   pname = "ros-kinetic-cob-script-server";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_script_server/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "e4ad0de4f69a0e5ec9399a542b6ca2f41d7ca7a2dc400449fcd8cd750fa5a22f";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_script_server/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "c6ea28d2b8c964fc9f02fd88785419f2d49c205aa16911a576f478180196dc52";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/cob-teleop/default.nix b/distros/kinetic/cob-teleop/default.nix
index 7b0d0f91c4..f24c417abf 100644
--- a/distros/kinetic/cob-teleop/default.nix
+++ b/distros/kinetic/cob-teleop/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, actionlib, catkin, cob-actions, cob-light, cob-script-server, cob-sound, geometry-msgs, roscpp, sensor-msgs, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-kinetic-cob-teleop";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_teleop/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "eed7534c066e583d76ac6118202b97fec528be4fa816ed59565587d0703d822d";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/cob_teleop/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "c2d09bdcca50d556184d009a74a8c2f9fe4b5eb9f581a12040c9878eeb3e1603";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/costmap-cspace/default.nix b/distros/kinetic/costmap-cspace/default.nix
index 76b99c5ef4..be2d945cae 100644
--- a/distros/kinetic/costmap-cspace/default.nix
+++ b/distros/kinetic/costmap-cspace/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, costmap-cspace-msgs, geometry-msgs, laser-geometry, nav-msgs, neonavigation-common, roscpp, roslint, rostest, sensor-msgs, tf2-geometry-msgs, tf2-ros, tf2-sensor-msgs, xmlrpcpp }:
 buildRosPackage {
   pname = "ros-kinetic-costmap-cspace";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/costmap_cspace/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "56430cadd5008732c2f0027f511a16293d37ebd93a01ec33037922ec55a352f2";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/costmap_cspace/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "e669d8f230926351052d2cc2f200c74a5935e9aeca93b297ddfc9133771a6aa9";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/generated.nix b/distros/kinetic/generated.nix
index 8e4f8e2bfd..d6e166a077 100644
--- a/distros/kinetic/generated.nix
+++ b/distros/kinetic/generated.nix
@@ -1920,6 +1920,8 @@ self: super: {
 
  khi-robot-msgs = self.callPackage ./khi-robot-msgs {};
 
+ khi-robot-test = self.callPackage ./khi-robot-test {};
+
  khi-rs007l-moveit-config = self.callPackage ./khi-rs007l-moveit-config {};
 
  khi-rs007n-moveit-config = self.callPackage ./khi-rs007n-moveit-config {};
@@ -2196,6 +2198,8 @@ self: super: {
 
  lyap-control = self.callPackage ./lyap-control {};
 
+ magical-ros2-conversion-tool = self.callPackage ./magical-ros2-conversion-tool {};
+
  magni-bringup = self.callPackage ./magni-bringup {};
 
  magni-demos = self.callPackage ./magni-demos {};
@@ -4622,6 +4626,8 @@ self: super: {
 
  teb-local-planner-tutorials = self.callPackage ./teb-local-planner-tutorials {};
 
+ teleop-legged-robots = self.callPackage ./teleop-legged-robots {};
+
  teleop-tools = self.callPackage ./teleop-tools {};
 
  teleop-tools-msgs = self.callPackage ./teleop-tools-msgs {};
diff --git a/distros/kinetic/generic-throttle/default.nix b/distros/kinetic/generic-throttle/default.nix
index 9dec04b3b8..a149782d0c 100644
--- a/distros/kinetic/generic-throttle/default.nix
+++ b/distros/kinetic/generic-throttle/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cv-bridge, pythonPackages, rospy, rostopic }:
 buildRosPackage {
   pname = "ros-kinetic-generic-throttle";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/generic_throttle/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "4ba99ef99bcdd5560fe017b87922e92caaca5c3da88c664282e0bc0cdbf63c91";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/generic_throttle/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "fbdb7e283cd0ed8346407bd9f632d6f81f866fa4596ca877c5f4ef2f95ed8e2b";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/joystick-interrupt/default.nix b/distros/kinetic/joystick-interrupt/default.nix
index 684b0604e1..abde35ec49 100644
--- a/distros/kinetic/joystick-interrupt/default.nix
+++ b/distros/kinetic/joystick-interrupt/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, neonavigation-common, roscpp, roslint, rostest, sensor-msgs, topic-tools }:
 buildRosPackage {
   pname = "ros-kinetic-joystick-interrupt";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/joystick_interrupt/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "297cfe737428b92bb7e363682569c29b185e2b04a42119635c9cb402136bd1f8";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/joystick_interrupt/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "7b455bcdfe44f6abd5a877a65b3e8ac0fce914142635762e4ad9eb0e00939014";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-duaro-description/default.nix b/distros/kinetic/khi-duaro-description/default.nix
index fd2a268cba..be07a3c6e3 100644
--- a/distros/kinetic/khi-duaro-description/default.nix
+++ b/distros/kinetic/khi-duaro-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, roslaunch }:
 buildRosPackage {
   pname = "ros-kinetic-khi-duaro-description";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_duaro_description/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "9b46740c8c77cbf61497aaea1a8b804d1208896be9c99cc1890768e2b49ad146";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_duaro_description/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "297c05a6cfc1a11833e80668ae4bc7a9c99069032717d02b8d8d1caa0e6bac5b";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-duaro-gazebo/default.nix b/distros/kinetic/khi-duaro-gazebo/default.nix
index 8f91e1e146..ae1e5b06e8 100644
--- a/distros/kinetic/khi-duaro-gazebo/default.nix
+++ b/distros/kinetic/khi-duaro-gazebo/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gazebo-ros-control }:
 buildRosPackage {
   pname = "ros-kinetic-khi-duaro-gazebo";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_duaro_gazebo/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "3c620509b6f309b8d95b095318db45c3d2148a8289aaffb3394e93b7b9ce8425";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_duaro_gazebo/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "3cda275a6cfaf6aac829106bac441f5958cc7a1d717116abbd561132b76ff005";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-duaro-ikfast-plugin/default.nix b/distros/kinetic/khi-duaro-ikfast-plugin/default.nix
index 2ff984fcc3..6442bde87a 100644
--- a/distros/kinetic/khi-duaro-ikfast-plugin/default.nix
+++ b/distros/kinetic/khi-duaro-ikfast-plugin/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, liblapack, moveit-core, pluginlib, roscpp, tf-conversions }:
 buildRosPackage {
   pname = "ros-kinetic-khi-duaro-ikfast-plugin";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_duaro_ikfast_plugin/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "63c2ac58d289bacc188c69629427ed5bfee694f77e4b68e3b472d7d10feb7242";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_duaro_ikfast_plugin/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "dfed859c60e4ef6dc8eb3bafbdb084e3b4fd54ec3e3597ce02ba726c142afbe7";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-duaro-moveit-config/default.nix b/distros/kinetic/khi-duaro-moveit-config/default.nix
index bd4c3f6772..34585a0142 100644
--- a/distros/kinetic/khi-duaro-moveit-config/default.nix
+++ b/distros/kinetic/khi-duaro-moveit-config/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, joint-state-publisher, khi-duaro-description, moveit-fake-controller-manager, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, moveit-simple-controller-manager, robot-state-publisher, roslaunch, rostest, rviz, tf, xacro }:
 buildRosPackage {
   pname = "ros-kinetic-khi-duaro-moveit-config";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_duaro_moveit_config/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "49163da73b919add96090f4f1f290dbd8b941a335ea169937312b75863ec3bbe";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_duaro_moveit_config/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "c2ce8eae0c51aca86511817807363afc251afac49c4392a651a1140b07e0af57";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-robot-bringup/default.nix b/distros/kinetic/khi-robot-bringup/default.nix
index a13291cf43..48f373b17c 100644
--- a/distros/kinetic/khi-robot-bringup/default.nix
+++ b/distros/kinetic/khi-robot-bringup/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, controller-manager, joint-state-controller, joint-trajectory-controller, khi-duaro-description, khi-duaro-moveit-config, khi-robot-control, position-controllers, robot-state-publisher, roslaunch, rostest, tf }:
 buildRosPackage {
   pname = "ros-kinetic-khi-robot-bringup";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_robot_bringup/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "be1db76ee75dd250d42a6db1aa2dec4513ecdab9e23ea5c9e0c27bfcee963177";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_robot_bringup/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "8806146bfd3bc17230c3dd1f3120ef6e4b3bd9a769480d7dc68f9260fcb845c4";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-robot-control/default.nix b/distros/kinetic/khi-robot-control/default.nix
index 2df6517a0c..3ea03588fb 100644
--- a/distros/kinetic/khi-robot-control/default.nix
+++ b/distros/kinetic/khi-robot-control/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, controller-manager, diagnostic-updater, hardware-interface, joint-limits-interface, joint-state-controller, joint-trajectory-controller, khi-robot-msgs, position-controllers, realtime-tools, rostest, trajectory-msgs, transmission-interface }:
 buildRosPackage {
   pname = "ros-kinetic-khi-robot-control";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_robot_control/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "97c62532a93adcc6c37496e3a77b659ff44c346680f2c870feb296c3b9ae0930";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_robot_control/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "176edce4b0c1eb25c4847f3b44ef815267f7897aa13cc4fe1499550a15e6c693";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-robot-msgs/default.nix b/distros/kinetic/khi-robot-msgs/default.nix
index 490ce16b0b..6b9de0a543 100644
--- a/distros/kinetic/khi-robot-msgs/default.nix
+++ b/distros/kinetic/khi-robot-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-khi-robot-msgs";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_robot_msgs/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "71ab525f8ea629ca0a3cce453e6bee8fe65ed196b1af39b4dd4df9f4d36e6c10";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_robot_msgs/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "31625b405eae7257531733a03bd5c7f974ffdb1d59219163ac4f8d60a8df24a7";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-robot-test/default.nix b/distros/kinetic/khi-robot-test/default.nix
new file mode 100644
index 0000000000..84f8f422c7
--- /dev/null
+++ b/distros/kinetic/khi-robot-test/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, khi-duaro-moveit-config, khi-robot-bringup, khi-robot-control, khi-robot-msgs, khi-rs007l-moveit-config, khi-rs007n-moveit-config, khi-rs080n-moveit-config, moveit-commander, rospy, rostest }:
+buildRosPackage {
+  pname = "ros-kinetic-khi-robot-test";
+  version = "1.2.0-r5";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_robot_test/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "39f9f4a055e622b4c6a097541578c10ddfbc284254d4f045fd779f247833a8b1";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ khi-duaro-moveit-config khi-robot-bringup khi-robot-control khi-robot-msgs khi-rs007l-moveit-config khi-rs007n-moveit-config khi-rs080n-moveit-config moveit-commander rostest ];
+  propagatedBuildInputs = [ khi-robot-msgs rospy ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Test package for khi_robot'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/kinetic/khi-robot/default.nix b/distros/kinetic/khi-robot/default.nix
index 31c2cc160e..59c0ba9138 100644
--- a/distros/kinetic/khi-robot/default.nix
+++ b/distros/kinetic/khi-robot/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, khi-duaro-description, khi-duaro-gazebo, khi-duaro-ikfast-plugin, khi-duaro-moveit-config, khi-robot-bringup, khi-robot-control, khi-robot-msgs, khi-rs-description, khi-rs-gazebo, khi-rs-ikfast-plugin, khi-rs007l-moveit-config, khi-rs007n-moveit-config, khi-rs080n-moveit-config }:
 buildRosPackage {
   pname = "ros-kinetic-khi-robot";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_robot/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "e44b715ba4d86e915967708a6d4a4d993a2ffdfe3bf2cc9e950096a2459c2f2b";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_robot/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "d6397e3b7383f1c0126daef61a9f70b2bfe9db74157a3de149d26dca420a950e";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-rs-description/default.nix b/distros/kinetic/khi-rs-description/default.nix
index 4a459b7e33..4726ba3c24 100644
--- a/distros/kinetic/khi-rs-description/default.nix
+++ b/distros/kinetic/khi-rs-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, roslaunch }:
 buildRosPackage {
   pname = "ros-kinetic-khi-rs-description";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs_description/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "67217515755eb1c89dac53f8eaa6a122d6641ab5f7f9270b8b9b0cc7f1bfe4e7";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs_description/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "b20c4b2926a4cb48190f097bab1a22f8bc661722f0aa3a02e83173871e0ac490";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-rs-gazebo/default.nix b/distros/kinetic/khi-rs-gazebo/default.nix
index 447a76a6dc..d35bd9d9d0 100644
--- a/distros/kinetic/khi-rs-gazebo/default.nix
+++ b/distros/kinetic/khi-rs-gazebo/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gazebo-ros, gazebo-ros-control }:
 buildRosPackage {
   pname = "ros-kinetic-khi-rs-gazebo";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs_gazebo/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "20ac49b5b30593e669743da9e1520e57cf71154bcd6895413bf5c0072eb937bb";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs_gazebo/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "ef000ad5cbe4b620a5ba833b0d1755b83561a028ff1bfa35b74909ddcc806f85";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-rs-ikfast-plugin/default.nix b/distros/kinetic/khi-rs-ikfast-plugin/default.nix
index f26fa4c183..faef507500 100644
--- a/distros/kinetic/khi-rs-ikfast-plugin/default.nix
+++ b/distros/kinetic/khi-rs-ikfast-plugin/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, liblapack, moveit-core, pluginlib, roscpp, tf-conversions }:
 buildRosPackage {
   pname = "ros-kinetic-khi-rs-ikfast-plugin";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs_ikfast_plugin/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "f38eeb5fe9d9ed489432cdab4465fd90105bf0855dca96de55bfda398c3a2004";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs_ikfast_plugin/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "ffa165109ab04e7363003d51e0b97e6dccd89c9adb92018c4487e6bdd7fe3f8e";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-rs007l-moveit-config/default.nix b/distros/kinetic/khi-rs007l-moveit-config/default.nix
index d32d085216..c0979d3099 100644
--- a/distros/kinetic/khi-rs007l-moveit-config/default.nix
+++ b/distros/kinetic/khi-rs007l-moveit-config/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, joint-state-publisher, khi-rs-description, moveit-fake-controller-manager, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, robot-state-publisher, roslaunch, rostest, rviz, tf, xacro }:
 buildRosPackage {
   pname = "ros-kinetic-khi-rs007l-moveit-config";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs007l_moveit_config/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "122afb77de453544e1705a0ffeb607bbcae6c3b0055fa6c0cfe9cc2c3fcbef11";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs007l_moveit_config/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "53b65a86709f1bb28f16459810f4f45cc14aa006feebd8d0407c8a6d289a2ea4";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-rs007n-moveit-config/default.nix b/distros/kinetic/khi-rs007n-moveit-config/default.nix
index d622da16e5..6f479519c4 100644
--- a/distros/kinetic/khi-rs007n-moveit-config/default.nix
+++ b/distros/kinetic/khi-rs007n-moveit-config/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, joint-state-publisher, khi-rs-description, moveit-fake-controller-manager, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, robot-state-publisher, roslaunch, rostest, rviz, tf, xacro }:
 buildRosPackage {
   pname = "ros-kinetic-khi-rs007n-moveit-config";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs007n_moveit_config/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "3e6de855e5f31817ccd1cd379ebab47fb9ebda7af634e98dbeed11697c9d7650";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs007n_moveit_config/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "46a4ba259ae9e226a0870019c0f41341d948a6ef297481d8770dc5c20b5d1c7c";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/khi-rs080n-moveit-config/default.nix b/distros/kinetic/khi-rs080n-moveit-config/default.nix
index 5dc9d3795e..c65ac5daaf 100644
--- a/distros/kinetic/khi-rs080n-moveit-config/default.nix
+++ b/distros/kinetic/khi-rs080n-moveit-config/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, joint-state-publisher, khi-rs-description, moveit-fake-controller-manager, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, robot-state-publisher, roslaunch, rostest, rviz, tf, xacro }:
 buildRosPackage {
   pname = "ros-kinetic-khi-rs080n-moveit-config";
-  version = "1.1.2-r1";
+  version = "1.2.0-r5";
 
   src = fetchurl {
-    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs080n_moveit_config/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "145aa2cbc7db77e95f6e51caae3ba2f8ab47e9ae62c33069c1389ad46c344035";
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/kinetic/khi_rs080n_moveit_config/1.2.0-5.tar.gz";
+    name = "1.2.0-5.tar.gz";
+    sha256 = "b265cfb6de896a179a8d610d85d51857b29d47079f1d3408fa7b2ac5f74fe242";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/libmavconn/default.nix b/distros/kinetic/libmavconn/default.nix
index f92130e3ff..ede3bedbab 100644
--- a/distros/kinetic/libmavconn/default.nix
+++ b/distros/kinetic/libmavconn/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, console-bridge, gtest, mavlink, rosunit }:
 buildRosPackage {
   pname = "ros-kinetic-libmavconn";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/kinetic/libmavconn/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "6ccf8d5eb04409c49f9e5fee5aeaf67ef792dae3318125919f63beadfd53692d";
+    url = "https://github.com/mavlink/mavros-release/archive/release/kinetic/libmavconn/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "20e0249f2ca6f1fc7aa46ba9978ff60e72c1df8b942c7b53d07a02651020e0ba";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/magical-ros2-conversion-tool/default.nix b/distros/kinetic/magical-ros2-conversion-tool/default.nix
new file mode 100644
index 0000000000..199b2ea241
--- /dev/null
+++ b/distros/kinetic/magical-ros2-conversion-tool/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, ros-introspection, roscompile, roslint }:
+buildRosPackage {
+  pname = "ros-kinetic-magical-ros2-conversion-tool";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/wu-robotics/roscompile-release/archive/release/kinetic/magical_ros2_conversion_tool/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "19bbb887a73eeebcb2c5325f51809134d8f91ab5480a8a34364d454b9bf7e2c7";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslint ];
+  propagatedBuildInputs = [ ros-introspection roscompile ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The magical_ros2_conversion_tool package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/kinetic/map-organizer/default.nix b/distros/kinetic/map-organizer/default.nix
index 5dbb4a78de..628a2c40c1 100644
--- a/distros/kinetic/map-organizer/default.nix
+++ b/distros/kinetic/map-organizer/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, map-organizer-msgs, map-server, nav-msgs, neonavigation-common, pcl, pcl-conversions, roscpp, roslint, rostest, sensor-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-kinetic-map-organizer";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/map_organizer/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "f5c3e928d34480af75589849919d4c804e4bf7f38dbeb52584dd40f3cf779119";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/map_organizer/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "f4453f4db70b7038763a826b074faaa74f34792f9902f1bc7d50e71cd91c3b07";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/mavlink/default.nix b/distros/kinetic/mavlink/default.nix
index 299b3c4267..725d3722b2 100644
--- a/distros/kinetic/mavlink/default.nix
+++ b/distros/kinetic/mavlink/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cmake, python, pythonPackages }:
 buildRosPackage {
   pname = "ros-kinetic-mavlink";
-  version = "2021.1.4-r1";
+  version = "2021.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavlink-gbp-release/archive/release/kinetic/mavlink/2021.1.4-1.tar.gz";
-    name = "2021.1.4-1.tar.gz";
-    sha256 = "e8def84db36e4963a094d85b81e072c258b08d82c1f7212e7cc763d3cd762456";
+    url = "https://github.com/mavlink/mavlink-gbp-release/archive/release/kinetic/mavlink/2021.2.2-1.tar.gz";
+    name = "2021.2.2-1.tar.gz";
+    sha256 = "b1c08ae12e1fd9b619f3b79a46f12ee4b86b7754bbf8fcc43eb8d76c18c3e385";
   };
 
   buildType = "cmake";
diff --git a/distros/kinetic/mavros-extras/default.nix b/distros/kinetic/mavros-extras/default.nix
index bc2de424b8..dcf2df66f3 100644
--- a/distros/kinetic/mavros-extras/default.nix
+++ b/distros/kinetic/mavros-extras/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cmake-modules, geometry-msgs, mavros, mavros-msgs, roscpp, sensor-msgs, std-msgs, tf, tf2-eigen, urdf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-mavros-extras";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/kinetic/mavros_extras/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "1cc88483cda57e0afcda5deedb31f5436afd2051f733bb97787f521a755ce40c";
+    url = "https://github.com/mavlink/mavros-release/archive/release/kinetic/mavros_extras/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "bab3135721cd4b25b0ff625f5d0b348c3bf83f5270f83ac552442d8daed44a39";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/mavros-msgs/default.nix b/distros/kinetic/mavros-msgs/default.nix
index 718f62ac08..3541720ea9 100644
--- a/distros/kinetic/mavros-msgs/default.nix
+++ b/distros/kinetic/mavros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geographic-msgs, geometry-msgs, message-generation, message-runtime, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-mavros-msgs";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/kinetic/mavros_msgs/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "6249f496067bd34fb1faa9e4c7f4dda680d0c7966b4bcdc33dda01cd259bf80e";
+    url = "https://github.com/mavlink/mavros-release/archive/release/kinetic/mavros_msgs/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "0a7f46c5b438dc821431d9a9e023bc87418e72e80b7f84594cb79feb68c37550";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/mavros/default.nix b/distros/kinetic/mavros/default.nix
index 94a0cf98ce..28a4e20b60 100644
--- a/distros/kinetic/mavros/default.nix
+++ b/distros/kinetic/mavros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, angles, boost, catkin, cmake-modules, diagnostic-msgs, diagnostic-updater, eigen, eigen-conversions, geographic-msgs, geographiclib, geometry-msgs, gtest, libmavconn, mavlink, mavros-msgs, message-runtime, nav-msgs, pluginlib, rosconsole-bridge, roscpp, rospy, rosunit, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-mavros";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/kinetic/mavros/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "262ddbff2e822f42a26dc8e90879daf3108dca06de6bec3d162c4c6a0d8257ae";
+    url = "https://github.com/mavlink/mavros-release/archive/release/kinetic/mavros/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "4aef42c05465841c3401b86f398a50cde8282b5ce53d75d0e8b60be3a05f05f5";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/neonavigation-common/default.nix b/distros/kinetic/neonavigation-common/default.nix
index 6079d11281..d131438baa 100644
--- a/distros/kinetic/neonavigation-common/default.nix
+++ b/distros/kinetic/neonavigation-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, roscpp, roslint, rostest, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-kinetic-neonavigation-common";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/neonavigation_common/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "93d873abe9102ac166883edae0aaa6025797493ce86fe5e9175099be26b4debe";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/neonavigation_common/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "6f3f0b710ebeccbd0488d996a7f3d604a7e2f2af1a0443a96b2b9bcdbc0600fe";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/neonavigation-launch/default.nix b/distros/kinetic/neonavigation-launch/default.nix
index d13d4fa7b5..1fb39f8f04 100644
--- a/distros/kinetic/neonavigation-launch/default.nix
+++ b/distros/kinetic/neonavigation-launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, costmap-cspace, map-server, planner-cspace, safety-limiter, tf2-ros, trajectory-tracker, trajectory-tracker-rviz-plugins }:
 buildRosPackage {
   pname = "ros-kinetic-neonavigation-launch";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/neonavigation_launch/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "c246a558f9f62e1134729542b25eab690df5d7080f780c11750c7266dd1c5881";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/neonavigation_launch/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "a9e368bef1ec8ab2ff1c3e54c03b0c6a25df86ba2df157354cda68c7d0de3dd9";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/neonavigation/default.nix b/distros/kinetic/neonavigation/default.nix
index 6b1ed349ee..697845f7f1 100644
--- a/distros/kinetic/neonavigation/default.nix
+++ b/distros/kinetic/neonavigation/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, costmap-cspace, joystick-interrupt, map-organizer, neonavigation-common, neonavigation-launch, obj-to-pointcloud, planner-cspace, safety-limiter, track-odometry, trajectory-tracker }:
 buildRosPackage {
   pname = "ros-kinetic-neonavigation";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/neonavigation/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "3b1be32c7d7b1dce7a3c884a9b74aef98fadf687cdae9b788289dd56e7ee383b";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/neonavigation/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "ec4310978a8c5dd312a86f5a1a79e508cebf916ce7bf6b23d6d20181271fb4c1";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/novatel-oem7-driver/default.nix b/distros/kinetic/novatel-oem7-driver/default.nix
index 188d773fc6..679600a994 100644
--- a/distros/kinetic/novatel-oem7-driver/default.nix
+++ b/distros/kinetic/novatel-oem7-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, gps-common, nav-msgs, nmea-msgs, nodelet, novatel-oem7-msgs, rosbag, roscpp, rostest, sensor-msgs, tf2-geometry-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-novatel-oem7-driver";
-  version = "2.0.0-r1";
+  version = "2.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/kinetic/novatel_oem7_driver/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "5e5880b895637ca3680f73cebb4ea563a9002edc9cbf78c510baa74238cb788f";
+    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/kinetic/novatel_oem7_driver/2.1.0-1.tar.gz";
+    name = "2.1.0-1.tar.gz";
+    sha256 = "c01b0ba61b3ad894224d12ba11389d8953eb2ec1890cfb4550d7714ddc6f2d2c";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/novatel-oem7-msgs/default.nix b/distros/kinetic/novatel-oem7-msgs/default.nix
index d94cd87982..1a2e812318 100644
--- a/distros/kinetic/novatel-oem7-msgs/default.nix
+++ b/distros/kinetic/novatel-oem7-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-novatel-oem7-msgs";
-  version = "2.0.0-r1";
+  version = "2.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/kinetic/novatel_oem7_msgs/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "ef589fed798c6815ea8aa006572df0306a4921b8db9c79063cfd0b6424a0242e";
+    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/kinetic/novatel_oem7_msgs/2.1.0-1.tar.gz";
+    name = "2.1.0-1.tar.gz";
+    sha256 = "584aca100b7c45f95322b529abdad2596eee39bd490b8d56d0ecde255eff9de7";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/obj-to-pointcloud/default.nix b/distros/kinetic/obj-to-pointcloud/default.nix
index a82eda29d2..982e5f573a 100644
--- a/distros/kinetic/obj-to-pointcloud/default.nix
+++ b/distros/kinetic/obj-to-pointcloud/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, neonavigation-common, pcl, pcl-conversions, roscpp, roslint, rostest, sensor-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-obj-to-pointcloud";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/obj_to_pointcloud/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "1488e64a2e610b1d1c5f6a04b1e6c8b02216afeabb952d5749659bafda8d88f5";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/obj_to_pointcloud/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "81525e2aa6010feea93e5c6d8cf31879c62d639a15146ed35ecd698e9fb74cb6";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/openni2-camera/default.nix b/distros/kinetic/openni2-camera/default.nix
index c7f2144a22..850ce19268 100644
--- a/distros/kinetic/openni2-camera/default.nix
+++ b/distros/kinetic/openni2-camera/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, camera-info-manager, catkin, dynamic-reconfigure, image-transport, message-generation, message-runtime, nodelet, openni2, roscpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-openni2-camera";
-  version = "0.4.2";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/kinetic/openni2_camera/0.4.2-0.tar.gz";
-    name = "0.4.2-0.tar.gz";
-    sha256 = "d01fc898832787534385208a526942d811fc3974eee6c50ed59b8865752270a3";
+    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/kinetic/openni2_camera/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "44069a5b26600f562b6b74bf55f0591e2c14b111bc877527015127d261d285b5";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/openni2-launch/default.nix b/distros/kinetic/openni2-launch/default.nix
index fa8dc00b57..5332f228d6 100644
--- a/distros/kinetic/openni2-launch/default.nix
+++ b/distros/kinetic/openni2-launch/default.nix
@@ -5,17 +5,17 @@
 { lib, buildRosPackage, fetchurl, catkin, depth-image-proc, image-proc, nodelet, openni2-camera, pythonPackages, rgbd-launch, roslaunch, rospy, roswtf, tf, usbutils }:
 buildRosPackage {
   pname = "ros-kinetic-openni2-launch";
-  version = "0.4.2";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/kinetic/openni2_launch/0.4.2-0.tar.gz";
-    name = "0.4.2-0.tar.gz";
-    sha256 = "566982c3b938b9e2a938812f9f216ff4e70bf8f9e0e2a256413f87c6aa8570a8";
+    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/kinetic/openni2_launch/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "ddc560382ceba2134701d4f1c3136774637b2c2a1af19c15a07a944e1e49f222";
   };
 
   buildType = "catkin";
-  buildInputs = [ pythonPackages.catkin-pkg roslaunch ];
-  propagatedBuildInputs = [ depth-image-proc image-proc nodelet openni2-camera rgbd-launch rospy roswtf tf usbutils ];
+  buildInputs = [ roslaunch ];
+  propagatedBuildInputs = [ depth-image-proc image-proc nodelet openni2-camera pythonPackages.catkin-pkg rgbd-launch rospy roswtf tf usbutils ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/kinetic/planner-cspace/default.nix b/distros/kinetic/planner-cspace/default.nix
index c74fe0f46a..20289b6b97 100644
--- a/distros/kinetic/planner-cspace/default.nix
+++ b/distros/kinetic/planner-cspace/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, actionlib, catkin, costmap-cspace, costmap-cspace-msgs, diagnostic-updater, geometry-msgs, map-server, move-base-msgs, nav-msgs, neonavigation-common, planner-cspace-msgs, roscpp, roslint, rostest, sensor-msgs, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, trajectory-msgs, trajectory-tracker, trajectory-tracker-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-planner-cspace";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/planner_cspace/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "9856b4d1877fc5d958809b2d724accb3ce8680c5e4887c0b052e32aa154828e4";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/planner_cspace/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "d6b5544920d9c1b30d3c3839db31ca2088ad5fe2b5b81c47f00a0039853f6639";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/rc-genicam-driver/default.nix b/distros/kinetic/rc-genicam-driver/default.nix
index a5de7eea3e..cb45966887 100644
--- a/distros/kinetic/rc-genicam-driver/default.nix
+++ b/distros/kinetic/rc-genicam-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, curl, diagnostic-updater, dynamic-reconfigure, geometry-msgs, image-transport, message-generation, message-runtime, nodelet, protobuf, rc-common-msgs, rc-genicam-api, roscpp, sensor-msgs, stereo-msgs, tf }:
 buildRosPackage {
   pname = "ros-kinetic-rc-genicam-driver";
-  version = "0.4.0-r1";
+  version = "0.5.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/roboception-gbp/rc_genicam_driver_ros-release/archive/release/kinetic/rc_genicam_driver/0.4.0-1.tar.gz";
-    name = "0.4.0-1.tar.gz";
-    sha256 = "aecdb2ab526647e28dc9d7115ba61291e9ab4a9b44ee5e7987b1f99c8d9dd4c7";
+    url = "https://github.com/roboception-gbp/rc_genicam_driver_ros-release/archive/release/kinetic/rc_genicam_driver/0.5.0-1.tar.gz";
+    name = "0.5.0-1.tar.gz";
+    sha256 = "6a2dcea6fa7bd6c13e35cbcc474017493da5a52f5a10b8c4c1fa160255d67843";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/ros-introspection/default.nix b/distros/kinetic/ros-introspection/default.nix
index 7af7260b9b..d485a48205 100644
--- a/distros/kinetic/ros-introspection/default.nix
+++ b/distros/kinetic/ros-introspection/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, pythonPackages, roslint, rosmsg }:
 buildRosPackage {
   pname = "ros-kinetic-ros-introspection";
-  version = "1.1.0-r1";
+  version = "1.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/wu-robotics/roscompile-release/archive/release/kinetic/ros_introspection/1.1.0-1.tar.gz";
-    name = "1.1.0-1.tar.gz";
-    sha256 = "75fb94a80296f042faf47233152dc7a651b7f910a62ee3f0c4de9b99e302451d";
+    url = "https://github.com/wu-robotics/roscompile-release/archive/release/kinetic/ros_introspection/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "b8bd7d851010bd2cda0652a4dc29f463ab60c11c3b524e0809bf5eb62d04181a";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/roscompile/default.nix b/distros/kinetic/roscompile/default.nix
index 2813036019..3442d4c07e 100644
--- a/distros/kinetic/roscompile/default.nix
+++ b/distros/kinetic/roscompile/default.nix
@@ -5,18 +5,18 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, pluginlib, pluginlib-tutorials, python, pythonPackages, ros-introspection, roslint, stereo-msgs, tf }:
 buildRosPackage {
   pname = "ros-kinetic-roscompile";
-  version = "1.1.0-r1";
+  version = "1.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/wu-robotics/roscompile-release/archive/release/kinetic/roscompile/1.1.0-1.tar.gz";
-    name = "1.1.0-1.tar.gz";
-    sha256 = "72ea838c434c7af7fb9c2dbca01b019ebf5ed1308b0bacbe7f3d68ef7e73781e";
+    url = "https://github.com/wu-robotics/roscompile-release/archive/release/kinetic/roscompile/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "5190d9d7076199ca1afabdd6872276d14e9bd2b41d7c2aaef33e98a2bb4db047";
   };
 
   buildType = "catkin";
   checkInputs = [ geometry-msgs pluginlib pluginlib-tutorials roslint stereo-msgs tf ];
   propagatedBuildInputs = [ catkin python pythonPackages.click pythonPackages.pyyaml pythonPackages.rospkg ros-introspection ];
-  nativeBuildInputs = [ catkin ];
+  nativeBuildInputs = [ catkin pythonPackages.setuptools ];
 
   meta = {
     description = ''The roscompile package'';
diff --git a/distros/kinetic/safety-limiter/default.nix b/distros/kinetic/safety-limiter/default.nix
index b028a71a00..f3c2e6cb6b 100644
--- a/distros/kinetic/safety-limiter/default.nix
+++ b/distros/kinetic/safety-limiter/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, diagnostic-updater, dynamic-reconfigure, eigen, geometry-msgs, nav-msgs, neonavigation-common, pcl, pcl-conversions, pcl-ros, roscpp, roslint, rostest, safety-limiter-msgs, sensor-msgs, std-msgs, tf2-geometry-msgs, tf2-ros, tf2-sensor-msgs, xmlrpcpp }:
 buildRosPackage {
   pname = "ros-kinetic-safety-limiter";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/safety_limiter/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "08382f9d00c3d8297346c2922c1013279936775604e59fe82aa3fad02754deaf";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/safety_limiter/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "12e1735d6906f96b694c32c509532b57768fc4765d94f8a6557294080a3484a8";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/scenario-test-tools/default.nix b/distros/kinetic/scenario-test-tools/default.nix
index 7884a1c579..0730d88522 100644
--- a/distros/kinetic/scenario-test-tools/default.nix
+++ b/distros/kinetic/scenario-test-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, actionlib, catkin, cob-sound, cob-srvs, control-msgs, geometry-msgs, move-base-msgs, pythonPackages, rospy, std-msgs, std-srvs, tf }:
 buildRosPackage {
   pname = "ros-kinetic-scenario-test-tools";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/scenario_test_tools/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "9db274be12ac667113827522557d817b42095a244db0b3e99e5d4fa47bd33629";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/scenario_test_tools/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "ee32a9771a99ff9f0a0b40d0dcb79c719db9abe7b001b17e060495ffddfe52bc";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/service-tools/default.nix b/distros/kinetic/service-tools/default.nix
index 6e81e65831..b706bb16f6 100644
--- a/distros/kinetic/service-tools/default.nix
+++ b/distros/kinetic/service-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, rospy, rosservice }:
 buildRosPackage {
   pname = "ros-kinetic-service-tools";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/service_tools/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "3fd9399005b49d708fe478087fd0c36fe01f20fcca079b4baf99aba0d698556b";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/kinetic/service_tools/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "28bd9d5a43028da7fb69cf941f4a9b45fb62175d726717907f63493a432d0a1e";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/sick-safetyscanners/default.nix b/distros/kinetic/sick-safetyscanners/default.nix
index 7e0f69c8bd..074692143a 100644
--- a/distros/kinetic/sick-safetyscanners/default.nix
+++ b/distros/kinetic/sick-safetyscanners/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, diagnostic-updater, dynamic-reconfigure, message-generation, message-runtime, roscpp, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-sick-safetyscanners";
-  version = "1.0.7-r1";
+  version = "1.0.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/SICKAG/sick_safetyscanners-release/archive/release/kinetic/sick_safetyscanners/1.0.7-1.tar.gz";
-    name = "1.0.7-1.tar.gz";
-    sha256 = "60aceb5402e469cdde237e884ce0d0ebdcde76812f25b2cbf309aab2174b68c6";
+    url = "https://github.com/SICKAG/sick_safetyscanners-release/archive/release/kinetic/sick_safetyscanners/1.0.8-1.tar.gz";
+    name = "1.0.8-1.tar.gz";
+    sha256 = "a10d4b785a3bca2c0b3f0830a419fc1abc77fa0c0279f820fa693871bb345816";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/teleop-legged-robots/default.nix b/distros/kinetic/teleop-legged-robots/default.nix
new file mode 100644
index 0000000000..fb4f2f31f6
--- /dev/null
+++ b/distros/kinetic/teleop-legged-robots/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, geometry-msgs, rospy }:
+buildRosPackage {
+  pname = "ros-kinetic-teleop-legged-robots";
+  version = "1.1.2-r2";
+
+  src = fetchurl {
+    url = "https://github.com/SoftServeSAG/teleop_legged_robots-release/archive/release/kinetic/teleop_legged_robots/1.1.2-2.tar.gz";
+    name = "1.1.2-2.tar.gz";
+    sha256 = "26f09afe12f13ab01dadee1d3f95f51b7178dd8306b2862280a07b9b7e2d1444";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ geometry-msgs rospy ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Generic keyboard teleop for legged robots.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/kinetic/test-mavros/default.nix b/distros/kinetic/test-mavros/default.nix
index 40a22e1883..eb1b3a1426 100644
--- a/distros/kinetic/test-mavros/default.nix
+++ b/distros/kinetic/test-mavros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, angles, catkin, cmake-modules, control-toolbox, eigen, eigen-conversions, geometry-msgs, mavros, mavros-extras, roscpp, std-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-kinetic-test-mavros";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/kinetic/test_mavros/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "e92fe359b32ac15b6cb657d26bb455056cbe6cff11c2cc256b5e624cbc300884";
+    url = "https://github.com/mavlink/mavros-release/archive/release/kinetic/test_mavros/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "9d5727aacf6cda1224aaec140f67601893a1eb6097ff6a48d3817aed4b1a7f7f";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/track-odometry/default.nix b/distros/kinetic/track-odometry/default.nix
index fbdf6968ef..5674d17d39 100644
--- a/distros/kinetic/track-odometry/default.nix
+++ b/distros/kinetic/track-odometry/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, message-filters, nav-msgs, neonavigation-common, roscpp, roslint, rostest, sensor-msgs, std-msgs, tf2, tf2-geometry-msgs, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-track-odometry";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/track_odometry/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "d3cbcb6be1a80f3c7b04efcb4d6227676cbc1ab57be96b117131a02eedff03cd";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/track_odometry/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "b33e5406abfe8a30be7211f2138d4086f6651076dfebd0665ee2ce57c64ed739";
   };
 
   buildType = "catkin";
diff --git a/distros/kinetic/trajectory-tracker/default.nix b/distros/kinetic/trajectory-tracker/default.nix
index 534a1cb88c..b16d2d1093 100644
--- a/distros/kinetic/trajectory-tracker/default.nix
+++ b/distros/kinetic/trajectory-tracker/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, dynamic-reconfigure, eigen, geometry-msgs, interactive-markers, nav-msgs, neonavigation-common, roscpp, roslint, rostest, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, trajectory-tracker-msgs }:
 buildRosPackage {
   pname = "ros-kinetic-trajectory-tracker";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/trajectory_tracker/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "ecee055ac44ed2a5010a62dd947f8308377a2473385160ee85101efdb9be8a14";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/kinetic/trajectory_tracker/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "fce3aa3ba1635826125f1e999a03a75caabf2cf00a8e27b71e2150bff745a1a2";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/async-comm/default.nix b/distros/melodic/async-comm/default.nix
index ff619ba30a..092ec71af1 100644
--- a/distros/melodic/async-comm/default.nix
+++ b/distros/melodic/async-comm/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, boost, catkin, cmake }:
+{ lib, buildRosPackage, fetchurl, boost, cmake }:
 buildRosPackage {
   pname = "ros-melodic-async-comm";
-  version = "0.2.0-r1";
+  version = "0.2.1-r2";
 
   src = fetchurl {
-    url = "https://github.com/dpkoch/async_comm-release/archive/release/melodic/async_comm/0.2.0-1.tar.gz";
-    name = "0.2.0-1.tar.gz";
-    sha256 = "657753a9f478d51187d61862ab11deea0eaa38b107bc599084c6a2d49addfb2f";
+    url = "https://github.com/dpkoch/async_comm-release/archive/release/melodic/async_comm/0.2.1-2.tar.gz";
+    name = "0.2.1-2.tar.gz";
+    sha256 = "9cc4a16ea07097a37952f076d5fe82b9cc452f56e75b4bfa7c12786ca1c59926";
   };
 
   buildType = "cmake";
-  propagatedBuildInputs = [ boost catkin ];
+  propagatedBuildInputs = [ boost ];
   nativeBuildInputs = [ cmake ];
 
   meta = {
diff --git a/distros/melodic/behaviortree-cpp-v3/default.nix b/distros/melodic/behaviortree-cpp-v3/default.nix
index c17fceae35..a008a5d2c9 100644
--- a/distros/melodic/behaviortree-cpp-v3/default.nix
+++ b/distros/melodic/behaviortree-cpp-v3/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cppzmq, ncurses, roslib }:
 buildRosPackage {
   pname = "ros-melodic-behaviortree-cpp-v3";
-  version = "3.5.3-r1";
+  version = "3.5.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/BehaviorTree/behaviortree_cpp_v3-release/archive/release/melodic/behaviortree_cpp_v3/3.5.3-1.tar.gz";
-    name = "3.5.3-1.tar.gz";
-    sha256 = "6fde0c7f8294c20c5b62ac75cf0e5749c07a12b59373c4be3ea0ed3643cf7bbe";
+    url = "https://github.com/BehaviorTree/behaviortree_cpp_v3-release/archive/release/melodic/behaviortree_cpp_v3/3.5.6-1.tar.gz";
+    name = "3.5.6-1.tar.gz";
+    sha256 = "28ff431326b358de75262471ff64b9829590fc9f4aeca243a3b92a18ed7ccea7";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/costmap-cspace/default.nix b/distros/melodic/costmap-cspace/default.nix
index 1390c997fd..2ebad14bce 100644
--- a/distros/melodic/costmap-cspace/default.nix
+++ b/distros/melodic/costmap-cspace/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, costmap-cspace-msgs, geometry-msgs, laser-geometry, nav-msgs, neonavigation-common, roscpp, roslint, rostest, sensor-msgs, tf2-geometry-msgs, tf2-ros, tf2-sensor-msgs, xmlrpcpp }:
 buildRosPackage {
   pname = "ros-melodic-costmap-cspace";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/costmap_cspace/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "a6f7e003a82d71cf1970ebdeb956b32bcf6180b83b9fb686acede17c5b802736";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/costmap_cspace/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "bd30c6512a006d5a47ba9874610b5c95989904e5815834848d402d668688f6b0";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/generated.nix b/distros/melodic/generated.nix
index 9a1f28aef7..b48ed5f927 100644
--- a/distros/melodic/generated.nix
+++ b/distros/melodic/generated.nix
@@ -1598,6 +1598,36 @@ self: super: {
 
  key-teleop = self.callPackage ./key-teleop {};
 
+ khi-duaro-description = self.callPackage ./khi-duaro-description {};
+
+ khi-duaro-gazebo = self.callPackage ./khi-duaro-gazebo {};
+
+ khi-duaro-ikfast-plugin = self.callPackage ./khi-duaro-ikfast-plugin {};
+
+ khi-duaro-moveit-config = self.callPackage ./khi-duaro-moveit-config {};
+
+ khi-robot = self.callPackage ./khi-robot {};
+
+ khi-robot-bringup = self.callPackage ./khi-robot-bringup {};
+
+ khi-robot-control = self.callPackage ./khi-robot-control {};
+
+ khi-robot-msgs = self.callPackage ./khi-robot-msgs {};
+
+ khi-robot-test = self.callPackage ./khi-robot-test {};
+
+ khi-rs007l-moveit-config = self.callPackage ./khi-rs007l-moveit-config {};
+
+ khi-rs007n-moveit-config = self.callPackage ./khi-rs007n-moveit-config {};
+
+ khi-rs080n-moveit-config = self.callPackage ./khi-rs080n-moveit-config {};
+
+ khi-rs-description = self.callPackage ./khi-rs-description {};
+
+ khi-rs-gazebo = self.callPackage ./khi-rs-gazebo {};
+
+ khi-rs-ikfast-plugin = self.callPackage ./khi-rs-ikfast-plugin {};
+
  kinesis-manager = self.callPackage ./kinesis-manager {};
 
  kinesis-video-msgs = self.callPackage ./kinesis-video-msgs {};
@@ -1798,6 +1828,8 @@ self: super: {
 
  lusb = self.callPackage ./lusb {};
 
+ magical-ros2-conversion-tool = self.callPackage ./magical-ros2-conversion-tool {};
+
  map-laser = self.callPackage ./map-laser {};
 
  map-merge-3d = self.callPackage ./map-merge-3d {};
@@ -3004,6 +3036,10 @@ self: super: {
 
  robotont-description = self.callPackage ./robotont-description {};
 
+ robotont-gazebo = self.callPackage ./robotont-gazebo {};
+
+ robotont-msgs = self.callPackage ./robotont-msgs {};
+
  robotont-nuc-description = self.callPackage ./robotont-nuc-description {};
 
  rocon-app-manager-msgs = self.callPackage ./rocon-app-manager-msgs {};
@@ -3484,6 +3520,8 @@ self: super: {
 
  rviz-visual-tools = self.callPackage ./rviz-visual-tools {};
 
+ rx-service-tools = self.callPackage ./rx-service-tools {};
+
  rxcpp-vendor = self.callPackage ./rxcpp-vendor {};
 
  rxros = self.callPackage ./rxros {};
@@ -3716,6 +3754,8 @@ self: super: {
 
  teb-local-planner-tutorials = self.callPackage ./teb-local-planner-tutorials {};
 
+ teleop-legged-robots = self.callPackage ./teleop-legged-robots {};
+
  teleop-tools = self.callPackage ./teleop-tools {};
 
  teleop-tools-msgs = self.callPackage ./teleop-tools-msgs {};
@@ -4116,6 +4156,8 @@ self: super: {
 
  viz = self.callPackage ./viz {};
 
+ vl53l1x = self.callPackage ./vl53l1x {};
+
  voice-text = self.callPackage ./voice-text {};
 
  volksbot-driver = self.callPackage ./volksbot-driver {};
diff --git a/distros/melodic/interactive-marker-twist-server/default.nix b/distros/melodic/interactive-marker-twist-server/default.nix
index 5496c216d9..30458b29b7 100644
--- a/distros/melodic/interactive-marker-twist-server/default.nix
+++ b/distros/melodic/interactive-marker-twist-server/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, catkin, interactive-markers, roscpp, roslaunch, roslint, visualization-msgs }:
+{ lib, buildRosPackage, fetchurl, catkin, interactive-markers, roscpp, roslaunch, roslint, tf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-melodic-interactive-marker-twist-server";
-  version = "1.2.0";
+  version = "1.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/interactive_marker_twist_server-release/archive/release/melodic/interactive_marker_twist_server/1.2.0-0.tar.gz";
-    name = "1.2.0-0.tar.gz";
-    sha256 = "8597a128559ea347e15b06e235bb1124605e0060f42b3ceebe52769a75563946";
+    url = "https://github.com/ros-gbp/interactive_marker_twist_server-release/archive/release/melodic/interactive_marker_twist_server/1.2.2-1.tar.gz";
+    name = "1.2.2-1.tar.gz";
+    sha256 = "6ccbf6ca0203b06b71bec241bdb61dbb76d05fab9e7977d61c758d5189c3df9f";
   };
 
   buildType = "catkin";
   checkInputs = [ roslaunch roslint ];
-  propagatedBuildInputs = [ interactive-markers roscpp visualization-msgs ];
+  propagatedBuildInputs = [ interactive-markers roscpp tf visualization-msgs ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/melodic/joystick-interrupt/default.nix b/distros/melodic/joystick-interrupt/default.nix
index dd4f99efbb..be561e36e9 100644
--- a/distros/melodic/joystick-interrupt/default.nix
+++ b/distros/melodic/joystick-interrupt/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, neonavigation-common, roscpp, roslint, rostest, sensor-msgs, topic-tools }:
 buildRosPackage {
   pname = "ros-melodic-joystick-interrupt";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/joystick_interrupt/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "a8ba202c2ef023552bbbd220ba9f11fb018fd77ffaf61ec3a976b2beb73d9757";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/joystick_interrupt/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "fee9fb49912bc031a3013085b813c66cc56bf1ce4e4877951918b881c7e607a4";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/khi-duaro-description/default.nix b/distros/melodic/khi-duaro-description/default.nix
new file mode 100644
index 0000000000..6907274e73
--- /dev/null
+++ b/distros/melodic/khi-duaro-description/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, roslaunch }:
+buildRosPackage {
+  pname = "ros-melodic-khi-duaro-description";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_duaro_description/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "a4666e742360013543b7fd11c8b01367f8abe03a01430fd247126b1222d8ff52";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ roslaunch ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The khi_duaro_description package'';
+    license = with lib.licenses; [ bsdOriginal "KHI CAD license (mesh data, see readme)" ];
+  };
+}
diff --git a/distros/melodic/khi-duaro-gazebo/default.nix b/distros/melodic/khi-duaro-gazebo/default.nix
new file mode 100644
index 0000000000..e7d096bca2
--- /dev/null
+++ b/distros/melodic/khi-duaro-gazebo/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-ros-control }:
+buildRosPackage {
+  pname = "ros-melodic-khi-duaro-gazebo";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_duaro_gazebo/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "c72abe21a0c26ae8f45f33e712adc52cf35d9ebf41bcf7a1b2605d586b48773a";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ gazebo-ros-control ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The khi_duaro_gazebo package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-duaro-ikfast-plugin/default.nix b/distros/melodic/khi-duaro-ikfast-plugin/default.nix
new file mode 100644
index 0000000000..e6031a193b
--- /dev/null
+++ b/distros/melodic/khi-duaro-ikfast-plugin/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, liblapack, moveit-core, pluginlib, roscpp, tf-conversions }:
+buildRosPackage {
+  pname = "ros-melodic-khi-duaro-ikfast-plugin";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_duaro_ikfast_plugin/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "3eda3984c7adabaa70f7d83c4d63a58e147049ef64d09d61569e99d143e13d2e";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ liblapack moveit-core pluginlib roscpp tf-conversions ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The khi_duaro_ikfast_plugin package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-duaro-moveit-config/default.nix b/distros/melodic/khi-duaro-moveit-config/default.nix
new file mode 100644
index 0000000000..b0c0d5e08d
--- /dev/null
+++ b/distros/melodic/khi-duaro-moveit-config/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, joint-state-publisher, khi-duaro-description, moveit-fake-controller-manager, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, moveit-simple-controller-manager, robot-state-publisher, roslaunch, rostest, rviz, tf, xacro }:
+buildRosPackage {
+  pname = "ros-melodic-khi-duaro-moveit-config";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_duaro_moveit_config/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "bbb02ab96961608832b53b3e37256e58849d8e66262b7adece3d6feb9f4cb9ea";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslaunch rostest ];
+  propagatedBuildInputs = [ joint-state-publisher khi-duaro-description moveit-fake-controller-manager moveit-kinematics moveit-planners-ompl moveit-ros-move-group moveit-ros-visualization moveit-simple-controller-manager robot-state-publisher rviz tf xacro ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''An automatically generated package with all the configuration and launch files for using the khi_duaro with the MoveIt! Motion Planning Framework'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-robot-bringup/default.nix b/distros/melodic/khi-robot-bringup/default.nix
new file mode 100644
index 0000000000..416123d51c
--- /dev/null
+++ b/distros/melodic/khi-robot-bringup/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, controller-manager, joint-state-controller, joint-trajectory-controller, khi-duaro-description, khi-duaro-moveit-config, khi-robot-control, position-controllers, robot-state-publisher, roslaunch, rostest, tf }:
+buildRosPackage {
+  pname = "ros-melodic-khi-robot-bringup";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_robot_bringup/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "6133099b2e9517127d48a9235e08db0ca88c5a89070257b2d08656a27a168089";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslaunch rostest ];
+  propagatedBuildInputs = [ controller-manager joint-state-controller joint-trajectory-controller khi-duaro-description khi-duaro-moveit-config khi-robot-control position-controllers robot-state-publisher tf ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Package contains bringup scripts/config/tools for KHI Robot'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-robot-control/default.nix b/distros/melodic/khi-robot-control/default.nix
new file mode 100644
index 0000000000..a168875ba8
--- /dev/null
+++ b/distros/melodic/khi-robot-control/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, controller-manager, diagnostic-updater, hardware-interface, joint-limits-interface, joint-state-controller, joint-trajectory-controller, khi-robot-msgs, position-controllers, realtime-tools, rostest, trajectory-msgs, transmission-interface }:
+buildRosPackage {
+  pname = "ros-melodic-khi-robot-control";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_robot_control/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "5b41dc0be0d2c297e2df384f877f5db6388398fef8e557eddcd2433e2216c68b";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ realtime-tools ];
+  checkInputs = [ rostest ];
+  propagatedBuildInputs = [ controller-manager diagnostic-updater hardware-interface joint-limits-interface joint-state-controller joint-trajectory-controller khi-robot-msgs position-controllers trajectory-msgs transmission-interface ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''ROS KHI robot controller package based on ros_control'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-robot-msgs/default.nix b/distros/melodic/khi-robot-msgs/default.nix
new file mode 100644
index 0000000000..3679865f50
--- /dev/null
+++ b/distros/melodic/khi-robot-msgs/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, std-msgs }:
+buildRosPackage {
+  pname = "ros-melodic-khi-robot-msgs";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_robot_msgs/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "63a2b5f4a4a75efd865b78c631ea2fb778ebe0fdf6a3a31d3c64849e64b583db";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ message-generation ];
+  propagatedBuildInputs = [ message-runtime std-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''This package contains KHI ROS robot msgs'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-robot-test/default.nix b/distros/melodic/khi-robot-test/default.nix
new file mode 100644
index 0000000000..f8d4c4a3c5
--- /dev/null
+++ b/distros/melodic/khi-robot-test/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, khi-duaro-moveit-config, khi-robot-bringup, khi-robot-control, khi-robot-msgs, khi-rs007l-moveit-config, khi-rs007n-moveit-config, khi-rs080n-moveit-config, moveit-commander, rospy, rostest }:
+buildRosPackage {
+  pname = "ros-melodic-khi-robot-test";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_robot_test/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "e04b6b83430e5d53a7700c7c4a2ca88c8f52129691fdf804606c2bf5b69f7dab";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ khi-duaro-moveit-config khi-robot-bringup khi-robot-control khi-robot-msgs khi-rs007l-moveit-config khi-rs007n-moveit-config khi-rs080n-moveit-config moveit-commander rostest ];
+  propagatedBuildInputs = [ khi-robot-msgs rospy ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Test package for khi_robot'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-robot/default.nix b/distros/melodic/khi-robot/default.nix
new file mode 100644
index 0000000000..d7b77d704a
--- /dev/null
+++ b/distros/melodic/khi-robot/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, khi-duaro-description, khi-duaro-gazebo, khi-duaro-ikfast-plugin, khi-duaro-moveit-config, khi-robot-bringup, khi-robot-control, khi-robot-msgs, khi-rs-description, khi-rs-gazebo, khi-rs-ikfast-plugin, khi-rs007l-moveit-config, khi-rs007n-moveit-config, khi-rs080n-moveit-config }:
+buildRosPackage {
+  pname = "ros-melodic-khi-robot";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_robot/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "b655c268651024301efbbf3b19403eec907af1d075347063715aa1e1a21d5d65";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ khi-duaro-description khi-duaro-gazebo khi-duaro-ikfast-plugin khi-duaro-moveit-config khi-robot-bringup khi-robot-control khi-robot-msgs khi-rs-description khi-rs-gazebo khi-rs-ikfast-plugin khi-rs007l-moveit-config khi-rs007n-moveit-config khi-rs080n-moveit-config ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Meta package for khi_robot'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-rs-description/default.nix b/distros/melodic/khi-rs-description/default.nix
new file mode 100644
index 0000000000..4998141d1d
--- /dev/null
+++ b/distros/melodic/khi-rs-description/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, roslaunch }:
+buildRosPackage {
+  pname = "ros-melodic-khi-rs-description";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_rs_description/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "4a43ed20e06a9b3a7a8cd7a0a536b08906e8b92bb1eb072cbf6c16515d98b40f";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ roslaunch ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The khi_rs_description package'';
+    license = with lib.licenses; [ bsdOriginal "KHI CAD license (mesh data, see readme)" ];
+  };
+}
diff --git a/distros/melodic/khi-rs-gazebo/default.nix b/distros/melodic/khi-rs-gazebo/default.nix
new file mode 100644
index 0000000000..239bf3b481
--- /dev/null
+++ b/distros/melodic/khi-rs-gazebo/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-ros, gazebo-ros-control }:
+buildRosPackage {
+  pname = "ros-melodic-khi-rs-gazebo";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_rs_gazebo/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "5f8d1aca50da477a7b8f95fbc542d51f37acf6c9bd6df5e090e1f994554cd00a";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ gazebo-ros gazebo-ros-control ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The khi_rs_gazebo package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-rs-ikfast-plugin/default.nix b/distros/melodic/khi-rs-ikfast-plugin/default.nix
new file mode 100644
index 0000000000..0f5e491c08
--- /dev/null
+++ b/distros/melodic/khi-rs-ikfast-plugin/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, liblapack, moveit-core, pluginlib, roscpp, tf-conversions }:
+buildRosPackage {
+  pname = "ros-melodic-khi-rs-ikfast-plugin";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_rs_ikfast_plugin/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "d9f697807d99df9fb28ee0e5dacf746d59998eb9e36895e167c80fb571194b2f";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ liblapack moveit-core pluginlib roscpp tf-conversions ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The khi_rs_ikfast_plugin package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-rs007l-moveit-config/default.nix b/distros/melodic/khi-rs007l-moveit-config/default.nix
new file mode 100644
index 0000000000..76340506cc
--- /dev/null
+++ b/distros/melodic/khi-rs007l-moveit-config/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, joint-state-publisher, khi-rs-description, moveit-fake-controller-manager, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, robot-state-publisher, roslaunch, rostest, rviz, tf, xacro }:
+buildRosPackage {
+  pname = "ros-melodic-khi-rs007l-moveit-config";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_rs007l_moveit_config/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "564e6223536c64aa0963d043a6a5ff3f8d819053acbdc2dec330a97da22e7a68";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslaunch rostest ];
+  propagatedBuildInputs = [ joint-state-publisher khi-rs-description moveit-fake-controller-manager moveit-kinematics moveit-planners-ompl moveit-ros-move-group moveit-ros-visualization robot-state-publisher rviz tf xacro ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''An automatically generated package with all the configuration and launch files for using the khi_rs007l with the MoveIt! Motion Planning Framework'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-rs007n-moveit-config/default.nix b/distros/melodic/khi-rs007n-moveit-config/default.nix
new file mode 100644
index 0000000000..f0d88e0847
--- /dev/null
+++ b/distros/melodic/khi-rs007n-moveit-config/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, joint-state-publisher, khi-rs-description, moveit-fake-controller-manager, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, robot-state-publisher, roslaunch, rostest, rviz, tf, xacro }:
+buildRosPackage {
+  pname = "ros-melodic-khi-rs007n-moveit-config";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_rs007n_moveit_config/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "8dcf45cb635bcb6fdb87094daf598e94ecc5a9748067c6550b9c139b5d72400f";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslaunch rostest ];
+  propagatedBuildInputs = [ joint-state-publisher khi-rs-description moveit-fake-controller-manager moveit-kinematics moveit-planners-ompl moveit-ros-move-group moveit-ros-visualization robot-state-publisher rviz tf xacro ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''An automatically generated package with all the configuration and launch files for using the khi_rs007n with the MoveIt! Motion Planning Framework'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/khi-rs080n-moveit-config/default.nix b/distros/melodic/khi-rs080n-moveit-config/default.nix
new file mode 100644
index 0000000000..2eb83c5eda
--- /dev/null
+++ b/distros/melodic/khi-rs080n-moveit-config/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, joint-state-publisher, khi-rs-description, moveit-fake-controller-manager, moveit-kinematics, moveit-planners-ompl, moveit-ros-move-group, moveit-ros-visualization, robot-state-publisher, roslaunch, rostest, rviz, tf, xacro }:
+buildRosPackage {
+  pname = "ros-melodic-khi-rs080n-moveit-config";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/Kawasaki-Robotics/khi_robot-release/archive/release/melodic/khi_rs080n_moveit_config/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "6719e7ec11326619aeba4b3289f06be44a33e87baec9fb28c7a6fe271d17a37e";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslaunch rostest ];
+  propagatedBuildInputs = [ joint-state-publisher khi-rs-description moveit-fake-controller-manager moveit-kinematics moveit-planners-ompl moveit-ros-move-group moveit-ros-visualization robot-state-publisher rviz tf xacro ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''An automatically generated package with all the configuration and launch files for using the khi_rs080n with the MoveIt! Motion Planning Framework'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/libmavconn/default.nix b/distros/melodic/libmavconn/default.nix
index 173ce06bff..ff995938a5 100644
--- a/distros/melodic/libmavconn/default.nix
+++ b/distros/melodic/libmavconn/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, console-bridge, gtest, mavlink, rosunit }:
 buildRosPackage {
   pname = "ros-melodic-libmavconn";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/melodic/libmavconn/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "667df918572dbeea7586f306de934dfa0ec5572c129fd73be443456ccc60b818";
+    url = "https://github.com/mavlink/mavros-release/archive/release/melodic/libmavconn/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "eb68da47fb1ae73f1ca0fbb5f3d9e5123a0e9d45270799813f9d15ffe92d0a10";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/magical-ros2-conversion-tool/default.nix b/distros/melodic/magical-ros2-conversion-tool/default.nix
new file mode 100644
index 0000000000..ba5e8a333b
--- /dev/null
+++ b/distros/melodic/magical-ros2-conversion-tool/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, ros-introspection, roscompile, roslint }:
+buildRosPackage {
+  pname = "ros-melodic-magical-ros2-conversion-tool";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/wu-robotics/roscompile-release/archive/release/melodic/magical_ros2_conversion_tool/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "8434766585163e348ae2bacbc6760f5b1dc4e44db6332c4ae656faa70d18da47";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslint ];
+  propagatedBuildInputs = [ ros-introspection roscompile ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The magical_ros2_conversion_tool package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/map-organizer/default.nix b/distros/melodic/map-organizer/default.nix
index bf73911cfe..1b67479855 100644
--- a/distros/melodic/map-organizer/default.nix
+++ b/distros/melodic/map-organizer/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, map-organizer-msgs, map-server, nav-msgs, neonavigation-common, pcl, pcl-conversions, roscpp, roslint, rostest, sensor-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-melodic-map-organizer";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/map_organizer/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "d13a701c60594a47b5796916150d6f2b7bd259b14d2d94f263cfb55b513c59fd";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/map_organizer/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "7a74619c8e44a2f719525ca845788a50112f850279895b99740073a549f9769d";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/mavlink/default.nix b/distros/melodic/mavlink/default.nix
index 7c1bbb89d0..efa82d028a 100644
--- a/distros/melodic/mavlink/default.nix
+++ b/distros/melodic/mavlink/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cmake, python, pythonPackages }:
 buildRosPackage {
   pname = "ros-melodic-mavlink";
-  version = "2021.1.4-r1";
+  version = "2021.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavlink-gbp-release/archive/release/melodic/mavlink/2021.1.4-1.tar.gz";
-    name = "2021.1.4-1.tar.gz";
-    sha256 = "25fb93989346d3c3ea7a066dafcabc573619deb89751f108758c00b51ffd6e94";
+    url = "https://github.com/mavlink/mavlink-gbp-release/archive/release/melodic/mavlink/2021.2.2-1.tar.gz";
+    name = "2021.2.2-1.tar.gz";
+    sha256 = "95e1d03a2b9090fc2c68ce8fed55b8228e93c02743755f41e130e8659b8bac59";
   };
 
   buildType = "cmake";
diff --git a/distros/melodic/mavros-extras/default.nix b/distros/melodic/mavros-extras/default.nix
index 7c06fa883b..6c01af0515 100644
--- a/distros/melodic/mavros-extras/default.nix
+++ b/distros/melodic/mavros-extras/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cmake-modules, geometry-msgs, mavros, mavros-msgs, roscpp, sensor-msgs, std-msgs, tf, tf2-eigen, urdf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-melodic-mavros-extras";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/melodic/mavros_extras/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "ab1f26062700605b97908406b5bb401fa01ebf9368e0855c50329f7bcddac523";
+    url = "https://github.com/mavlink/mavros-release/archive/release/melodic/mavros_extras/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "62642bbd36b8a722d71dc950d411038ac82a7ec3ec5f31903983b51d20060272";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/mavros-msgs/default.nix b/distros/melodic/mavros-msgs/default.nix
index 96d7303292..0512494bd1 100644
--- a/distros/melodic/mavros-msgs/default.nix
+++ b/distros/melodic/mavros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geographic-msgs, geometry-msgs, message-generation, message-runtime, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-melodic-mavros-msgs";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/melodic/mavros_msgs/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "bcc29374fe4867dbbf8070d03d89337a470899afc23f1b3270ed7cfa3adc24ee";
+    url = "https://github.com/mavlink/mavros-release/archive/release/melodic/mavros_msgs/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "e91fa2a6c12a4122897ad35060e0d66ce190bc6d862b95f36dd2869f3549982c";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/mavros/default.nix b/distros/melodic/mavros/default.nix
index fdd4c1936c..e7a7258da7 100644
--- a/distros/melodic/mavros/default.nix
+++ b/distros/melodic/mavros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, angles, boost, catkin, cmake-modules, diagnostic-msgs, diagnostic-updater, eigen, eigen-conversions, geographic-msgs, geographiclib, geometry-msgs, gtest, libmavconn, mavlink, mavros-msgs, message-runtime, nav-msgs, pluginlib, rosconsole-bridge, roscpp, rospy, rosunit, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-melodic-mavros";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/melodic/mavros/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "a5441c1f1604f5380599a2dc6bc590606bee95d2982991e315f7f207c7f70ab7";
+    url = "https://github.com/mavlink/mavros-release/archive/release/melodic/mavros/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "2724719cd73f6eae2b89218d1cd18960341e1fbfe3dd0228d73708d39cc0be92";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/neonavigation-common/default.nix b/distros/melodic/neonavigation-common/default.nix
index b891242304..71f7db9fc1 100644
--- a/distros/melodic/neonavigation-common/default.nix
+++ b/distros/melodic/neonavigation-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, roscpp, roslint, rostest, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-melodic-neonavigation-common";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/neonavigation_common/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "80cb35eb432ede2c58e513b5e70836a094a26c3f36397a82628cd14c946d7750";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/neonavigation_common/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "685e41caef0c36db53023cc2ed1d2717083e469d45f8fff8fa87854936c30766";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/neonavigation-launch/default.nix b/distros/melodic/neonavigation-launch/default.nix
index 574eecb6ca..2d34b858d1 100644
--- a/distros/melodic/neonavigation-launch/default.nix
+++ b/distros/melodic/neonavigation-launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, costmap-cspace, map-server, planner-cspace, safety-limiter, tf2-ros, trajectory-tracker, trajectory-tracker-rviz-plugins }:
 buildRosPackage {
   pname = "ros-melodic-neonavigation-launch";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/neonavigation_launch/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "a79abfbe925b1d6aaf3d3020ed48a70d3c2583a6b1d9b8d28b152d0e4060b6c7";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/neonavigation_launch/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "d7c49f35a6bbbcb2094c65811a75614b1bfb8dc42737c0a6bc672bed4091dad5";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/neonavigation/default.nix b/distros/melodic/neonavigation/default.nix
index dba05a7f8c..2b603aa819 100644
--- a/distros/melodic/neonavigation/default.nix
+++ b/distros/melodic/neonavigation/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, costmap-cspace, joystick-interrupt, map-organizer, neonavigation-common, neonavigation-launch, obj-to-pointcloud, planner-cspace, safety-limiter, track-odometry, trajectory-tracker }:
 buildRosPackage {
   pname = "ros-melodic-neonavigation";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/neonavigation/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "3a8002334ad27aaa153d577ee37b8ae21e45cb6b8d880b887cb037484ef00a16";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/neonavigation/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "69ebc422dbb64b26e3891687f86b0eb51160f314656a36eb9584b6df6093c2df";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/novatel-oem7-driver/default.nix b/distros/melodic/novatel-oem7-driver/default.nix
index f19f9be45f..2a4d18bf35 100644
--- a/distros/melodic/novatel-oem7-driver/default.nix
+++ b/distros/melodic/novatel-oem7-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, gps-common, nav-msgs, nmea-msgs, nodelet, novatel-oem7-msgs, rosbag, roscpp, rostest, sensor-msgs, tf2-geometry-msgs }:
 buildRosPackage {
   pname = "ros-melodic-novatel-oem7-driver";
-  version = "2.0.0-r1";
+  version = "2.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/melodic/novatel_oem7_driver/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "cd25a9f02763a4a8868cfcb1a8fed502e161be184fa9b8b038128e82596a7f16";
+    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/melodic/novatel_oem7_driver/2.1.0-1.tar.gz";
+    name = "2.1.0-1.tar.gz";
+    sha256 = "097c43dea253790d85de8f3abbbb1f580d0b055cc9aea3e044e043a47c92ad81";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/novatel-oem7-msgs/default.nix b/distros/melodic/novatel-oem7-msgs/default.nix
index cfe0ca32f1..e15b0a8f65 100644
--- a/distros/melodic/novatel-oem7-msgs/default.nix
+++ b/distros/melodic/novatel-oem7-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-melodic-novatel-oem7-msgs";
-  version = "2.0.0-r1";
+  version = "2.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/melodic/novatel_oem7_msgs/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "66250eadc84a50e6ead1de41614905f35c2630fa737e7709dd88cb2164cc2900";
+    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/melodic/novatel_oem7_msgs/2.1.0-1.tar.gz";
+    name = "2.1.0-1.tar.gz";
+    sha256 = "262896e342fc5452d5511c8f44439bd257bcbad717b5b07f15e10be46f5d6d8c";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/obj-to-pointcloud/default.nix b/distros/melodic/obj-to-pointcloud/default.nix
index 139a5e81fc..0c0d231dd4 100644
--- a/distros/melodic/obj-to-pointcloud/default.nix
+++ b/distros/melodic/obj-to-pointcloud/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, neonavigation-common, pcl, pcl-conversions, roscpp, roslint, rostest, sensor-msgs }:
 buildRosPackage {
   pname = "ros-melodic-obj-to-pointcloud";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/obj_to_pointcloud/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "bb07cdbb02455fe91a9ffb387cce01efcc2b23fc3782b32aea935bddd904242d";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/obj_to_pointcloud/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "1c36cd250a0e782d58fa6cc7d6e459495225bc56a3b2bfc053e19888c26ee45c";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/openni2-camera/default.nix b/distros/melodic/openni2-camera/default.nix
index 7437d24e7b..43961737d7 100644
--- a/distros/melodic/openni2-camera/default.nix
+++ b/distros/melodic/openni2-camera/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, camera-info-manager, catkin, dynamic-reconfigure, image-transport, message-generation, message-runtime, nodelet, openni2, roscpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-melodic-openni2-camera";
-  version = "0.4.2";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/melodic/openni2_camera/0.4.2-0.tar.gz";
-    name = "0.4.2-0.tar.gz";
-    sha256 = "d154919dd68c19a6255bbbafd1d238d30baae4e6b146eb17875002511180181f";
+    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/melodic/openni2_camera/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "d1c49ec702ee89bce39cf2823c8bf1dca1eace9b9b6127736be24578036ff72c";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/openni2-launch/default.nix b/distros/melodic/openni2-launch/default.nix
index 862a4eae5d..6a2cf57643 100644
--- a/distros/melodic/openni2-launch/default.nix
+++ b/distros/melodic/openni2-launch/default.nix
@@ -5,17 +5,17 @@
 { lib, buildRosPackage, fetchurl, catkin, depth-image-proc, image-proc, nodelet, openni2-camera, pythonPackages, rgbd-launch, roslaunch, rospy, roswtf, tf, usbutils }:
 buildRosPackage {
   pname = "ros-melodic-openni2-launch";
-  version = "0.4.2";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/melodic/openni2_launch/0.4.2-0.tar.gz";
-    name = "0.4.2-0.tar.gz";
-    sha256 = "51d7ca0ca441737e619194d4ffbfcf7dd76a586724845ca4641394967d2286a1";
+    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/melodic/openni2_launch/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "6ed509a6d0c42f9a3942c7ced579c95d95705cfaa7086a89c14a6697e2b7c610";
   };
 
   buildType = "catkin";
-  buildInputs = [ pythonPackages.catkin-pkg roslaunch ];
-  propagatedBuildInputs = [ depth-image-proc image-proc nodelet openni2-camera rgbd-launch rospy roswtf tf usbutils ];
+  buildInputs = [ roslaunch ];
+  propagatedBuildInputs = [ depth-image-proc image-proc nodelet openni2-camera pythonPackages.catkin-pkg rgbd-launch rospy roswtf tf usbutils ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/melodic/planner-cspace/default.nix b/distros/melodic/planner-cspace/default.nix
index 2ff2ff7850..ccb5fa842a 100644
--- a/distros/melodic/planner-cspace/default.nix
+++ b/distros/melodic/planner-cspace/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, actionlib, catkin, costmap-cspace, costmap-cspace-msgs, diagnostic-updater, geometry-msgs, map-server, move-base-msgs, nav-msgs, neonavigation-common, planner-cspace-msgs, roscpp, roslint, rostest, sensor-msgs, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, trajectory-msgs, trajectory-tracker, trajectory-tracker-msgs }:
 buildRosPackage {
   pname = "ros-melodic-planner-cspace";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/planner_cspace/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "acbe98203f361d1d0173c8d5a5dbc77039fcb620006694064487b718989953cc";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/planner_cspace/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "7a6061d6f8f2b747af64a0de6ecd3094f9f1f31357c27070bd0eed8a21016a45";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/plotjuggler-ros/default.nix b/distros/melodic/plotjuggler-ros/default.nix
index fc2c81ff95..7651e31ca9 100644
--- a/distros/melodic/plotjuggler-ros/default.nix
+++ b/distros/melodic/plotjuggler-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, binutils, boost, catkin, diagnostic-msgs, geometry-msgs, nav-msgs, plotjuggler, plotjuggler-msgs, qt5, rosbag-storage, roscpp, roscpp-serialization, sensor-msgs, tf, tf2-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-melodic-plotjuggler-ros";
-  version = "1.0.0-r2";
+  version = "1.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/PlotJuggler/plotjuggler-ros-plugins-release/archive/release/melodic/plotjuggler_ros/1.0.0-2.tar.gz";
-    name = "1.0.0-2.tar.gz";
-    sha256 = "fc2d6940377dd0bfc771bbe67c50bb8f2c5778379cd7e06ae89df938e2468c83";
+    url = "https://github.com/PlotJuggler/plotjuggler-ros-plugins-release/archive/release/melodic/plotjuggler_ros/1.1.0-1.tar.gz";
+    name = "1.1.0-1.tar.gz";
+    sha256 = "cff6432ec6251c9aacc72c1641dded3fad0ae901ccbf34b9962d547806fe33dd";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/plotjuggler/default.nix b/distros/melodic/plotjuggler/default.nix
index 6604866c3e..6f1b1e773e 100644
--- a/distros/melodic/plotjuggler/default.nix
+++ b/distros/melodic/plotjuggler/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, binutils, boost, catkin, cppzmq, qt5, roslib }:
 buildRosPackage {
   pname = "ros-melodic-plotjuggler";
-  version = "3.0.7-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/facontidavide/plotjuggler-release/archive/release/melodic/plotjuggler/3.0.7-1.tar.gz";
-    name = "3.0.7-1.tar.gz";
-    sha256 = "60a5f41f62d3bb2f65a6f7f205f8c3647b07fae386fc5ce3da86e07d56182990";
+    url = "https://github.com/facontidavide/plotjuggler-release/archive/release/melodic/plotjuggler/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "1c90bacba37eda2632bb2c7e971ee58c97d9e8dc6bbea4ed8c071287455b00d2";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/rc-genicam-camera/default.nix b/distros/melodic/rc-genicam-camera/default.nix
index 600c91ddc4..564f5c35c0 100644
--- a/distros/melodic/rc-genicam-camera/default.nix
+++ b/distros/melodic/rc-genicam-camera/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, diagnostic-updater, dynamic-reconfigure, image-transport, message-generation, message-runtime, nodelet, rc-genicam-api, roscpp, sensor-msgs, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-melodic-rc-genicam-camera";
-  version = "1.2.3-r1";
+  version = "1.2.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/roboception-gbp/rc_genicam_camera-release/archive/release/melodic/rc_genicam_camera/1.2.3-1.tar.gz";
-    name = "1.2.3-1.tar.gz";
-    sha256 = "dd7cfece1fb4253769f828d30b890bf2662dcb7a07a2af89a7e7c9fad1e8ba6b";
+    url = "https://github.com/roboception-gbp/rc_genicam_camera-release/archive/release/melodic/rc_genicam_camera/1.2.4-1.tar.gz";
+    name = "1.2.4-1.tar.gz";
+    sha256 = "2c4dd28cccedcc4677db9f914930fcb901237d03b7d0739475eb5e1a90f9bab4";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/rc-genicam-driver/default.nix b/distros/melodic/rc-genicam-driver/default.nix
index f9f6552952..5631c02375 100644
--- a/distros/melodic/rc-genicam-driver/default.nix
+++ b/distros/melodic/rc-genicam-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, curl, diagnostic-updater, dynamic-reconfigure, geometry-msgs, image-transport, message-generation, message-runtime, nodelet, protobuf, rc-common-msgs, rc-genicam-api, roscpp, sensor-msgs, stereo-msgs, tf }:
 buildRosPackage {
   pname = "ros-melodic-rc-genicam-driver";
-  version = "0.4.0-r1";
+  version = "0.5.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/roboception-gbp/rc_genicam_driver_ros-release/archive/release/melodic/rc_genicam_driver/0.4.0-1.tar.gz";
-    name = "0.4.0-1.tar.gz";
-    sha256 = "64cbf993f6a22b2517029d7e564008fd3b0c2b56189033245dbd206c0eb00c18";
+    url = "https://github.com/roboception-gbp/rc_genicam_driver_ros-release/archive/release/melodic/rc_genicam_driver/0.5.0-1.tar.gz";
+    name = "0.5.0-1.tar.gz";
+    sha256 = "d4a54226f8593bd1ec396cba39209d0208fed05fd076a3c9ad6476224ff0c9f7";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/robotont-description/default.nix b/distros/melodic/robotont-description/default.nix
index 6e1b8bdbef..bab47c8017 100644
--- a/distros/melodic/robotont-description/default.nix
+++ b/distros/melodic/robotont-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, joint-state-publisher, robot-state-publisher, rviz, urdf, xacro }:
 buildRosPackage {
   pname = "ros-melodic-robotont-description";
-  version = "0.0.7-r1";
+  version = "0.0.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/robotont-release/robotont_description-release/archive/release/melodic/robotont_description/0.0.7-1.tar.gz";
-    name = "0.0.7-1.tar.gz";
-    sha256 = "d95ec61d0bfab76ba98bdf48cf9f7b5f0104e28252a6964fbdee9fb9a008f2a5";
+    url = "https://github.com/robotont-release/robotont_description-release/archive/release/melodic/robotont_description/0.0.8-1.tar.gz";
+    name = "0.0.8-1.tar.gz";
+    sha256 = "687044fd179f21de474782aa93b3e18f6619e3e9fd473c5d293e54396dedee5c";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/robotont-gazebo/default.nix b/distros/melodic/robotont-gazebo/default.nix
new file mode 100644
index 0000000000..e21350d0d5
--- /dev/null
+++ b/distros/melodic/robotont-gazebo/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-ros, gazebo-ros-pkgs, joy, nav-msgs, robotont-description, robotont-nuc-description, roscpp, rospy, std-msgs, tf }:
+buildRosPackage {
+  pname = "ros-melodic-robotont-gazebo";
+  version = "0.0.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/robotont-release/robotont_gazebo-release/archive/release/melodic/robotont_gazebo/0.0.2-1.tar.gz";
+    name = "0.0.2-1.tar.gz";
+    sha256 = "9acf2202f009b66f50b21d81ae548fca3aa49a6f0aa3831a185eb784d1ca867c";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ gazebo-ros gazebo-ros-pkgs joy nav-msgs robotont-description robotont-nuc-description roscpp rospy std-msgs tf ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The robotont_gazebo package'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/melodic/robotont-msgs/default.nix b/distros/melodic/robotont-msgs/default.nix
new file mode 100644
index 0000000000..a016df5372
--- /dev/null
+++ b/distros/melodic/robotont-msgs/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, roscpp, rospy, std-msgs }:
+buildRosPackage {
+  pname = "ros-melodic-robotont-msgs";
+  version = "0.0.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/robotont-release/robotont_msgs-release/archive/release/melodic/robotont_msgs/0.0.2-1.tar.gz";
+    name = "0.0.2-1.tar.gz";
+    sha256 = "d85d437992d72b72614b66241a1be1aafa7066e561a6539fbdf7b404838d00b5";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ message-generation ];
+  propagatedBuildInputs = [ message-runtime roscpp rospy std-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The robotont_msgs package'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/melodic/robotont-nuc-description/default.nix b/distros/melodic/robotont-nuc-description/default.nix
index 120347d341..1643a73036 100644
--- a/distros/melodic/robotont-nuc-description/default.nix
+++ b/distros/melodic/robotont-nuc-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, realsense2-description, robotont-description, rviz, urdf, xacro }:
 buildRosPackage {
   pname = "ros-melodic-robotont-nuc-description";
-  version = "0.0.1-r1";
+  version = "0.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/robotont-release/robotont_nuc_description-release/archive/release/melodic/robotont_nuc_description/0.0.1-1.tar.gz";
-    name = "0.0.1-1.tar.gz";
-    sha256 = "1bb9c5c6784650cb26034c8e970605da013decbf63ba6b20bb1201a973c4b537";
+    url = "https://github.com/robotont-release/robotont_nuc_description-release/archive/release/melodic/robotont_nuc_description/0.0.2-1.tar.gz";
+    name = "0.0.2-1.tar.gz";
+    sha256 = "42cf0d4084d5f9ca70c91321e9cfb723d6dd0659c8b313d8c6f3c676382f08d6";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/ros-introspection/default.nix b/distros/melodic/ros-introspection/default.nix
index dd9027efcd..af46bc35d9 100644
--- a/distros/melodic/ros-introspection/default.nix
+++ b/distros/melodic/ros-introspection/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, pythonPackages, roslint, rosmsg }:
 buildRosPackage {
   pname = "ros-melodic-ros-introspection";
-  version = "1.1.0-r1";
+  version = "1.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/wu-robotics/roscompile-release/archive/release/melodic/ros_introspection/1.1.0-1.tar.gz";
-    name = "1.1.0-1.tar.gz";
-    sha256 = "391178a488d6e7da39a1e88afb5335d3e44b5830f69faf10bd05d2a34d951384";
+    url = "https://github.com/wu-robotics/roscompile-release/archive/release/melodic/ros_introspection/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "11b5048b3ea5309e40652ebebc6730f2c46e31571735cb142e9dcbd2a5ca84ee";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/roscompile/default.nix b/distros/melodic/roscompile/default.nix
index 4446020f1e..aaabd61669 100644
--- a/distros/melodic/roscompile/default.nix
+++ b/distros/melodic/roscompile/default.nix
@@ -5,18 +5,18 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, pluginlib, pluginlib-tutorials, python, pythonPackages, ros-introspection, roslint, stereo-msgs, tf }:
 buildRosPackage {
   pname = "ros-melodic-roscompile";
-  version = "1.1.0-r1";
+  version = "1.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/wu-robotics/roscompile-release/archive/release/melodic/roscompile/1.1.0-1.tar.gz";
-    name = "1.1.0-1.tar.gz";
-    sha256 = "1ed3be1fad8e15ddef14e38faab5719c88280d727f16ed778a99bef5e53244aa";
+    url = "https://github.com/wu-robotics/roscompile-release/archive/release/melodic/roscompile/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "2ec370c1a07c05c1974b2fade56c09364acd629f95c1745923bbddaff0ddd112";
   };
 
   buildType = "catkin";
   checkInputs = [ geometry-msgs pluginlib pluginlib-tutorials roslint stereo-msgs tf ];
   propagatedBuildInputs = [ catkin python pythonPackages.click pythonPackages.pyyaml pythonPackages.rospkg ros-introspection ];
-  nativeBuildInputs = [ catkin ];
+  nativeBuildInputs = [ catkin pythonPackages.setuptools ];
 
   meta = {
     description = ''The roscompile package'';
diff --git a/distros/melodic/rx-service-tools/default.nix b/distros/melodic/rx-service-tools/default.nix
new file mode 100644
index 0000000000..b197c185ae
--- /dev/null
+++ b/distros/melodic/rx-service-tools/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, python, pythonPackages, roslib, rospy }:
+buildRosPackage {
+  pname = "ros-melodic-rx-service-tools";
+  version = "1.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/nobleo/rx_service_tools-release/archive/release/melodic/rx_service_tools/1.0.1-1.tar.gz";
+    name = "1.0.1-1.tar.gz";
+    sha256 = "68d0c57e7a8de53a6bfd718d6bbfef0871720a3b62113eda08506b6c7db6539b";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ python pythonPackages.pyyaml pythonPackages.wxPython roslib rospy ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Graphical tools to interact with ROS services.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/safety-limiter/default.nix b/distros/melodic/safety-limiter/default.nix
index 3fbc0fbae1..31a9ce896f 100644
--- a/distros/melodic/safety-limiter/default.nix
+++ b/distros/melodic/safety-limiter/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, diagnostic-updater, dynamic-reconfigure, eigen, geometry-msgs, nav-msgs, neonavigation-common, pcl, pcl-conversions, pcl-ros, roscpp, roslint, rostest, safety-limiter-msgs, sensor-msgs, std-msgs, tf2-geometry-msgs, tf2-ros, tf2-sensor-msgs, xmlrpcpp }:
 buildRosPackage {
   pname = "ros-melodic-safety-limiter";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/safety_limiter/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "95400b5482c4d007c48f37598b378f4ff05bc19a2a8f368bdb7e02a6ee3af91c";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/safety_limiter/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "3af3621e8db901908e86fffa32e609d4cb37ee2eca8d9567d7e7b513fc832afa";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/sainsmart-relay-usb/default.nix b/distros/melodic/sainsmart-relay-usb/default.nix
index f8e949aa11..b90303c461 100644
--- a/distros/melodic/sainsmart-relay-usb/default.nix
+++ b/distros/melodic/sainsmart-relay-usb/default.nix
@@ -2,19 +2,18 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, catkin, libftdi, roscpp, roslib, std-msgs }:
+{ lib, buildRosPackage, fetchurl, catkin, libftdi, roscpp, std-msgs }:
 buildRosPackage {
   pname = "ros-melodic-sainsmart-relay-usb";
-  version = "0.0.2";
+  version = "0.0.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/DataspeedInc-release/sainsmart_relay_usb-release/archive/release/melodic/sainsmart_relay_usb/0.0.2-0.tar.gz";
-    name = "0.0.2-0.tar.gz";
-    sha256 = "73e7449cf27e9caa518695cb6996d8909422ae70540708e07580a666560ddd66";
+    url = "https://github.com/DataspeedInc-release/sainsmart_relay_usb-release/archive/release/melodic/sainsmart_relay_usb/0.0.4-1.tar.gz";
+    name = "0.0.4-1.tar.gz";
+    sha256 = "d9a7f0576cdd1b259381f941e661e87e5695a87cde643d2b07aa141e0f04138c";
   };
 
   buildType = "catkin";
-  buildInputs = [ roslib ];
   propagatedBuildInputs = [ libftdi roscpp std-msgs ];
   nativeBuildInputs = [ catkin ];
 
diff --git a/distros/melodic/sick-safetyscanners/default.nix b/distros/melodic/sick-safetyscanners/default.nix
index 70356d122f..78f5c29e3e 100644
--- a/distros/melodic/sick-safetyscanners/default.nix
+++ b/distros/melodic/sick-safetyscanners/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, diagnostic-updater, dynamic-reconfigure, message-generation, message-runtime, roscpp, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-melodic-sick-safetyscanners";
-  version = "1.0.7-r1";
+  version = "1.0.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/SICKAG/sick_safetyscanners-release/archive/release/melodic/sick_safetyscanners/1.0.7-1.tar.gz";
-    name = "1.0.7-1.tar.gz";
-    sha256 = "598d9960f83457e229e3110ae8897d7720e7b2112d0df14e46428d714182b3dd";
+    url = "https://github.com/SICKAG/sick_safetyscanners-release/archive/release/melodic/sick_safetyscanners/1.0.8-1.tar.gz";
+    name = "1.0.8-1.tar.gz";
+    sha256 = "ef1fa5f288d15b522ba62e41e5b6bb8d5f8f4d6618df50ed889016f9bff2fc3b";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/teleop-legged-robots/default.nix b/distros/melodic/teleop-legged-robots/default.nix
new file mode 100644
index 0000000000..275a8bf3d9
--- /dev/null
+++ b/distros/melodic/teleop-legged-robots/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, geometry-msgs, rospy }:
+buildRosPackage {
+  pname = "ros-melodic-teleop-legged-robots";
+  version = "1.1.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/SoftServeSAG/teleop_legged_robots-release/archive/release/melodic/teleop_legged_robots/1.1.2-1.tar.gz";
+    name = "1.1.2-1.tar.gz";
+    sha256 = "a6f0d0e043ddf4d8b8f93bc394b341780c3439ddf09da38555b1c9a4acb62662";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ geometry-msgs rospy ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Generic keyboard teleop for legged robots.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/test-mavros/default.nix b/distros/melodic/test-mavros/default.nix
index 91c5611770..0e1629752a 100644
--- a/distros/melodic/test-mavros/default.nix
+++ b/distros/melodic/test-mavros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, angles, catkin, cmake-modules, control-toolbox, eigen, eigen-conversions, geometry-msgs, mavros, mavros-extras, roscpp, std-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-melodic-test-mavros";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/melodic/test_mavros/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "b131114c7303731967a5af509c20bfbb1cd1609ddfcbbd0714b60e79be6da866";
+    url = "https://github.com/mavlink/mavros-release/archive/release/melodic/test_mavros/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "0774c44d48b2cba0a802d8813429c5ec6df04f36aeecd0233d6de007dcaf4d10";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/track-odometry/default.nix b/distros/melodic/track-odometry/default.nix
index f795642670..aa587d7a42 100644
--- a/distros/melodic/track-odometry/default.nix
+++ b/distros/melodic/track-odometry/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, message-filters, nav-msgs, neonavigation-common, roscpp, roslint, rostest, sensor-msgs, std-msgs, tf2, tf2-geometry-msgs, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-melodic-track-odometry";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/track_odometry/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "d9327be84440114b04245f5ccb1bab9dcdf22c378d4fc714f83f206091cb7775";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/track_odometry/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "798fef16feaf9fc0bed81c616b2c7707bd966c322f444d8939f7f862bc245f8d";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/trajectory-tracker/default.nix b/distros/melodic/trajectory-tracker/default.nix
index ac9c6e25f9..c8c31548bd 100644
--- a/distros/melodic/trajectory-tracker/default.nix
+++ b/distros/melodic/trajectory-tracker/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, dynamic-reconfigure, eigen, geometry-msgs, interactive-markers, nav-msgs, neonavigation-common, roscpp, roslint, rostest, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, trajectory-tracker-msgs }:
 buildRosPackage {
   pname = "ros-melodic-trajectory-tracker";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/trajectory_tracker/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "5910c70801eb9912e5ae7bad2386597e48ae57f326fb6a0a37d172df68c85843";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/melodic/trajectory_tracker/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "b126b52feb66eaca496393037fa4621d7655945a6ad48fd9408ee778d6a83500";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/ueye-cam/default.nix b/distros/melodic/ueye-cam/default.nix
index 8b082ae194..9980cd12b3 100644
--- a/distros/melodic/ueye-cam/default.nix
+++ b/distros/melodic/ueye-cam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, camera-calibration-parsers, camera-info-manager, catkin, dynamic-reconfigure, image-transport, nodelet, roscpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-melodic-ueye-cam";
-  version = "1.0.18-r1";
+  version = "1.0.17-r1";
 
   src = fetchurl {
-    url = "https://github.com/anqixu/ueye_cam-release/archive/release/melodic/ueye_cam/1.0.18-1.tar.gz";
-    name = "1.0.18-1.tar.gz";
-    sha256 = "8286de2a4b958373e0b8fd3de53fb05632eb33a882a37388143139a306406e39";
+    url = "https://github.com/anqixu/ueye_cam-release/archive/release/melodic/ueye_cam/1.0.17-1.tar.gz";
+    name = "1.0.17-1.tar.gz";
+    sha256 = "03d172816684251094ab052bb7b8d6c9be51d752e47f5bea0153f24ccc2932f2";
   };
 
   buildType = "catkin";
diff --git a/distros/melodic/vl53l1x/default.nix b/distros/melodic/vl53l1x/default.nix
new file mode 100644
index 0000000000..56f2edffa2
--- /dev/null
+++ b/distros/melodic/vl53l1x/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, roscpp, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-melodic-vl53l1x";
+  version = "1.0.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/okalachev/vl53l1x_ros-release/archive/release/melodic/vl53l1x/1.0.0-1.tar.gz";
+    name = "1.0.0-1.tar.gz";
+    sha256 = "ccfaa924238bb45acc5d373e81e72c47aca4ebdebf6a576c9ce1c77ba47c27c1";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ message-generation message-runtime roscpp sensor-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''VL53L1X ToF rangefinder driver'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/melodic/webots-ros/default.nix b/distros/melodic/webots-ros/default.nix
index ad43327e37..2348b56430 100644
--- a/distros/melodic/webots-ros/default.nix
+++ b/distros/melodic/webots-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, roscpp, rospy, sensor-msgs, std-msgs, tf }:
 buildRosPackage {
   pname = "ros-melodic-webots-ros";
-  version = "2.1.1-r1";
+  version = "4.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/cyberbotics/webots_ros-release/archive/release/melodic/webots_ros/2.1.1-1.tar.gz";
-    name = "2.1.1-1.tar.gz";
-    sha256 = "379d2d916adfb7764363ed8edb185346e8a72187e7c406a82a766ed906fafed6";
+    url = "https://github.com/cyberbotics/webots_ros-release/archive/release/melodic/webots_ros/4.0.1-1.tar.gz";
+    name = "4.0.1-1.tar.gz";
+    sha256 = "30d11297e55c1a268ce53d9cc3fcec78cffb57d0846a5105c1736e2fdf1af650";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/async-comm/default.nix b/distros/noetic/async-comm/default.nix
new file mode 100644
index 0000000000..eb5addd91e
--- /dev/null
+++ b/distros/noetic/async-comm/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, boost, cmake }:
+buildRosPackage {
+  pname = "ros-noetic-async-comm";
+  version = "0.2.1-r2";
+
+  src = fetchurl {
+    url = "https://github.com/dpkoch/async_comm-release/archive/release/noetic/async_comm/0.2.1-2.tar.gz";
+    name = "0.2.1-2.tar.gz";
+    sha256 = "630becd7f8b1606e501f863e02617f7f3898dca05bfee506cc7eac7681f3b16d";
+  };
+
+  buildType = "cmake";
+  propagatedBuildInputs = [ boost ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''A C++ library for asynchronous serial communication'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/behaviortree-cpp-v3/default.nix b/distros/noetic/behaviortree-cpp-v3/default.nix
index 8dd3558f2d..2747bbe2f2 100644
--- a/distros/noetic/behaviortree-cpp-v3/default.nix
+++ b/distros/noetic/behaviortree-cpp-v3/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cppzmq, ncurses, roslib }:
 buildRosPackage {
   pname = "ros-noetic-behaviortree-cpp-v3";
-  version = "3.5.3-r1";
+  version = "3.5.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/BehaviorTree/behaviortree_cpp-release/archive/release/noetic/behaviortree_cpp_v3/3.5.3-1.tar.gz";
-    name = "3.5.3-1.tar.gz";
-    sha256 = "be572da316779c43e60a73249a34a5211238ff0520b28ce7d42080abba68e7a8";
+    url = "https://github.com/BehaviorTree/behaviortree_cpp-release/archive/release/noetic/behaviortree_cpp_v3/3.5.6-1.tar.gz";
+    name = "3.5.6-1.tar.gz";
+    sha256 = "84953f257a1688fedaa43e75b5bab98ad2fca50aac91823f0d0d9b109aa31631";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/cob-command-gui/default.nix b/distros/noetic/cob-command-gui/default.nix
index 98ee61647b..f04f0a0f40 100644
--- a/distros/noetic/cob-command-gui/default.nix
+++ b/distros/noetic/cob-command-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cob-msgs, cob-script-server, python3Packages, roslib, rospy }:
 buildRosPackage {
   pname = "ros-noetic-cob-command-gui";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_command_gui/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "2f0bc40f83c53ce7132b508b84d799156e64742e3a200dc1b2af9ecb30424f68";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_command_gui/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "5f2c2ba3c291a72de4b8f837c74b64630ef8d851a6b62e5c315e4f4c1dc750ba";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/cob-command-tools/default.nix b/distros/noetic/cob-command-tools/default.nix
index afdcf4aa4b..cc4c529530 100644
--- a/distros/noetic/cob-command-tools/default.nix
+++ b/distros/noetic/cob-command-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cob-command-gui, cob-dashboard, cob-helper-tools, cob-interactive-teleop, cob-monitoring, cob-script-server, cob-teleop }:
 buildRosPackage {
   pname = "ros-noetic-cob-command-tools";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_command_tools/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "618db6afd13a7ca9c7f1817bbf4f1e2f1d015853c2e50f5ae255c9146cc85ba6";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_command_tools/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "5453e5c03029782eb334219a7c06e8403f29f3d3ddb16e71a12d1ef174c47996";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/cob-dashboard/default.nix b/distros/noetic/cob-dashboard/default.nix
index 15a2fd7387..117f3330a5 100644
--- a/distros/noetic/cob-dashboard/default.nix
+++ b/distros/noetic/cob-dashboard/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cob-msgs, python3Packages, roslib, rospy, rqt-gui, rqt-robot-dashboard }:
 buildRosPackage {
   pname = "ros-noetic-cob-dashboard";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_dashboard/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "79b81a3a383261a367f0b05bb4f5c2cc97dc66eaa5ca236231bb3ae9b5893f3a";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_dashboard/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "df4f9e4b2f480d51035c9bd1a388858f59590fd55e169c4afab42333ea1eb1ec";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/cob-helper-tools/default.nix b/distros/noetic/cob-helper-tools/default.nix
index 706cd1bec7..0f1a5f4f78 100644
--- a/distros/noetic/cob-helper-tools/default.nix
+++ b/distros/noetic/cob-helper-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cob-msgs, cob-script-server, diagnostic-msgs, dynamic-reconfigure, message-generation, message-runtime, rospy, std-srvs, tf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-noetic-cob-helper-tools";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_helper_tools/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "869c9bc3914988f310245a037577e5170b10ab65ec899e3f6a4b0e00680c49f5";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_helper_tools/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "4a9b61f5b9c8b339e0fc1972d95af80ddfc6bcf17e92ca02e20fdcd7db13f052";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/cob-interactive-teleop/default.nix b/distros/noetic/cob-interactive-teleop/default.nix
index 6d83702e52..806d035105 100644
--- a/distros/noetic/cob-interactive-teleop/default.nix
+++ b/distros/noetic/cob-interactive-teleop/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, interactive-markers, roscpp, rviz, std-msgs, tf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-noetic-cob-interactive-teleop";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_interactive_teleop/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "5ee18d8a427589977c500d53cb0fa1341a3974a46a5311007b0c4d7942827f51";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_interactive_teleop/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "47359a2104aa5391c34e0bb4e2c34c3c0a72557087c10374e1a3d065c1092ad0";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/cob-monitoring/default.nix b/distros/noetic/cob-monitoring/default.nix
index 56da9c1c91..b8dada1150 100644
--- a/distros/noetic/cob-monitoring/default.nix
+++ b/distros/noetic/cob-monitoring/default.nix
@@ -5,16 +5,16 @@
 { lib, buildRosPackage, fetchurl, actionlib, catkin, cob-light, cob-msgs, cob-script-server, diagnostic-msgs, diagnostic-updater, ifstat-legacy, ipmitool, ntp, python3Packages, roscpp, rospy, rostopic, sensor-msgs, std-msgs, sysstat, topic-tools }:
 buildRosPackage {
   pname = "ros-noetic-cob-monitoring";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_monitoring/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "d29ac5a0929b85095479874c7486af3529426c0c7018341bab5ab89412502064";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_monitoring/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "9f60443cdd2d771e1bf4b60708e4eb7cf3184b8861c504057d61f290ec9db8b4";
   };
 
   buildType = "catkin";
-  propagatedBuildInputs = [ actionlib cob-light cob-msgs cob-script-server diagnostic-msgs diagnostic-updater ifstat-legacy ipmitool ntp python3Packages.mechanize python3Packages.paramiko python3Packages.psutil python3Packages.requests roscpp rospy rostopic sensor-msgs std-msgs sysstat topic-tools ];
+  propagatedBuildInputs = [ actionlib cob-light cob-msgs cob-script-server diagnostic-msgs diagnostic-updater ifstat-legacy ipmitool ntp python3Packages.paramiko python3Packages.psutil python3Packages.requests roscpp rospy rostopic sensor-msgs std-msgs sysstat topic-tools ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/noetic/cob-teleop/default.nix b/distros/noetic/cob-teleop/default.nix
index c58bf6469d..17f14f744c 100644
--- a/distros/noetic/cob-teleop/default.nix
+++ b/distros/noetic/cob-teleop/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, actionlib, catkin, cob-actions, cob-light, cob-script-server, cob-sound, geometry-msgs, roscpp, sensor-msgs, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-noetic-cob-teleop";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_teleop/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "f871229b61ce24cda49a106e4609e11bae7d6d6662fa5ac31cea0cdfd0b14a63";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/cob_teleop/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "127deba9653b821a9b85eb60286f5f80ee3d61add8025e04487aa54627c422f1";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/costmap-cspace/default.nix b/distros/noetic/costmap-cspace/default.nix
index 7c26861fce..900483fbef 100644
--- a/distros/noetic/costmap-cspace/default.nix
+++ b/distros/noetic/costmap-cspace/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, costmap-cspace-msgs, geometry-msgs, laser-geometry, nav-msgs, neonavigation-common, roscpp, roslint, rostest, sensor-msgs, tf2-geometry-msgs, tf2-ros, tf2-sensor-msgs, xmlrpcpp }:
 buildRosPackage {
   pname = "ros-noetic-costmap-cspace";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/costmap_cspace/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "32900078241479f59d94c7f0dca285d899053ad305f47d46a41e2816cbd8e0f0";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/costmap_cspace/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "db9b9473071f9dfcfbb93baf8b08f9eae30baeaa8f2155dae8923bf94cd86627";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/dynamic-edt-3d/default.nix b/distros/noetic/dynamic-edt-3d/default.nix
index 56b524b10e..667214bfde 100644
--- a/distros/noetic/dynamic-edt-3d/default.nix
+++ b/distros/noetic/dynamic-edt-3d/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, octomap }:
 buildRosPackage {
   pname = "ros-noetic-dynamic-edt-3d";
-  version = "1.9.5-r4";
+  version = "1.9.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/octomap-release/archive/release/noetic/dynamic_edt_3d/1.9.5-4.tar.gz";
-    name = "1.9.5-4.tar.gz";
-    sha256 = "5e706bb118b62000c10af3217f63782f854ea0606ff175332df13da519b0d3c4";
+    url = "https://github.com/ros-gbp/octomap-release/archive/release/noetic/dynamic_edt_3d/1.9.6-1.tar.gz";
+    name = "1.9.6-1.tar.gz";
+    sha256 = "63235da0946f9e97a0126a7e1c21a0a431e330f44845cc3d7523413503ede4ca";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/eigenpy/default.nix b/distros/noetic/eigenpy/default.nix
index bb9b8bd127..b5c3d83605 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 = "2.5.0-r1";
+  version = "2.6.1-r3";
 
   src = fetchurl {
-    url = "https://github.com/ipab-slmc/eigenpy_catkin-release/archive/release/noetic/eigenpy/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "0413b69d033d9a26b7088475df82662fe6bfb57cb80be44607847b5ef80279cb";
+    url = "https://github.com/ipab-slmc/eigenpy_catkin-release/archive/release/noetic/eigenpy/2.6.1-3.tar.gz";
+    name = "2.6.1-3.tar.gz";
+    sha256 = "559617490d0ea8a7b974ba1069d9e375e1ca2ae587ffead2a4df1d0a4d6b049e";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/fkie-master-discovery/default.nix b/distros/noetic/fkie-master-discovery/default.nix
index 8deefe90b3..c1d784905d 100644
--- a/distros/noetic/fkie-master-discovery/default.nix
+++ b/distros/noetic/fkie-master-discovery/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, avahi, catkin, fkie-multimaster-msgs, rosgraph, roslib, rospy, std-srvs }:
 buildRosPackage {
   pname = "ros-noetic-fkie-master-discovery";
-  version = "1.2.6-r2";
+  version = "1.2.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/fkie-release/multimaster_fkie-release/archive/release/noetic/fkie_master_discovery/1.2.6-2.tar.gz";
-    name = "1.2.6-2.tar.gz";
-    sha256 = "c8b7b18e1bab1e5e32a6e14ba90847c07860981e7c54191a529cfd29e0414727";
+    url = "https://github.com/fkie-release/multimaster_fkie-release/archive/release/noetic/fkie_master_discovery/1.2.7-1.tar.gz";
+    name = "1.2.7-1.tar.gz";
+    sha256 = "203483ec58feb471f5a9561b0cd1dd8d3baf7f3d123a8a026455bef1053e9991";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/fkie-master-sync/default.nix b/distros/noetic/fkie-master-sync/default.nix
index 27b594c028..d356ca1286 100644
--- a/distros/noetic/fkie-master-sync/default.nix
+++ b/distros/noetic/fkie-master-sync/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, fkie-master-discovery, fkie-multimaster-msgs, rosgraph, roslib, rospy }:
 buildRosPackage {
   pname = "ros-noetic-fkie-master-sync";
-  version = "1.2.6-r2";
+  version = "1.2.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/fkie-release/multimaster_fkie-release/archive/release/noetic/fkie_master_sync/1.2.6-2.tar.gz";
-    name = "1.2.6-2.tar.gz";
-    sha256 = "03889c2c4d499116a429d4cdad1701b7900fab9a5cbc1e15f83e2dbefc029201";
+    url = "https://github.com/fkie-release/multimaster_fkie-release/archive/release/noetic/fkie_master_sync/1.2.7-1.tar.gz";
+    name = "1.2.7-1.tar.gz";
+    sha256 = "aa23531aee7d5e6d922d20f985399670edb3982d07746e731edb87ae10ead213";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/fkie-multimaster/default.nix b/distros/noetic/fkie-multimaster/default.nix
index 5617f121aa..617065104d 100644
--- a/distros/noetic/fkie-multimaster/default.nix
+++ b/distros/noetic/fkie-multimaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, fkie-master-discovery, fkie-master-sync, fkie-multimaster-msgs, fkie-node-manager, fkie-node-manager-daemon }:
 buildRosPackage {
   pname = "ros-noetic-fkie-multimaster";
-  version = "1.2.6-r2";
+  version = "1.2.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/fkie-release/multimaster_fkie-release/archive/release/noetic/fkie_multimaster/1.2.6-2.tar.gz";
-    name = "1.2.6-2.tar.gz";
-    sha256 = "6fc1c813f18cb18eb4dfb89aedba04838a109fd4caee56c3db9474d2245e1a79";
+    url = "https://github.com/fkie-release/multimaster_fkie-release/archive/release/noetic/fkie_multimaster/1.2.7-1.tar.gz";
+    name = "1.2.7-1.tar.gz";
+    sha256 = "40bde8a434e6a4f82a0bae231bd7c2308db56856ebf8900fad43b4bfdf138780";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/fkie-node-manager-daemon/default.nix b/distros/noetic/fkie-node-manager-daemon/default.nix
index 2167a423da..d6d6daa450 100644
--- a/distros/noetic/fkie-node-manager-daemon/default.nix
+++ b/distros/noetic/fkie-node-manager-daemon/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, diagnostic-msgs, fkie-master-discovery, fkie-multimaster-msgs, python3Packages, roslaunch, rospy, rostest, screen }:
 buildRosPackage {
   pname = "ros-noetic-fkie-node-manager-daemon";
-  version = "1.2.6-r2";
+  version = "1.2.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/fkie-release/multimaster_fkie-release/archive/release/noetic/fkie_node_manager_daemon/1.2.6-2.tar.gz";
-    name = "1.2.6-2.tar.gz";
-    sha256 = "f421e8f9d9370bcda8b848ab319023232df41d278a003384e086e34007491fa3";
+    url = "https://github.com/fkie-release/multimaster_fkie-release/archive/release/noetic/fkie_node_manager_daemon/1.2.7-1.tar.gz";
+    name = "1.2.7-1.tar.gz";
+    sha256 = "3fa68a0bf213d497d7b682978a9be23f70068066cf05c397eaa1b940994d63fc";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/generated.nix b/distros/noetic/generated.nix
index 86298cb83c..35976ee7e4 100644
--- a/distros/noetic/generated.nix
+++ b/distros/noetic/generated.nix
@@ -44,6 +44,8 @@ self: super: {
 
  astuff-sensor-msgs = self.callPackage ./astuff-sensor-msgs {};
 
+ async-comm = self.callPackage ./async-comm {};
+
  audibot = self.callPackage ./audibot {};
 
  audibot-description = self.callPackage ./audibot-description {};
@@ -786,6 +788,14 @@ self: super: {
 
  goal-passer = self.callPackage ./goal-passer {};
 
+ gpp-interface = self.callPackage ./gpp-interface {};
+
+ gpp-plugin = self.callPackage ./gpp-plugin {};
+
+ gpp-prune-path = self.callPackage ./gpp-prune-path {};
+
+ gpp-update-map = self.callPackage ./gpp-update-map {};
+
  gps-common = self.callPackage ./gps-common {};
 
  gps-umd = self.callPackage ./gps-umd {};
@@ -1118,6 +1128,8 @@ self: super: {
 
  libsiftfast = self.callPackage ./libsiftfast {};
 
+ lms1xx = self.callPackage ./lms1xx {};
+
  locomotor = self.callPackage ./locomotor {};
 
  locomotor-msgs = self.callPackage ./locomotor-msgs {};
@@ -1130,6 +1142,8 @@ self: super: {
 
  lusb = self.callPackage ./lusb {};
 
+ magical-ros2-conversion-tool = self.callPackage ./magical-ros2-conversion-tool {};
+
  map-laser = self.callPackage ./map-laser {};
 
  map-msgs = self.callPackage ./map-msgs {};
@@ -1392,6 +1406,8 @@ self: super: {
 
  nerian-stereo = self.callPackage ./nerian-stereo {};
 
+ nmea-comms = self.callPackage ./nmea-comms {};
+
  nmea-msgs = self.callPackage ./nmea-msgs {};
 
  nmea-navsat-driver = self.callPackage ./nmea-navsat-driver {};
@@ -1620,6 +1636,8 @@ self: super: {
 
  rc-genicam-api = self.callPackage ./rc-genicam-api {};
 
+ rc-genicam-camera = self.callPackage ./rc-genicam-camera {};
+
  rc-genicam-driver = self.callPackage ./rc-genicam-driver {};
 
  rc-hand-eye-calibration-client = self.callPackage ./rc-hand-eye-calibration-client {};
@@ -1984,6 +2002,8 @@ self: super: {
 
  rviz-visual-tools = self.callPackage ./rviz-visual-tools {};
 
+ rx-service-tools = self.callPackage ./rx-service-tools {};
+
  safety-limiter = self.callPackage ./safety-limiter {};
 
  safety-limiter-msgs = self.callPackage ./safety-limiter-msgs {};
@@ -2142,6 +2162,8 @@ self: super: {
 
  teb-local-planner = self.callPackage ./teb-local-planner {};
 
+ teleop-legged-robots = self.callPackage ./teleop-legged-robots {};
+
  teleop-tools = self.callPackage ./teleop-tools {};
 
  teleop-tools-msgs = self.callPackage ./teleop-tools-msgs {};
@@ -2342,6 +2364,8 @@ self: super: {
 
  viz = self.callPackage ./viz {};
 
+ vl53l1x = self.callPackage ./vl53l1x {};
+
  voice-text = self.callPackage ./voice-text {};
 
  voxel-grid = self.callPackage ./voxel-grid {};
diff --git a/distros/noetic/generic-throttle/default.nix b/distros/noetic/generic-throttle/default.nix
index 6d1883aa11..6fffe9abf4 100644
--- a/distros/noetic/generic-throttle/default.nix
+++ b/distros/noetic/generic-throttle/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cv-bridge, python3Packages, rospy, rostopic }:
 buildRosPackage {
   pname = "ros-noetic-generic-throttle";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/generic_throttle/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "1d95fee9bb0ab013827b8a32f4cd78fa469c8d70aaae01f061bd328dc3d104e6";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/generic_throttle/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "bdc324b5c5b70f4b9fcdc73123c0a54847b5c4ec2097a7d33480e05617cd9840";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/gpp-interface/default.nix b/distros/noetic/gpp-interface/default.nix
new file mode 100644
index 0000000000..384d07ba8f
--- /dev/null
+++ b/distros/noetic/gpp-interface/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, costmap-2d, geometry-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-gpp-interface";
+  version = "0.1.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/dorezyuk/gpp-release/archive/release/noetic/gpp_interface/0.1.0-1.tar.gz";
+    name = "0.1.0-1.tar.gz";
+    sha256 = "9c4f61513b1a2712e2fa2ba302cb4b62147b0c3547a728fd39032fbdd368fdaf";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ costmap-2d geometry-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The gpp_interface package defines the interfaces for
+  pre and post-planning inside the global_planner_pipeline framework'';
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/noetic/gpp-plugin/default.nix b/distros/noetic/gpp-plugin/default.nix
new file mode 100644
index 0000000000..bb720fe4cf
--- /dev/null
+++ b/distros/noetic/gpp-plugin/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, costmap-2d, global-planner, gpp-interface, mbf-costmap-core, mbf-costmap-nav, mbf-msgs, move-base, nav-core, pluginlib, rostest, xmlrpcpp }:
+buildRosPackage {
+  pname = "ros-noetic-gpp-plugin";
+  version = "0.1.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/dorezyuk/gpp-release/archive/release/noetic/gpp_plugin/0.1.0-1.tar.gz";
+    name = "0.1.0-1.tar.gz";
+    sha256 = "ec040bfbdd8955f355f878cff68978ad94b5766920013b34f34e5449b07b61b3";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ global-planner mbf-costmap-nav move-base rostest ];
+  propagatedBuildInputs = [ costmap-2d gpp-interface mbf-costmap-core mbf-msgs nav-core pluginlib xmlrpcpp ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The gpp_plugin package offers a pipeline for running global 
+  planners together with auxiliary pre- and post-processing functions'';
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/noetic/gpp-prune-path/default.nix b/distros/noetic/gpp-prune-path/default.nix
new file mode 100644
index 0000000000..5b1d2893a0
--- /dev/null
+++ b/distros/noetic/gpp-prune-path/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, gpp-interface, pluginlib, rostest }:
+buildRosPackage {
+  pname = "ros-noetic-gpp-prune-path";
+  version = "0.1.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/dorezyuk/gpp-release/archive/release/noetic/gpp_prune_path/0.1.0-1.tar.gz";
+    name = "0.1.0-1.tar.gz";
+    sha256 = "0b3763073ad4c87a271cdc52bf8e10d0b10210512cd6b073f093afab74fbc390";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ rostest ];
+  propagatedBuildInputs = [ gpp-interface pluginlib ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The gpp_prune_path plugin will prune the path produced by a global-planner'';
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/noetic/gpp-update-map/default.nix b/distros/noetic/gpp-update-map/default.nix
new file mode 100644
index 0000000000..735b054d49
--- /dev/null
+++ b/distros/noetic/gpp-update-map/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, gpp-interface, pluginlib }:
+buildRosPackage {
+  pname = "ros-noetic-gpp-update-map";
+  version = "0.1.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/dorezyuk/gpp-release/archive/release/noetic/gpp_update_map/0.1.0-1.tar.gz";
+    name = "0.1.0-1.tar.gz";
+    sha256 = "a9bd9719af1b91957ad5dad8e531e18326e1f922d195c8be9795ad8c96d416c5";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ gpp-interface pluginlib ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The gpp_update_map plugin will update the map before running the global planner'';
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/noetic/hector-components-description/default.nix b/distros/noetic/hector-components-description/default.nix
index 5c48aac68f..c334199087 100644
--- a/distros/noetic/hector-components-description/default.nix
+++ b/distros/noetic/hector-components-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gazebo-ros-control-select-joints, hector-gazebo-thermal-camera, hector-sensors-description, hector-xacro-tools, xacro }:
 buildRosPackage {
   pname = "ros-noetic-hector-components-description";
-  version = "0.5.1-r1";
+  version = "0.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_models-release/archive/release/noetic/hector_components_description/0.5.1-1.tar.gz";
-    name = "0.5.1-1.tar.gz";
-    sha256 = "6c4de70cbdecafa782c3bc74424701aef4fd9b49a13fe734ec31df0f0a124835";
+    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_models-release/archive/release/noetic/hector_components_description/0.5.2-1.tar.gz";
+    name = "0.5.2-1.tar.gz";
+    sha256 = "c836e041158b1bac298c05bc1d4de83dfe722c2c7fa20daf6dec282e2a336db8";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/hector-gazebo-plugins/default.nix b/distros/noetic/hector-gazebo-plugins/default.nix
index 34b1d6cde4..589e9894c0 100644
--- a/distros/noetic/hector-gazebo-plugins/default.nix
+++ b/distros/noetic/hector-gazebo-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, dynamic-reconfigure, gazebo, gazebo-dev, gazebo-ros, geometry-msgs, message-generation, message-runtime, nav-msgs, roscpp, std-msgs, std-srvs, tf }:
 buildRosPackage {
   pname = "ros-noetic-hector-gazebo-plugins";
-  version = "0.5.2-r1";
+  version = "0.5.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_gazebo-release/archive/release/noetic/hector_gazebo_plugins/0.5.2-1.tar.gz";
-    name = "0.5.2-1.tar.gz";
-    sha256 = "18434dc1c9a65c79b8eee009392d5c198b81f2a0aceae3f47015217a5a6882e1";
+    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_gazebo-release/archive/release/noetic/hector_gazebo_plugins/0.5.3-1.tar.gz";
+    name = "0.5.3-1.tar.gz";
+    sha256 = "d542732d47227c31baf71fa393a181f516e269efefddc3ca64bdddeeae8d7867";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/hector-gazebo-thermal-camera/default.nix b/distros/noetic/hector-gazebo-thermal-camera/default.nix
index 2839d6b385..9784157a2a 100644
--- a/distros/noetic/hector-gazebo-thermal-camera/default.nix
+++ b/distros/noetic/hector-gazebo-thermal-camera/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gazebo, gazebo-plugins, roscpp }:
 buildRosPackage {
   pname = "ros-noetic-hector-gazebo-thermal-camera";
-  version = "0.5.2-r1";
+  version = "0.5.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_gazebo-release/archive/release/noetic/hector_gazebo_thermal_camera/0.5.2-1.tar.gz";
-    name = "0.5.2-1.tar.gz";
-    sha256 = "c6a32da6efdaf5ffd3a7825c9658d5d3f34214eda93ece44dac60d43b9afccf0";
+    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_gazebo-release/archive/release/noetic/hector_gazebo_thermal_camera/0.5.3-1.tar.gz";
+    name = "0.5.3-1.tar.gz";
+    sha256 = "ee40ddebaf2ffffd2194dc3d529742a87cced11f9b1e1191ab0f193a2c3c78e5";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/hector-gazebo-worlds/default.nix b/distros/noetic/hector-gazebo-worlds/default.nix
index 40eb323cb4..e0d34404a8 100644
--- a/distros/noetic/hector-gazebo-worlds/default.nix
+++ b/distros/noetic/hector-gazebo-worlds/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gazebo-ros, hector-gazebo-plugins }:
 buildRosPackage {
   pname = "ros-noetic-hector-gazebo-worlds";
-  version = "0.5.2-r1";
+  version = "0.5.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_gazebo-release/archive/release/noetic/hector_gazebo_worlds/0.5.2-1.tar.gz";
-    name = "0.5.2-1.tar.gz";
-    sha256 = "c29dfa36b7741dd9313f96b3d2f34b85721bb9a19c40e536f5f81cd796d30368";
+    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_gazebo-release/archive/release/noetic/hector_gazebo_worlds/0.5.3-1.tar.gz";
+    name = "0.5.3-1.tar.gz";
+    sha256 = "93cc02726ca22b5c9b5f90f4620996c75998c3598b86e3f2b4463dc9f1dfb583";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/hector-gazebo/default.nix b/distros/noetic/hector-gazebo/default.nix
index fc012fd471..e7d061138c 100644
--- a/distros/noetic/hector-gazebo/default.nix
+++ b/distros/noetic/hector-gazebo/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, hector-gazebo-plugins, hector-gazebo-thermal-camera, hector-gazebo-worlds }:
 buildRosPackage {
   pname = "ros-noetic-hector-gazebo";
-  version = "0.5.2-r1";
+  version = "0.5.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_gazebo-release/archive/release/noetic/hector_gazebo/0.5.2-1.tar.gz";
-    name = "0.5.2-1.tar.gz";
-    sha256 = "067a5de59e3424a72806d6fde15c758d7a902568670ecbcce0b52dd532352b37";
+    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_gazebo-release/archive/release/noetic/hector_gazebo/0.5.3-1.tar.gz";
+    name = "0.5.3-1.tar.gz";
+    sha256 = "d98090e13ab216cd9373e37e45c2b1d036964be4ba758554a67f7a5175a96de9";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/hector-models/default.nix b/distros/noetic/hector-models/default.nix
index 5bf7a42c9f..af19a6fd82 100644
--- a/distros/noetic/hector-models/default.nix
+++ b/distros/noetic/hector-models/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, hector-sensors-description, hector-xacro-tools }:
 buildRosPackage {
   pname = "ros-noetic-hector-models";
-  version = "0.5.1-r1";
+  version = "0.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_models-release/archive/release/noetic/hector_models/0.5.1-1.tar.gz";
-    name = "0.5.1-1.tar.gz";
-    sha256 = "5c526ee60903895e6b913a387172e0d21507a10b64c91426233631901f5eb990";
+    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_models-release/archive/release/noetic/hector_models/0.5.2-1.tar.gz";
+    name = "0.5.2-1.tar.gz";
+    sha256 = "15db88e81f3da4f437d122add03fd519b2d123dce26277dac4eab14b2144d4cc";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/hector-sensors-description/default.nix b/distros/noetic/hector-sensors-description/default.nix
index 9738344dc4..976470eb5a 100644
--- a/distros/noetic/hector-sensors-description/default.nix
+++ b/distros/noetic/hector-sensors-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, hector-gazebo-thermal-camera, tf, tf2-ros, velodyne-gazebo-plugins, xacro }:
 buildRosPackage {
   pname = "ros-noetic-hector-sensors-description";
-  version = "0.5.1-r1";
+  version = "0.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_models-release/archive/release/noetic/hector_sensors_description/0.5.1-1.tar.gz";
-    name = "0.5.1-1.tar.gz";
-    sha256 = "096d291f9bbe90e8ed74cd685b4c7e940ecb9a01d73a5ed0e6ffe577fcc74a44";
+    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_models-release/archive/release/noetic/hector_sensors_description/0.5.2-1.tar.gz";
+    name = "0.5.2-1.tar.gz";
+    sha256 = "df26c218168a217bee936dc0f3b18bede77d28963cce86a8aadfdaeb0681424d";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/hector-sensors-gazebo/default.nix b/distros/noetic/hector-sensors-gazebo/default.nix
index 47bdc95683..e0c7604e71 100644
--- a/distros/noetic/hector-sensors-gazebo/default.nix
+++ b/distros/noetic/hector-sensors-gazebo/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, gazebo-plugins, hector-gazebo-plugins, hector-sensors-description }:
 buildRosPackage {
   pname = "ros-noetic-hector-sensors-gazebo";
-  version = "0.5.2-r1";
+  version = "0.5.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_gazebo-release/archive/release/noetic/hector_sensors_gazebo/0.5.2-1.tar.gz";
-    name = "0.5.2-1.tar.gz";
-    sha256 = "226838ff33a7b1e7f0f0495deaea78766605714b8abb65bb2344db560cff832e";
+    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_gazebo-release/archive/release/noetic/hector_sensors_gazebo/0.5.3-1.tar.gz";
+    name = "0.5.3-1.tar.gz";
+    sha256 = "d3f9828077271e47f60b41a71af04338da993a188aa40c339365a6fb900920d5";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/hector-xacro-tools/default.nix b/distros/noetic/hector-xacro-tools/default.nix
index c2a8d6fc62..cf5d84740c 100644
--- a/distros/noetic/hector-xacro-tools/default.nix
+++ b/distros/noetic/hector-xacro-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, xacro }:
 buildRosPackage {
   pname = "ros-noetic-hector-xacro-tools";
-  version = "0.5.1-r1";
+  version = "0.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_models-release/archive/release/noetic/hector_xacro_tools/0.5.1-1.tar.gz";
-    name = "0.5.1-1.tar.gz";
-    sha256 = "252570f0360451dcea70b1c054f12d133f407e9e3410f0579e8c38d34241a096";
+    url = "https://github.com/tu-darmstadt-ros-pkg-gbp/hector_models-release/archive/release/noetic/hector_xacro_tools/0.5.2-1.tar.gz";
+    name = "0.5.2-1.tar.gz";
+    sha256 = "eca907694e740473c669aa65de10cd392a397190dcbb115d0851f2e8258f03ee";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/interactive-marker-twist-server/default.nix b/distros/noetic/interactive-marker-twist-server/default.nix
index 8e8f21578e..bd18e1ad8c 100644
--- a/distros/noetic/interactive-marker-twist-server/default.nix
+++ b/distros/noetic/interactive-marker-twist-server/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, catkin, interactive-markers, roscpp, roslaunch, roslint, visualization-msgs }:
+{ lib, buildRosPackage, fetchurl, catkin, interactive-markers, roscpp, roslaunch, roslint, tf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-noetic-interactive-marker-twist-server";
-  version = "1.2.0-r2";
+  version = "1.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/interactive_marker_twist_server-release/archive/release/noetic/interactive_marker_twist_server/1.2.0-2.tar.gz";
-    name = "1.2.0-2.tar.gz";
-    sha256 = "95ce1531e7067a10fec566d21738937772b436ac55729e2bfa04acac98c5479d";
+    url = "https://github.com/ros-gbp/interactive_marker_twist_server-release/archive/release/noetic/interactive_marker_twist_server/1.2.2-1.tar.gz";
+    name = "1.2.2-1.tar.gz";
+    sha256 = "58d695193fe358cddaabae164f677da27b3908503207c3ca1fcdedbbae922a0c";
   };
 
   buildType = "catkin";
   checkInputs = [ roslaunch roslint ];
-  propagatedBuildInputs = [ interactive-markers roscpp visualization-msgs ];
+  propagatedBuildInputs = [ interactive-markers roscpp tf visualization-msgs ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/noetic/joystick-interrupt/default.nix b/distros/noetic/joystick-interrupt/default.nix
index a47f02994c..a63dc7e38b 100644
--- a/distros/noetic/joystick-interrupt/default.nix
+++ b/distros/noetic/joystick-interrupt/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, neonavigation-common, roscpp, roslint, rostest, sensor-msgs, topic-tools }:
 buildRosPackage {
   pname = "ros-noetic-joystick-interrupt";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/joystick_interrupt/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "b5907bb096dbaf4249a71cf3b01586e139c36099a5c96154f5ebe57fea223c21";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/joystick_interrupt/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "ef430550fdcad1b38f8c0224121ac1d8d453e855036fb93efcbbd7f341579617";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/lms1xx/default.nix b/distros/noetic/lms1xx/default.nix
new file mode 100644
index 0000000000..912121bd12
--- /dev/null
+++ b/distros/noetic/lms1xx/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, rosconsole-bridge, roscpp, roscpp-serialization, roslaunch, roslint, rosunit, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-lms1xx";
+  version = "0.3.0-r2";
+
+  src = fetchurl {
+    url = "https://github.com/clearpath-gbp/lms1xx-release/archive/release/noetic/lms1xx/0.3.0-2.tar.gz";
+    name = "0.3.0-2.tar.gz";
+    sha256 = "542f79a2e70c555941a560b801052355adfc58fb791078a6da4d28d7e01a6ffe";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslaunch roslint rosunit ];
+  propagatedBuildInputs = [ rosconsole-bridge roscpp roscpp-serialization sensor-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The lms1xx package contains a basic ROS driver for the SICK LMS1xx line of LIDARs.'';
+    license = with lib.licenses; [ lgpl2 ];
+  };
+}
diff --git a/distros/noetic/magical-ros2-conversion-tool/default.nix b/distros/noetic/magical-ros2-conversion-tool/default.nix
new file mode 100644
index 0000000000..08b4a10721
--- /dev/null
+++ b/distros/noetic/magical-ros2-conversion-tool/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, ros-introspection, roscompile, roslint }:
+buildRosPackage {
+  pname = "ros-noetic-magical-ros2-conversion-tool";
+  version = "1.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/wu-robotics/roscompile-release/archive/release/noetic/magical_ros2_conversion_tool/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "239d6d47087638c7081c6133064bb3558a0f1fea45ed8417de26530eed6b6ed5";
+  };
+
+  buildType = "catkin";
+  checkInputs = [ roslint ];
+  propagatedBuildInputs = [ ros-introspection roscompile ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The magical_ros2_conversion_tool package'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/map-organizer/default.nix b/distros/noetic/map-organizer/default.nix
index 564af3525d..80b35cfa1d 100644
--- a/distros/noetic/map-organizer/default.nix
+++ b/distros/noetic/map-organizer/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, map-organizer-msgs, map-server, nav-msgs, neonavigation-common, pcl, pcl-conversions, roscpp, roslint, rostest, sensor-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-noetic-map-organizer";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/map_organizer/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "244dde72b9be13c12e356e3e5cf3171999102e02647157853bc597521f8bae92";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/map_organizer/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "e70688b82f7ff63a48a4a8caa476a043b7c28496b75e2c7d159238a225f6bed3";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/mavlink/default.nix b/distros/noetic/mavlink/default.nix
index c19fb4518a..fc29efbc2e 100644
--- a/distros/noetic/mavlink/default.nix
+++ b/distros/noetic/mavlink/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cmake, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-noetic-mavlink";
-  version = "2021.1.4-r1";
+  version = "2021.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavlink-gbp-release/archive/release/noetic/mavlink/2021.1.4-1.tar.gz";
-    name = "2021.1.4-1.tar.gz";
-    sha256 = "3a40db7db53bd9fc6df36aec31518df0ae803c23a6e0d910877800f989dfa8e8";
+    url = "https://github.com/mavlink/mavlink-gbp-release/archive/release/noetic/mavlink/2021.2.2-1.tar.gz";
+    name = "2021.2.2-1.tar.gz";
+    sha256 = "6e9fd280eaa921e379a5efa2b25471a7d037c80f15599b0a6f270bf3d7385af1";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/neonavigation-common/default.nix b/distros/noetic/neonavigation-common/default.nix
index 38f17ea44a..c88e323b1d 100644
--- a/distros/noetic/neonavigation-common/default.nix
+++ b/distros/noetic/neonavigation-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, roscpp, roslint, rostest, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-noetic-neonavigation-common";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/neonavigation_common/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "f60f3cd11058ad3ba8e11979aa0a7c3e863eb3362013a13c63a9151e9be1711d";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/neonavigation_common/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "acdea97e27cecfba83a32f922aef0ae7d7c51c966ff05ab46620643d6af753d3";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/neonavigation-launch/default.nix b/distros/noetic/neonavigation-launch/default.nix
index 3daf43d459..7d3ca22b16 100644
--- a/distros/noetic/neonavigation-launch/default.nix
+++ b/distros/noetic/neonavigation-launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, costmap-cspace, map-server, planner-cspace, safety-limiter, tf2-ros, trajectory-tracker, trajectory-tracker-rviz-plugins }:
 buildRosPackage {
   pname = "ros-noetic-neonavigation-launch";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/neonavigation_launch/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "38c6a3db95b36d0441ca5322a9d076dab8081078f007489c84715189a4867b84";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/neonavigation_launch/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "cfcaf119a9f7506f57c8d504a10efb9240d184de5f475eab7304d9b61e07f20c";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/neonavigation/default.nix b/distros/noetic/neonavigation/default.nix
index fa043c692e..70135febc7 100644
--- a/distros/noetic/neonavigation/default.nix
+++ b/distros/noetic/neonavigation/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, costmap-cspace, joystick-interrupt, map-organizer, neonavigation-common, neonavigation-launch, obj-to-pointcloud, planner-cspace, safety-limiter, track-odometry, trajectory-tracker }:
 buildRosPackage {
   pname = "ros-noetic-neonavigation";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/neonavigation/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "b6582b8c94d4e8bb202aba4277850a4f58479aca8c4284d517915c5dc4883309";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/neonavigation/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "7be823daceb21053b6e100e62b3cd9f024086961fb3f6de479b7618171c9d514";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/nmea-comms/default.nix b/distros/noetic/nmea-comms/default.nix
new file mode 100644
index 0000000000..d2fb5ba2fc
--- /dev/null
+++ b/distros/noetic/nmea-comms/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, nmea-msgs, roscpp, roslaunch, roslint, rostest }:
+buildRosPackage {
+  pname = "ros-noetic-nmea-comms";
+  version = "1.2.0-r3";
+
+  src = fetchurl {
+    url = "https://github.com/ros-drivers-gbp/nmea_comms-release/archive/release/noetic/nmea_comms/1.2.0-3.tar.gz";
+    name = "1.2.0-3.tar.gz";
+    sha256 = "043ce2fedd2173e5d9fa7004aff8911555efeccb0a04150e737e149a6cdb7241";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ roslaunch roslint rostest ];
+  propagatedBuildInputs = [ nmea-msgs roscpp ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The nmea_comms package provides helper nodes for transmitting and receiving
+    the NMEA sentences.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/nodelet-core/default.nix b/distros/noetic/nodelet-core/default.nix
index 45a92e7d9c..47e11435f8 100644
--- a/distros/noetic/nodelet-core/default.nix
+++ b/distros/noetic/nodelet-core/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, nodelet, nodelet-topic-tools }:
 buildRosPackage {
   pname = "ros-noetic-nodelet-core";
-  version = "1.10.0-r1";
+  version = "1.10.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/nodelet_core-release/archive/release/noetic/nodelet_core/1.10.0-1.tar.gz";
-    name = "1.10.0-1.tar.gz";
-    sha256 = "ea941ba1a04a52d01c3754aed9114f961678a5052e8e12b94a9515545eda7862";
+    url = "https://github.com/ros-gbp/nodelet_core-release/archive/release/noetic/nodelet_core/1.10.1-1.tar.gz";
+    name = "1.10.1-1.tar.gz";
+    sha256 = "8e6b9ffcfb0abe296423f61201306683174fba537fce06e84d4a28218bec3f23";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/nodelet-topic-tools/default.nix b/distros/noetic/nodelet-topic-tools/default.nix
index 733c7beb6b..f5dce49116 100644
--- a/distros/noetic/nodelet-topic-tools/default.nix
+++ b/distros/noetic/nodelet-topic-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, dynamic-reconfigure, message-filters, nodelet, pluginlib, roscpp }:
 buildRosPackage {
   pname = "ros-noetic-nodelet-topic-tools";
-  version = "1.10.0-r1";
+  version = "1.10.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/nodelet_core-release/archive/release/noetic/nodelet_topic_tools/1.10.0-1.tar.gz";
-    name = "1.10.0-1.tar.gz";
-    sha256 = "5a1402a884716ee3b11372305594933cd318d53a85083581f62dcddf498a2b3f";
+    url = "https://github.com/ros-gbp/nodelet_core-release/archive/release/noetic/nodelet_topic_tools/1.10.1-1.tar.gz";
+    name = "1.10.1-1.tar.gz";
+    sha256 = "425324f1b12a552edc960f8a003f4ca8a986e56cf36e0848b489fb7327412838";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/nodelet/default.nix b/distros/noetic/nodelet/default.nix
index a52d89670a..f824ccf912 100644
--- a/distros/noetic/nodelet/default.nix
+++ b/distros/noetic/nodelet/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, bondcpp, boost, catkin, cmake-modules, message-generation, message-runtime, pluginlib, rosconsole, roscpp, rospy, std-msgs, utillinux }:
 buildRosPackage {
   pname = "ros-noetic-nodelet";
-  version = "1.10.0-r1";
+  version = "1.10.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/nodelet_core-release/archive/release/noetic/nodelet/1.10.0-1.tar.gz";
-    name = "1.10.0-1.tar.gz";
-    sha256 = "d8ec0a7a8c2643af8e6ae6696410891bdc0d9826d0f430eff1ebd0a0222982e1";
+    url = "https://github.com/ros-gbp/nodelet_core-release/archive/release/noetic/nodelet/1.10.1-1.tar.gz";
+    name = "1.10.1-1.tar.gz";
+    sha256 = "e5fc828f77cb9bc673340bae8e29fde4d16be54ceec4ef23153e29bc9aa0c00b";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/nonpersistent-voxel-layer/default.nix b/distros/noetic/nonpersistent-voxel-layer/default.nix
index a980b7fe85..67c1f0117a 100644
--- a/distros/noetic/nonpersistent-voxel-layer/default.nix
+++ b/distros/noetic/nonpersistent-voxel-layer/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, catkin, cmake-modules, costmap-2d, dynamic-reconfigure, geometry-msgs, laser-geometry, map-msgs, message-filters, message-generation, message-runtime, nav-msgs, pcl-conversions, pcl-ros, pluginlib, rosconsole, roscpp, sensor-msgs, std-msgs, tf, visualization-msgs, voxel-grid }:
+{ lib, buildRosPackage, fetchurl, catkin, cmake-modules, costmap-2d, dynamic-reconfigure, geometry-msgs, laser-geometry, map-msgs, message-filters, message-generation, message-runtime, nav-msgs, pluginlib, rosconsole, roscpp, sensor-msgs, std-msgs, tf, visualization-msgs, voxel-grid }:
 buildRosPackage {
   pname = "ros-noetic-nonpersistent-voxel-layer";
-  version = "1.2.3-r2";
+  version = "1.3.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/nonpersistent_voxel_layer-release/archive/release/noetic/nonpersistent_voxel_layer/1.2.3-2.tar.gz";
-    name = "1.2.3-2.tar.gz";
-    sha256 = "1fb02c102340c981395ffb126313d7ebf1045b583153884c6d80991b30da82ad";
+    url = "https://github.com/SteveMacenski/nonpersistent_voxel_layer-release/archive/release/noetic/nonpersistent_voxel_layer/1.3.0-2.tar.gz";
+    name = "1.3.0-2.tar.gz";
+    sha256 = "873ea35875641ee32e4bfd53dd41ff0425e742cc6dcb75309e9094caa8b37c37";
   };
 
   buildType = "catkin";
   buildInputs = [ cmake-modules message-generation ];
-  propagatedBuildInputs = [ costmap-2d dynamic-reconfigure geometry-msgs laser-geometry map-msgs message-filters message-runtime nav-msgs pcl-conversions pcl-ros pluginlib rosconsole roscpp sensor-msgs std-msgs tf visualization-msgs voxel-grid ];
+  propagatedBuildInputs = [ costmap-2d dynamic-reconfigure geometry-msgs laser-geometry map-msgs message-filters message-runtime nav-msgs pluginlib rosconsole roscpp sensor-msgs std-msgs tf visualization-msgs voxel-grid ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/noetic/novatel-oem7-driver/default.nix b/distros/noetic/novatel-oem7-driver/default.nix
index cdf4baefe6..bcb2041901 100644
--- a/distros/noetic/novatel-oem7-driver/default.nix
+++ b/distros/noetic/novatel-oem7-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, gps-common, nav-msgs, nmea-msgs, nodelet, novatel-oem7-msgs, rosbag, roscpp, rostest, sensor-msgs, tf2-geometry-msgs }:
 buildRosPackage {
   pname = "ros-noetic-novatel-oem7-driver";
-  version = "2.0.0-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/noetic/novatel_oem7_driver/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "d8507dad78b2eea31ec65a8ece8128d1164f5657b61cfd2f682813fbac839d7b";
+    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/noetic/novatel_oem7_driver/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "d7d8c9d6bee01e7ee306ee8b826fa15e7edfe8bab60c6bda875f6f9da05d86a7";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/novatel-oem7-msgs/default.nix b/distros/noetic/novatel-oem7-msgs/default.nix
index 86293ae4ea..6aac9faa9f 100644
--- a/distros/noetic/novatel-oem7-msgs/default.nix
+++ b/distros/noetic/novatel-oem7-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-noetic-novatel-oem7-msgs";
-  version = "2.0.0-r1";
+  version = "2.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/noetic/novatel_oem7_msgs/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "a741a6c39390dab95fc4a3222ebb671feda48fa14d71b3675e599d644518bb81";
+    url = "https://github.com/novatel-gbp/novatel_oem7_driver-release/archive/release/noetic/novatel_oem7_msgs/2.2.0-1.tar.gz";
+    name = "2.2.0-1.tar.gz";
+    sha256 = "cc252d4e31a3a573438b743f5805bdec557d32cde5648aa0a1d20a0f1b84ac93";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/obj-to-pointcloud/default.nix b/distros/noetic/obj-to-pointcloud/default.nix
index dd0807dc30..c03595f323 100644
--- a/distros/noetic/obj-to-pointcloud/default.nix
+++ b/distros/noetic/obj-to-pointcloud/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, neonavigation-common, pcl, pcl-conversions, roscpp, roslint, rostest, sensor-msgs }:
 buildRosPackage {
   pname = "ros-noetic-obj-to-pointcloud";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/obj_to_pointcloud/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "b205af253fdd0bec85dfa31a45aae9bcdd535b450236855c0ced5d703de38ff6";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/obj_to_pointcloud/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "e1a2b5a4b07e4787ccee12cd3d7511b690de1064cf19f7e7750dd18381a3ac5f";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/octomap/default.nix b/distros/noetic/octomap/default.nix
index af4eee884e..f9022c5ea7 100644
--- a/distros/noetic/octomap/default.nix
+++ b/distros/noetic/octomap/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake }:
 buildRosPackage {
   pname = "ros-noetic-octomap";
-  version = "1.9.5-r4";
+  version = "1.9.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/octomap-release/archive/release/noetic/octomap/1.9.5-4.tar.gz";
-    name = "1.9.5-4.tar.gz";
-    sha256 = "2648c3ba5f31d3b93f6377d3b12bb4ed3f3212faae1422a73f6a222fb3e0a012";
+    url = "https://github.com/ros-gbp/octomap-release/archive/release/noetic/octomap/1.9.6-1.tar.gz";
+    name = "1.9.6-1.tar.gz";
+    sha256 = "c77e3e57696d76a69bd4c6fa731b14dcce92eb63c7db6675d8b841ca816714fc";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/octovis/default.nix b/distros/noetic/octovis/default.nix
index 2f5f7dda1a..0d35e07325 100644
--- a/distros/noetic/octovis/default.nix
+++ b/distros/noetic/octovis/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, libsForQt5, octomap, qt5 }:
 buildRosPackage {
   pname = "ros-noetic-octovis";
-  version = "1.9.5-r4";
+  version = "1.9.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/octomap-release/archive/release/noetic/octovis/1.9.5-4.tar.gz";
-    name = "1.9.5-4.tar.gz";
-    sha256 = "384b1a1df103c9729ca33a0e992aa513443778228cfd51736617db53f96c3aa5";
+    url = "https://github.com/ros-gbp/octomap-release/archive/release/noetic/octovis/1.9.6-1.tar.gz";
+    name = "1.9.6-1.tar.gz";
+    sha256 = "feb098684affecd77636c6992084628036bf9101a41a42438723bb855b77401a";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/ompl/default.nix b/distros/noetic/ompl/default.nix
index 3d268f888c..ab8171366e 100644
--- a/distros/noetic/ompl/default.nix
+++ b/distros/noetic/ompl/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, boost, cmake, eigen, pkg-config }:
+{ lib, buildRosPackage, fetchurl, boost, cmake, eigen, flann, ode, pkg-config }:
 buildRosPackage {
   pname = "ros-noetic-ompl";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/ompl-release/archive/release/noetic/ompl/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "c1001b27d7f19cb9f8b6b9e574ba418505c2a427a0add635dc5daf751d0fa47f";
+    url = "https://github.com/ros-gbp/ompl-release/archive/release/noetic/ompl/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "1f45c6363e62424015aa5efdb27a7b0412dd9018676149f23200126241b6715a";
   };
 
   buildType = "cmake";
   buildInputs = [ cmake pkg-config ];
-  propagatedBuildInputs = [ boost eigen ];
+  propagatedBuildInputs = [ boost eigen flann ode ];
   nativeBuildInputs = [ cmake ];
 
   meta = {
diff --git a/distros/noetic/openni2-camera/default.nix b/distros/noetic/openni2-camera/default.nix
index 7daf0cc1e9..ddd39b455a 100644
--- a/distros/noetic/openni2-camera/default.nix
+++ b/distros/noetic/openni2-camera/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, camera-info-manager, catkin, dynamic-reconfigure, image-transport, message-generation, message-runtime, nodelet, openni2, roscpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-noetic-openni2-camera";
-  version = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/noetic/openni2_camera/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "6fb59102570a2afd11d752e8fa249e9067b174d0ef2a02247df156b3ab92df0c";
+    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/noetic/openni2_camera/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "b904ddec8179c97f8540ac925572ac91ae7540453fb8231201bcd3ac39e35716";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/openni2-launch/default.nix b/distros/noetic/openni2-launch/default.nix
index 92cad9bfe0..529ee405cc 100644
--- a/distros/noetic/openni2-launch/default.nix
+++ b/distros/noetic/openni2-launch/default.nix
@@ -5,12 +5,12 @@
 { 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 = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/noetic/openni2_launch/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "b2cc940b0a6d4f0fef686dbe56cc84649873c490b41d0b8a51784181546ceaea";
+    url = "https://github.com/ros-gbp/openni2_camera-release/archive/release/noetic/openni2_launch/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "2098408bbcc2be3e62fd7a620d0bb6eef88874e805316f27670b13e2f3df6c59";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/pilz-industrial-motion-testutils/default.nix b/distros/noetic/pilz-industrial-motion-testutils/default.nix
index f564503ff1..69881d0114 100644
--- a/distros/noetic/pilz-industrial-motion-testutils/default.nix
+++ b/distros/noetic/pilz-industrial-motion-testutils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, moveit-commander }:
 buildRosPackage {
   pname = "ros-noetic-pilz-industrial-motion-testutils";
-  version = "0.7.0-r1";
+  version = "0.7.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/PilzDE/pilz_common-release/archive/release/noetic/pilz_industrial_motion_testutils/0.7.0-1.tar.gz";
-    name = "0.7.0-1.tar.gz";
-    sha256 = "47709596acd2e8b133d3ba109c87e9bd762a41bf7272b35f7694b1b4f4a3f4db";
+    url = "https://github.com/PilzDE/pilz_common-release/archive/release/noetic/pilz_industrial_motion_testutils/0.7.1-1.tar.gz";
+    name = "0.7.1-1.tar.gz";
+    sha256 = "819302e83331cc5ee9fef601ea175f8ac109de426b635360f273983a0d1be146";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/pilz-msgs/default.nix b/distros/noetic/pilz-msgs/default.nix
index 0d18d2f37a..624c338fb9 100644
--- a/distros/noetic/pilz-msgs/default.nix
+++ b/distros/noetic/pilz-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime }:
 buildRosPackage {
   pname = "ros-noetic-pilz-msgs";
-  version = "0.7.0-r1";
+  version = "0.7.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/PilzDE/pilz_common-release/archive/release/noetic/pilz_msgs/0.7.0-1.tar.gz";
-    name = "0.7.0-1.tar.gz";
-    sha256 = "2820d86c2377128a1a3fe37ac2549d30cea943b1c06baa58fb079ea11812c1ef";
+    url = "https://github.com/PilzDE/pilz_common-release/archive/release/noetic/pilz_msgs/0.7.1-1.tar.gz";
+    name = "0.7.1-1.tar.gz";
+    sha256 = "9aff81c4fe49199573b81d29e493946aac762565545ad3da60e1248f7cb6ac6c";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/pilz-testutils/default.nix b/distros/noetic/pilz-testutils/default.nix
index c5ecbd9fff..e3697bf192 100644
--- a/distros/noetic/pilz-testutils/default.nix
+++ b/distros/noetic/pilz-testutils/default.nix
@@ -2,19 +2,20 @@
 # Copyright 2021 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, catkin, pilz-utils, roscpp, sensor-msgs }:
+{ lib, buildRosPackage, fetchurl, catkin, code-coverage, pilz-utils, roscpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-noetic-pilz-testutils";
-  version = "0.7.0-r1";
+  version = "0.7.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/PilzDE/pilz_common-release/archive/release/noetic/pilz_testutils/0.7.0-1.tar.gz";
-    name = "0.7.0-1.tar.gz";
-    sha256 = "cb1888e47c114b236c8a1be5a109214e505d296aa20be77b485f538ee85818d1";
+    url = "https://github.com/PilzDE/pilz_common-release/archive/release/noetic/pilz_testutils/0.7.1-1.tar.gz";
+    name = "0.7.1-1.tar.gz";
+    sha256 = "e201872b6f08576a6b71e119fc59c0de078c33fc12b5866d795adcae8c072792";
   };
 
   buildType = "catkin";
   buildInputs = [ pilz-utils roscpp sensor-msgs ];
+  checkInputs = [ code-coverage ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/noetic/pilz-utils/default.nix b/distros/noetic/pilz-utils/default.nix
index 55caf85260..6dbeeb6b9b 100644
--- a/distros/noetic/pilz-utils/default.nix
+++ b/distros/noetic/pilz-utils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, clang, cmake-modules, code-coverage, roscpp, rostest, rosunit }:
 buildRosPackage {
   pname = "ros-noetic-pilz-utils";
-  version = "0.7.0-r1";
+  version = "0.7.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/PilzDE/pilz_common-release/archive/release/noetic/pilz_utils/0.7.0-1.tar.gz";
-    name = "0.7.0-1.tar.gz";
-    sha256 = "cd58d32471ea907610d74f31a05fcc35bbbd8a6e135aae837c5d0f25a8e4a5f6";
+    url = "https://github.com/PilzDE/pilz_common-release/archive/release/noetic/pilz_utils/0.7.1-1.tar.gz";
+    name = "0.7.1-1.tar.gz";
+    sha256 = "8ac7d40019d37984f6ebe72bb8c65a63f80019f9c15d40a9f68c60e514f6c922";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/pinocchio/default.nix b/distros/noetic/pinocchio/default.nix
index 2280cbb6ca..e2e8a8bd22 100644
--- a/distros/noetic/pinocchio/default.nix
+++ b/distros/noetic/pinocchio/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, cmake, doxygen, eigen, eigenpy, git, python3, python3Packages, urdfdom }:
 buildRosPackage {
   pname = "ros-noetic-pinocchio";
-  version = "2.5.0-r1";
+  version = "2.5.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipab-slmc/pinocchio_catkin-release/archive/release/noetic/pinocchio/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "e5166246bd99af2348f277870f44fc81c6ffa9662aa41a3c40544227e9b2f35a";
+    url = "https://github.com/ipab-slmc/pinocchio_catkin-release/archive/release/noetic/pinocchio/2.5.6-1.tar.gz";
+    name = "2.5.6-1.tar.gz";
+    sha256 = "8445464c30a254293a4f35edae134d3b0293fdc32403b85cc839d5abef6af5d8";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/planner-cspace/default.nix b/distros/noetic/planner-cspace/default.nix
index b1cf27612d..b1f6db0c8e 100644
--- a/distros/noetic/planner-cspace/default.nix
+++ b/distros/noetic/planner-cspace/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, actionlib, catkin, costmap-cspace, costmap-cspace-msgs, diagnostic-updater, geometry-msgs, map-server, move-base-msgs, nav-msgs, neonavigation-common, planner-cspace-msgs, roscpp, roslint, rostest, sensor-msgs, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, trajectory-msgs, trajectory-tracker, trajectory-tracker-msgs }:
 buildRosPackage {
   pname = "ros-noetic-planner-cspace";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/planner_cspace/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "db3b341cb6cb769c39ca71a150e6a5865d392700016b531ec20e05c41c5acd1a";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/planner_cspace/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "139884dab4de402e96b1880b239d9fcfdddc1b8e0820db9dd603509784c11bab";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/plotjuggler-ros/default.nix b/distros/noetic/plotjuggler-ros/default.nix
index c29be3f97b..0f486b254c 100644
--- a/distros/noetic/plotjuggler-ros/default.nix
+++ b/distros/noetic/plotjuggler-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, binutils, boost, catkin, diagnostic-msgs, geometry-msgs, nav-msgs, plotjuggler, plotjuggler-msgs, qt5, rosbag-storage, roscpp, roscpp-serialization, sensor-msgs, tf, tf2-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-noetic-plotjuggler-ros";
-  version = "1.0.0-r1";
+  version = "1.1.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/PlotJuggler/plotjuggler-ros-plugins-release/archive/release/noetic/plotjuggler_ros/1.0.0-1.tar.gz";
-    name = "1.0.0-1.tar.gz";
-    sha256 = "1ba86015faf8ea34c3b4ca038a0285e0e90879c10146906a74230a3b0cab802a";
+    url = "https://github.com/PlotJuggler/plotjuggler-ros-plugins-release/archive/release/noetic/plotjuggler_ros/1.1.0-2.tar.gz";
+    name = "1.1.0-2.tar.gz";
+    sha256 = "f9f55efd6772124f574b8710fc74a292dc9aa58dacbd09ebdbb77b42869b5353";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/plotjuggler/default.nix b/distros/noetic/plotjuggler/default.nix
index 701f0e9250..cc9089aa53 100644
--- a/distros/noetic/plotjuggler/default.nix
+++ b/distros/noetic/plotjuggler/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, binutils, boost, catkin, cppzmq, qt5, roslib }:
 buildRosPackage {
   pname = "ros-noetic-plotjuggler";
-  version = "3.0.7-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/facontidavide/plotjuggler-release/archive/release/noetic/plotjuggler/3.0.7-1.tar.gz";
-    name = "3.0.7-1.tar.gz";
-    sha256 = "e0c81c90f9974e694a27922184cbf41f79405336a2cf97592fee4b6032c4ac6a";
+    url = "https://github.com/facontidavide/plotjuggler-release/archive/release/noetic/plotjuggler/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "e26803abdfb92355c4b76fb6550aebd9d84857ed535732b8a7104f23e40ead2a";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/rc-genicam-camera/default.nix b/distros/noetic/rc-genicam-camera/default.nix
new file mode 100644
index 0000000000..3aa29c9b4a
--- /dev/null
+++ b/distros/noetic/rc-genicam-camera/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, diagnostic-updater, dynamic-reconfigure, image-transport, message-generation, message-runtime, nodelet, rc-genicam-api, roscpp, sensor-msgs, std-msgs, std-srvs }:
+buildRosPackage {
+  pname = "ros-noetic-rc-genicam-camera";
+  version = "1.2.4-r1";
+
+  src = fetchurl {
+    url = "https://github.com/roboception-gbp/rc_genicam_camera-release/archive/release/noetic/rc_genicam_camera/1.2.4-1.tar.gz";
+    name = "1.2.4-1.tar.gz";
+    sha256 = "8ea918ece41e66baaf826ed9e1bb1335b3c8c5f12883a3de31b10a87a025a108";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ message-generation ];
+  propagatedBuildInputs = [ diagnostic-updater dynamic-reconfigure image-transport message-runtime nodelet rc-genicam-api roscpp sensor-msgs std-msgs std-srvs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The rc_genicam_camera provides images from a GenICam compatible camera.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/rc-genicam-driver/default.nix b/distros/noetic/rc-genicam-driver/default.nix
index ba62f4311e..5a6eb76c8c 100644
--- a/distros/noetic/rc-genicam-driver/default.nix
+++ b/distros/noetic/rc-genicam-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, curl, diagnostic-updater, dynamic-reconfigure, geometry-msgs, image-transport, message-generation, message-runtime, nodelet, protobuf, rc-common-msgs, rc-genicam-api, roscpp, sensor-msgs, stereo-msgs, tf }:
 buildRosPackage {
   pname = "ros-noetic-rc-genicam-driver";
-  version = "0.4.0-r1";
+  version = "0.5.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/roboception-gbp/rc_genicam_driver_ros-release/archive/release/noetic/rc_genicam_driver/0.4.0-1.tar.gz";
-    name = "0.4.0-1.tar.gz";
-    sha256 = "1bdec963b6e19e0bba4b4158efac2142f30d7b8bbb9e7e8c58bf0c6443f27614";
+    url = "https://github.com/roboception-gbp/rc_genicam_driver_ros-release/archive/release/noetic/rc_genicam_driver/0.5.0-1.tar.gz";
+    name = "0.5.0-1.tar.gz";
+    sha256 = "b46a0b005ba84b31997044db978324f30a0fb5db0706c2640b18a511ae271768";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/ros-introspection/default.nix b/distros/noetic/ros-introspection/default.nix
index df8e8d1dd0..49408b693e 100644
--- a/distros/noetic/ros-introspection/default.nix
+++ b/distros/noetic/ros-introspection/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, python3Packages, roslint, rosmsg }:
 buildRosPackage {
   pname = "ros-noetic-ros-introspection";
-  version = "1.1.1-r1";
+  version = "1.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/wu-robotics/roscompile-release/archive/release/noetic/ros_introspection/1.1.1-1.tar.gz";
-    name = "1.1.1-1.tar.gz";
-    sha256 = "db2142d1299b69593e49230abe2a4cff055b0d140e63710d982f57b58a245196";
+    url = "https://github.com/wu-robotics/roscompile-release/archive/release/noetic/ros_introspection/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "6ac7e259bd429f21e55947434a3965e9646af9ad2dfbecc66528a389f7cc1e01";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/roscompile/default.nix b/distros/noetic/roscompile/default.nix
index 4b7e71795d..b4c9a80a13 100644
--- a/distros/noetic/roscompile/default.nix
+++ b/distros/noetic/roscompile/default.nix
@@ -5,18 +5,18 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, pluginlib, pluginlib-tutorials, python3Packages, ros-introspection, roslint, stereo-msgs, tf }:
 buildRosPackage {
   pname = "ros-noetic-roscompile";
-  version = "1.1.1-r1";
+  version = "1.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/wu-robotics/roscompile-release/archive/release/noetic/roscompile/1.1.1-1.tar.gz";
-    name = "1.1.1-1.tar.gz";
-    sha256 = "5aaff19ee97608913f5479729a4308ac01a66ba87cc093547ccddec007f9dffe";
+    url = "https://github.com/wu-robotics/roscompile-release/archive/release/noetic/roscompile/1.2.0-1.tar.gz";
+    name = "1.2.0-1.tar.gz";
+    sha256 = "675aff42dbbf990ffb8eaa64c4e1edd2bd526e47be2cf36e6138d4b49716b946";
   };
 
   buildType = "catkin";
   checkInputs = [ geometry-msgs pluginlib pluginlib-tutorials roslint stereo-msgs tf ];
   propagatedBuildInputs = [ catkin python3Packages.click python3Packages.pyyaml python3Packages.rospkg ros-introspection ];
-  nativeBuildInputs = [ catkin ];
+  nativeBuildInputs = [ catkin python3Packages.setuptools ];
 
   meta = {
     description = ''The roscompile package'';
diff --git a/distros/noetic/rx-service-tools/default.nix b/distros/noetic/rx-service-tools/default.nix
new file mode 100644
index 0000000000..ebf1f1f7ec
--- /dev/null
+++ b/distros/noetic/rx-service-tools/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, python3Packages, pythonPackages, roslib, rospy }:
+buildRosPackage {
+  pname = "ros-noetic-rx-service-tools";
+  version = "1.0.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/nobleo/rx_service_tools-release/archive/release/noetic/rx_service_tools/1.0.2-1.tar.gz";
+    name = "1.0.2-1.tar.gz";
+    sha256 = "4bab469592a818690220bfbcee55ee63d3f48b4376bc5bdd088e3d958a9dd61a";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ python3Packages.pyyaml pythonPackages.wxPython roslib rospy ];
+  nativeBuildInputs = [ catkin python3Packages.setuptools ];
+
+  meta = {
+    description = ''Graphical tools to interact with ROS services.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/safety-limiter/default.nix b/distros/noetic/safety-limiter/default.nix
index 979aa3f7e2..9fb95a5b63 100644
--- a/distros/noetic/safety-limiter/default.nix
+++ b/distros/noetic/safety-limiter/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, diagnostic-updater, dynamic-reconfigure, eigen, geometry-msgs, nav-msgs, neonavigation-common, pcl, pcl-conversions, pcl-ros, roscpp, roslint, rostest, safety-limiter-msgs, sensor-msgs, std-msgs, tf2-geometry-msgs, tf2-ros, tf2-sensor-msgs, xmlrpcpp }:
 buildRosPackage {
   pname = "ros-noetic-safety-limiter";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/safety_limiter/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "9ee529f55af99bfa2a50d2b47e7a5d87b3225aaa910a557ebcd1993fc8f1bf52";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/safety_limiter/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "f9b88eaaa62c18e46dfd9d3f905a2059b363d5b46360736ca6aff435067810a9";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/sainsmart-relay-usb/default.nix b/distros/noetic/sainsmart-relay-usb/default.nix
index ea5b82f30d..4ea40ba990 100644
--- a/distros/noetic/sainsmart-relay-usb/default.nix
+++ b/distros/noetic/sainsmart-relay-usb/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, libftdi, roscpp, std-msgs }:
 buildRosPackage {
   pname = "ros-noetic-sainsmart-relay-usb";
-  version = "0.0.3-r1";
+  version = "0.0.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/DataspeedInc-release/sainsmart_relay_usb-release/archive/release/noetic/sainsmart_relay_usb/0.0.3-1.tar.gz";
-    name = "0.0.3-1.tar.gz";
-    sha256 = "f13e0ed3e0dfd8522c79674412557adb424f9009dd6e6471606988ede73c0136";
+    url = "https://github.com/DataspeedInc-release/sainsmart_relay_usb-release/archive/release/noetic/sainsmart_relay_usb/0.0.4-1.tar.gz";
+    name = "0.0.4-1.tar.gz";
+    sha256 = "5c1f7343e76f28546dc20762d166ea06b37a9090c845ade3eef101254c095503";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/scenario-test-tools/default.nix b/distros/noetic/scenario-test-tools/default.nix
index 9d9b33d4fd..4d31d54303 100644
--- a/distros/noetic/scenario-test-tools/default.nix
+++ b/distros/noetic/scenario-test-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, actionlib, catkin, cob-sound, cob-srvs, control-msgs, geometry-msgs, move-base-msgs, python3Packages, rospy, std-msgs, std-srvs, tf }:
 buildRosPackage {
   pname = "ros-noetic-scenario-test-tools";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/scenario_test_tools/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "d24c2484f3cfb2665bcac332665b9a4dcbb16dea12c6f689d415b4ffeab97108";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/scenario_test_tools/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "b5e3c5e1a96e6ac265b6783d281ad8cd092d1f7913c6f5e39ff744bf0f8c129d";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/service-tools/default.nix b/distros/noetic/service-tools/default.nix
index ad30286bd2..484667b51c 100644
--- a/distros/noetic/service-tools/default.nix
+++ b/distros/noetic/service-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, rospy, rosservice }:
 buildRosPackage {
   pname = "ros-noetic-service-tools";
-  version = "0.6.19-r1";
+  version = "0.6.20-r1";
 
   src = fetchurl {
-    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/service_tools/0.6.19-1.tar.gz";
-    name = "0.6.19-1.tar.gz";
-    sha256 = "bd1a37bb2fb3d929a6dd2646503df36763fe5b4ec34b22f5ae8100caa0e5a75b";
+    url = "https://github.com/ipa320/cob_command_tools-release/archive/release/noetic/service_tools/0.6.20-1.tar.gz";
+    name = "0.6.20-1.tar.gz";
+    sha256 = "9411074ab73dcc7d46a93570aae481a5398bb1efa701fd7532eef115392b4687";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/sick-safetyscanners/default.nix b/distros/noetic/sick-safetyscanners/default.nix
index 959b68c478..a008506623 100644
--- a/distros/noetic/sick-safetyscanners/default.nix
+++ b/distros/noetic/sick-safetyscanners/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, diagnostic-updater, dynamic-reconfigure, message-generation, message-runtime, roscpp, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-noetic-sick-safetyscanners";
-  version = "1.0.7-r1";
+  version = "1.0.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/SICKAG/sick_safetyscanners-release/archive/release/noetic/sick_safetyscanners/1.0.7-1.tar.gz";
-    name = "1.0.7-1.tar.gz";
-    sha256 = "a43f89f24ecd4eb9a0ac26120b642fe217effda5c4762e427f206aa82830fbe1";
+    url = "https://github.com/SICKAG/sick_safetyscanners-release/archive/release/noetic/sick_safetyscanners/1.0.8-1.tar.gz";
+    name = "1.0.8-1.tar.gz";
+    sha256 = "df3f4bb715a9a522000f0d6a238afddd63781cae0d8046319ecc5c2b170d2ef0";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/teleop-legged-robots/default.nix b/distros/noetic/teleop-legged-robots/default.nix
new file mode 100644
index 0000000000..df3e2098a3
--- /dev/null
+++ b/distros/noetic/teleop-legged-robots/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, geometry-msgs, rospy }:
+buildRosPackage {
+  pname = "ros-noetic-teleop-legged-robots";
+  version = "1.1.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/SoftServeSAG/teleop_legged_robots-release/archive/release/noetic/teleop_legged_robots/1.1.2-1.tar.gz";
+    name = "1.1.2-1.tar.gz";
+    sha256 = "565acd4d3fa25edaffae1697a70179fc2b3e56d89b219dabff45229e42a90d99";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ geometry-msgs rospy ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''Generic keyboard teleop for legged robots.'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/track-odometry/default.nix b/distros/noetic/track-odometry/default.nix
index 242bfebb93..363e0d2c51 100644
--- a/distros/noetic/track-odometry/default.nix
+++ b/distros/noetic/track-odometry/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, eigen, geometry-msgs, message-filters, nav-msgs, neonavigation-common, roscpp, roslint, rostest, sensor-msgs, std-msgs, tf2, tf2-geometry-msgs, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-noetic-track-odometry";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/track_odometry/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "8d531c45a31498ba6608f4159b335136246053eacd2f073c7b2d9f42430686b2";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/track_odometry/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "123d6a743318aca5535b8e4b814075cd9e8425ac1c63e03af484e0486b9880cb";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/trajectory-tracker/default.nix b/distros/noetic/trajectory-tracker/default.nix
index 6f9a4d2756..7ca7ee7d4d 100644
--- a/distros/noetic/trajectory-tracker/default.nix
+++ b/distros/noetic/trajectory-tracker/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, dynamic-reconfigure, eigen, geometry-msgs, interactive-markers, nav-msgs, neonavigation-common, roscpp, roslint, rostest, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, trajectory-tracker-msgs }:
 buildRosPackage {
   pname = "ros-noetic-trajectory-tracker";
-  version = "0.10.5-r1";
+  version = "0.10.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/trajectory_tracker/0.10.5-1.tar.gz";
-    name = "0.10.5-1.tar.gz";
-    sha256 = "d23d16f6584eb19a87e107a5e6054394eb373a101f84e03b0af0f855b334ddc9";
+    url = "https://github.com/at-wat/neonavigation-release/archive/release/noetic/trajectory_tracker/0.10.6-1.tar.gz";
+    name = "0.10.6-1.tar.gz";
+    sha256 = "5845c470dc1108b1bed93c1374f46114f46fe389b8c0839c6973c0d0c7dc7c80";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/vl53l1x/default.nix b/distros/noetic/vl53l1x/default.nix
new file mode 100644
index 0000000000..752404716f
--- /dev/null
+++ b/distros/noetic/vl53l1x/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2021 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, roscpp, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-noetic-vl53l1x";
+  version = "1.0.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/okalachev/vl53l1x_ros-release/archive/release/noetic/vl53l1x/1.0.0-1.tar.gz";
+    name = "1.0.0-1.tar.gz";
+    sha256 = "c4b77b41f388eb88ecf0bcd729ae30b6fb7ccadab59add42914a60eacca896a1";
+  };
+
+  buildType = "catkin";
+  propagatedBuildInputs = [ message-generation message-runtime roscpp sensor-msgs ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''VL53L1X ToF rangefinder driver'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/vrpn/default.nix b/distros/noetic/vrpn/default.nix
index 5d05ede25e..c0ff157173 100644
--- a/distros/noetic/vrpn/default.nix
+++ b/distros/noetic/vrpn/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cmake }:
 buildRosPackage {
   pname = "ros-noetic-vrpn";
-  version = "7.34.0-r1";
+  version = "7.34.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros-drivers-gbp/vrpn-release/archive/release/noetic/vrpn/7.34.0-1.tar.gz";
-    name = "7.34.0-1.tar.gz";
-    sha256 = "03b70e511a7231e8f03a910d666c29a48732046e33f3d385287b6ba8b5919143";
+    url = "https://github.com/ros-drivers-gbp/vrpn-release/archive/release/noetic/vrpn/7.34.0-2.tar.gz";
+    name = "7.34.0-2.tar.gz";
+    sha256 = "babe397ffaa7b299d71ef36febe6389d952b280e24b64e82b775bfe4dd945bdd";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/webots-ros/default.nix b/distros/noetic/webots-ros/default.nix
index c29840513d..fa4ca2737a 100644
--- a/distros/noetic/webots-ros/default.nix
+++ b/distros/noetic/webots-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, roscpp, rospy, sensor-msgs, std-msgs, tf }:
 buildRosPackage {
   pname = "ros-noetic-webots-ros";
-  version = "2.1.1-r1";
+  version = "4.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/cyberbotics/webots_ros-release/archive/release/noetic/webots_ros/2.1.1-1.tar.gz";
-    name = "2.1.1-1.tar.gz";
-    sha256 = "b723baa673d59cbea883c50c51c703823ade1c64078a35b5be961934c27050c4";
+    url = "https://github.com/cyberbotics/webots_ros-release/archive/release/noetic/webots_ros/4.0.1-1.tar.gz";
+    name = "4.0.1-1.tar.gz";
+    sha256 = "b25e1e22d3cc28cd480e1c22f2d9c05f0f31767149cd8572b69b8f302f793ae8";
   };
 
   buildType = "catkin";